2025-08-21T19:28:58.989Z,1755804538.989 [CommandExec](IMPORTANT): got command restart logs
2025-08-21T19:28:59.184Z,1755804539.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:28:59.395Z,1755804539.395 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-21T19:28:59.396Z,1755804539.396 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-21T19:29:12.804Z,1755804552.804 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:29:26.460Z,1755804566.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:29:29.347Z,1755804569.347 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:29:29.348Z,1755804569.348 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T19:29:29.348Z,1755804569.348 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T19:29:29.348Z,1755804569.348 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:29:29.348Z,1755804569.348 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T19:29:29.348Z,1755804569.348 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:29:29.349Z,1755804569.349 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-21T19:29:29.893Z,1755804569.893 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-21T19:29:29.893Z,1755804569.893 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-21T19:29:29.893Z,1755804569.893 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T19:29:29.893Z,1755804569.893 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:29:29.894Z,1755804569.894 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T19:29:30.252Z,1755804570.252 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T19:29:36.476Z,1755804576.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:29:44.071Z,1755804584.071 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm (3 active estimators).
2025-08-21T19:29:45.292Z,1755804585.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:29:45.444Z,1755804585.444 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:29:45.445Z,1755804585.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:29:45.696Z,1755804585.696 [DAT](INFO): DAT read: 

2025-08-21T19:29:45.697Z,1755804585.697 [DAT](INFO): DAT read: Tx time:19:29:44.8556

2025-08-21T19:29:45.697Z,1755804585.697 [DAT](INFO): Ping request sent.
2025-08-21T19:29:45.697Z,1755804585.697 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:29:45.697Z,1755804585.697 [DAT](INFO): publishing transmit ping time
2025-08-21T19:29:45.698Z,1755804585.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T19:29:45.950Z,1755804585.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252030
2025-08-21T19:29:46.201Z,1755804586.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503368
2025-08-21T19:29:46.453Z,1755804586.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755687
2025-08-21T19:29:46.704Z,1755804586.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006922
2025-08-21T19:29:46.957Z,1755804586.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259590
2025-08-21T19:29:47.208Z,1755804587.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511154
2025-08-21T19:29:47.461Z,1755804587.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763982
2025-08-21T19:29:47.712Z,1755804587.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014942
2025-08-21T19:29:47.965Z,1755804587.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267931
2025-08-21T19:29:48.216Z,1755804588.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936
2025-08-21T19:29:48.468Z,1755804588.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770915
2025-08-21T19:29:48.721Z,1755804588.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023431
2025-08-21T19:29:48.974Z,1755804588.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276192
2025-08-21T19:29:49.224Z,1755804589.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526926
2025-08-21T19:29:49.476Z,1755804589.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779089
2025-08-21T19:29:49.729Z,1755804589.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031483
2025-08-21T19:29:49.980Z,1755804589.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282967
2025-08-21T19:29:50.233Z,1755804590.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535382
2025-08-21T19:29:50.484Z,1755804590.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786917
2025-08-21T19:29:50.736Z,1755804590.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038938
2025-08-21T19:29:50.989Z,1755804590.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291780
2025-08-21T19:29:51.240Z,1755804591.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542930
2025-08-21T19:29:51.492Z,1755804591.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794939
2025-08-21T19:29:51.745Z,1755804591.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047489
2025-08-21T19:29:51.996Z,1755804591.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298950
2025-08-21T19:29:52.248Z,1755804592.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550909
2025-08-21T19:29:52.500Z,1755804592.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802993
2025-08-21T19:29:52.752Z,1755804592.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054933
2025-08-21T19:29:53.005Z,1755804593.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307783
2025-08-21T19:29:53.256Z,1755804593.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559007
2025-08-21T19:29:53.508Z,1755804593.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810890
2025-08-21T19:29:53.760Z,1755804593.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063108
2025-08-21T19:29:54.012Z,1755804594.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315111
2025-08-21T19:29:54.265Z,1755804594.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567321
2025-08-21T19:29:54.517Z,1755804594.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819244
2025-08-21T19:29:54.768Z,1755804594.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071035
2025-08-21T19:29:55.023Z,1755804595.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325143
2025-08-21T19:29:55.272Z,1755804595.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574974
2025-08-21T19:29:55.524Z,1755804595.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826982
2025-08-21T19:29:55.777Z,1755804595.777 [DAT](INFO): Reached modem response timeout
2025-08-21T19:29:58.044Z,1755804598.044 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:29:58.045Z,1755804598.045 [DAT](INFO): response not received
2025-08-21T19:29:58.045Z,1755804598.045 [DAT](ERROR): No response from remote modem.
2025-08-21T19:30:08.436Z,1755804608.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:30:35.548Z,1755804635.548 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.072987
2025-08-21T19:30:35.778Z,1755804635.778 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:30:35.778Z,1755804635.778 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T19:30:35.779Z,1755804635.779 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T19:30:35.779Z,1755804635.779 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:30:35.779Z,1755804635.779 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T19:30:36.552Z,1755804636.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:30:44.523Z,1755804644.523 [Radio_Surface](INFO): Powering down
2025-08-21T19:30:45.484Z,1755804645.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:30:45.700Z,1755804645.700 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:30:45.700Z,1755804645.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:30:45.953Z,1755804645.953 [DAT](INFO): DAT read: user:3924>

2025-08-21T19:30:45.954Z,1755804645.954 [DAT](INFO): DAT read: Tx time:19:30:45.1056

2025-08-21T19:30:45.954Z,1755804645.954 [DAT](INFO): Ping request sent.
2025-08-21T19:30:45.955Z,1755804645.955 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:30:45.955Z,1755804645.955 [DAT](INFO): publishing transmit ping time
2025-08-21T19:30:45.956Z,1755804645.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001161
2025-08-21T19:30:46.204Z,1755804646.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249718
2025-08-21T19:30:46.456Z,1755804646.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501615
2025-08-21T19:30:46.709Z,1755804646.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754614
2025-08-21T19:30:46.960Z,1755804646.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005679
2025-08-21T19:30:47.212Z,1755804647.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257651
2025-08-21T19:30:47.464Z,1755804647.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509834
2025-08-21T19:30:47.716Z,1755804647.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761650
2025-08-21T19:30:47.968Z,1755804647.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013679
2025-08-21T19:30:48.220Z,1755804648.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265655
2025-08-21T19:30:48.472Z,1755804648.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517691
2025-08-21T19:30:48.724Z,1755804648.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769703
2025-08-21T19:30:48.976Z,1755804648.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021644
2025-08-21T19:30:49.228Z,1755804649.228 [DAT](INFO): DAT read: Rx Time:19:30:47.9428

2025-08-21T19:30:49.229Z,1755804649.229 [DAT](INFO): Rx dataTimestamp_ set to:1755804649.228543
2025-08-21T19:30:49.229Z,1755804649.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274824
2025-08-21T19:30:49.480Z,1755804649.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525513
2025-08-21T19:30:49.737Z,1755804649.737 [DAT](INFO): DAT read: 19:30:47.9428 LVL= 27376, 15585, 27826, 30755, AGC= 76, IDX= 150,-0.21,-2.943,-2.655, 2.076,-2.789, PHS=-0.053, 0.179,-1.463, RAW=  22.5,  17.1, CAL=  20.8,  20.3, ROT= 129.2, -20.3

2025-08-21T19:30:49.738Z,1755804649.738 [DAT](INFO): got valid direction response:
 19:30:47.9428 LVL= 27376, 15585, 27826, 30755, AGC= 76, IDX= 150,-0.21,-2.943,-2.655, 2.076,-2.789, PHS=-0.053, 0.179,-1.463, RAW=  22.5,  17.1, CAL=  20.8,  20.3, ROT= 129.2, -20.3

2025-08-21T19:30:49.740Z,1755804649.740 [DAT](INFO): DAT read: Range 11 to 50 : 324.8 m  (Round-trip  433.1 ms) speed -0.4 m/s

2025-08-21T19:30:49.740Z,1755804649.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:30:49.741Z,1755804649.741 [DAT](INFO): direction in FSK: [-0.592773,0.726812,0.346936]
2025-08-21T19:30:49.742Z,1755804649.742 [DAT](INFO): publishing direction and range info
2025-08-21T19:31:06.684Z,1755804666.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:31:07.353Z,1755804667.353 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T19:31:07.688Z,1755804667.688 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-21T19:31:07.688Z,1755804667.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:31:37.808Z,1755804697.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:31:38.820Z,1755804698.820 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:31:45.738Z,1755804705.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:31:45.960Z,1755804705.960 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:31:45.960Z,1755804705.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:31:46.212Z,1755804706.212 [DAT](INFO): DAT read: user:3925>

2025-08-21T19:31:46.213Z,1755804706.213 [DAT](INFO): DAT read: Tx time:19:31:45.4071

2025-08-21T19:31:46.213Z,1755804706.213 [DAT](INFO): Ping request sent.
2025-08-21T19:31:46.213Z,1755804706.213 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:31:46.214Z,1755804706.214 [DAT](INFO): publishing transmit ping time
2025-08-21T19:31:46.214Z,1755804706.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T19:31:46.464Z,1755804706.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859
2025-08-21T19:31:46.717Z,1755804706.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503654
2025-08-21T19:31:46.968Z,1755804706.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754907
2025-08-21T19:31:47.220Z,1755804707.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933
2025-08-21T19:31:47.472Z,1755804707.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751
2025-08-21T19:31:47.724Z,1755804707.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510914
2025-08-21T19:31:47.976Z,1755804707.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762864
2025-08-21T19:31:48.228Z,1755804708.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014865
2025-08-21T19:31:48.480Z,1755804708.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266815
2025-08-21T19:31:48.732Z,1755804708.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518953
2025-08-21T19:31:48.984Z,1755804708.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770789
2025-08-21T19:31:49.237Z,1755804709.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023577
2025-08-21T19:31:49.488Z,1755804709.488 [DAT](INFO): DAT read: Rx Time:19:31:48.2398

2025-08-21T19:31:49.489Z,1755804709.489 [DAT](INFO): Rx dataTimestamp_ set to:1755804709.488500
2025-08-21T19:31:49.489Z,1755804709.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275951
2025-08-21T19:31:49.740Z,1755804709.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526890
2025-08-21T19:31:49.998Z,1755804709.998 [DAT](INFO): DAT read: 19:31:48.2398 LVL= 25424, 26961, 32754, 32755, AGC= 68, IDX= 385, 0.22,-2.576, 3.062, 1.851, 3.108, PHS= 0.701,-0.001,-1.301, RAW=  50.2,   6.9, CAL=  48.8,   6.5, ROT= 101.2,  -6.5

2025-08-21T19:31:49.999Z,1755804709.999 [DAT](INFO): got valid direction response:
 19:31:48.2398 LVL= 25424, 26961, 32754, 32755, AGC= 68, IDX= 385, 0.22,-2.576, 3.062, 1.851, 3.108, PHS= 0.701,-0.001,-1.301, RAW=  50.2,   6.9, CAL=  48.8,   6.5, ROT= 101.2,  -6.5

2025-08-21T19:31:49.000Z,1755804710.000 [DAT](INFO): DAT read: Bearing 129.4,  56.9 (Local)

2025-08-21T19:31:50.000Z,1755804710.000 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.4,  56.9 (Local)

2025-08-21T19:31:50.002Z,1755804710.002 [DAT](INFO): DAT read: Range 11 to 50 : 321.4 m  (Round-trip  428.6 ms) speed -0.1 m/s

2025-08-21T19:31:50.002Z,1755804710.002 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:31:50.003Z,1755804710.003 [DAT](INFO): direction in FSK: [-0.192986,0.974649,0.113203]
2025-08-21T19:31:50.004Z,1755804710.004 [DAT](INFO): publishing direction and range info
2025-08-21T19:31:59.441Z,1755804719.441 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive] Stopped
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-21T19:31:59.442Z,1755804719.442 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-21T19:31:59.443Z,1755804719.443 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-21T19:31:59.443Z,1755804719.443 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-21T19:31:59.443Z,1755804719.443 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:RepeatHack] Stopped
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:Lap] Running Loop=1
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-21T19:31:59.892Z,1755804719.892 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-21T19:32:00.257Z,1755804720.257 [lineCaptureHoming:Lap:A] Stopped
2025-08-21T19:32:00.257Z,1755804720.257 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-21T19:32:00.257Z,1755804720.257 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-21T19:32:00.684Z,1755804720.684 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-21T19:32:00.685Z,1755804720.685 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T19:32:00.686Z,1755804720.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T19:32:00.687Z,1755804720.687 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-21T19:32:00.687Z,1755804720.687 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-21T19:32:00.687Z,1755804720.687 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-21T19:32:00.687Z,1755804720.687 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-21T19:32:00.688Z,1755804720.688 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-21T19:32:00.688Z,1755804720.688 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-21T19:32:00.688Z,1755804720.688 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T19:32:00.688Z,1755804720.688 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T19:32:00.689Z,1755804720.689 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T19:32:00.689Z,1755804720.689 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-21T19:32:00.689Z,1755804720.689 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-21T19:32:01.066Z,1755804721.066 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-21T19:32:01.066Z,1755804721.066 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T19:32:01.066Z,1755804721.066 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-21T19:32:01.068Z,1755804721.068 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 321.399994 m (mode  0.000000 count ).
2025-08-21T19:32:01.068Z,1755804721.068 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-21T19:32:01.068Z,1755804721.068 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-21T19:32:01.071Z,1755804721.071 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-21T19:32:01.087Z,1755804721.087 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-21T19:32:01.463Z,1755804721.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-21T19:32:01.463Z,1755804721.463 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-21T19:32:01.464Z,1755804721.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:01.466Z,1755804721.466 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-21T19:32:01.466Z,1755804721.466 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-21T19:32:01.586Z,1755804721.586 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:32:01.587Z,1755804721.587 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:01.836Z,1755804721.836 [DAT](INFO): DAT read: user:3926>

2025-08-21T19:32:01.837Z,1755804721.837 [DAT](INFO): DAT read: Tx time:19:32:01.0055

2025-08-21T19:32:01.837Z,1755804721.837 [DAT](INFO): Ping request sent.
2025-08-21T19:32:01.837Z,1755804721.837 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:01.837Z,1755804721.837 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:01.838Z,1755804721.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000784
2025-08-21T19:32:01.965Z,1755804721.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-21T19:32:01.965Z,1755804721.965 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-21T19:32:01.967Z,1755804721.967 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-21T19:32:01.967Z,1755804721.967 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-21T19:32:02.088Z,1755804722.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250987
2025-08-21T19:32:02.277Z,1755804722.277 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-21T19:32:02.277Z,1755804722.277 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T19:32:02.277Z,1755804722.277 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-21T19:32:02.277Z,1755804722.277 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-21T19:32:02.280Z,1755804722.280 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T19:32:02.281Z,1755804722.281 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T19:32:02.282Z,1755804722.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-21T19:32:02.282Z,1755804722.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T19:32:02.282Z,1755804722.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-21T19:32:02.282Z,1755804722.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-21T19:32:02.282Z,1755804722.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T19:32:02.283Z,1755804722.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T19:32:02.283Z,1755804722.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-21T19:32:02.283Z,1755804722.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T19:32:02.283Z,1755804722.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-21T19:32:02.284Z,1755804722.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-21T19:32:02.285Z,1755804722.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T19:32:02.285Z,1755804722.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T19:32:02.285Z,1755804722.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-21T19:32:02.340Z,1755804722.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503197
2025-08-21T19:32:02.595Z,1755804722.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757030
2025-08-21T19:32:02.708Z,1755804722.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-21T19:32:02.708Z,1755804722.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T19:32:02.708Z,1755804722.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-21T19:32:02.708Z,1755804722.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T19:32:02.708Z,1755804722.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-21T19:32:02.709Z,1755804722.709 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-21T19:32:02.710Z,1755804722.710 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:32:02.711Z,1755804722.711 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.610958 m.
2025-08-21T19:32:02.844Z,1755804722.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006984
2025-08-21T19:32:03.096Z,1755804723.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259015
2025-08-21T19:32:03.348Z,1755804723.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510877
2025-08-21T19:32:03.483Z,1755804723.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:03.528Z,1755804723.528 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:32:03.603Z,1755804723.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765103
2025-08-21T19:32:03.660Z,1755804723.660 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:32:03.852Z,1755804723.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950
2025-08-21T19:32:04.104Z,1755804724.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266932
2025-08-21T19:32:04.357Z,1755804724.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520229
2025-08-21T19:32:04.609Z,1755804724.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771867
2025-08-21T19:32:04.872Z,1755804724.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034429
2025-08-21T19:32:05.113Z,1755804725.113 [DAT](INFO): DAT read: Rx Time:19:32:03.8369

2025-08-21T19:32:05.114Z,1755804725.114 [DAT](INFO): Rx dataTimestamp_ set to:1755804725.113407
2025-08-21T19:32:05.115Z,1755804725.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277769
2025-08-21T19:32:05.364Z,1755804725.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526992
2025-08-21T19:32:05.596Z,1755804725.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:05.642Z,1755804725.642 [DAT](INFO): DAT read: 19:32:03.8369 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419, 0.31,-2.130,-3.069, 2.320,-2.890, PHS= 0.862,-0.134,-1.117, RAW=  60.2,   4.6, CAL=  59.5,   3.4, ROT=  90.5,  -3.4

2025-08-21T19:32:05.647Z,1755804725.647 [DAT](INFO): got valid direction response:
 19:32:03.8369 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 419, 0.31,-2.130,-3.069, 2.320,-2.890, PHS= 0.862,-0.134,-1.117, RAW=  60.2,   4.6, CAL=  59.5,   3.4, ROT=  90.5,  -3.4

2025-08-21T19:32:05.650Z,1755804725.650 [DAT](INFO): DAT read: Bearing 171.1,  83.0 (Local)

2025-08-21T19:32:05.650Z,1755804725.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.1,  83.0 (Local)

2025-08-21T19:32:05.655Z,1755804725.655 [DAT](INFO): DAT read: Range 11 to 50 : 320.4 m  (Round-trip  427.2 ms) speed  0.0 m/s

2025-08-21T19:32:05.657Z,1755804725.657 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:05.680Z,1755804725.680 [DAT](INFO): direction in FSK: [-0.008711,0.998202,0.059306]
2025-08-21T19:32:05.681Z,1755804725.681 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:05.701Z,1755804725.701 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:05.701Z,1755804725.701 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:05.701Z,1755804725.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:05.872Z,1755804725.872 [DAT](INFO): DAT read: user:3927>

2025-08-21T19:32:05.873Z,1755804725.873 [DAT](INFO): DAT read: Tx time:19:32:05.1055

2025-08-21T19:32:05.873Z,1755804725.873 [DAT](INFO): Ping request sent.
2025-08-21T19:32:05.873Z,1755804725.873 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:05.874Z,1755804725.874 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:05.874Z,1755804725.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-08-21T19:32:06.125Z,1755804726.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251381
2025-08-21T19:32:06.380Z,1755804726.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506820
2025-08-21T19:32:06.635Z,1755804726.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761932
2025-08-21T19:32:06.884Z,1755804726.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010915
2025-08-21T19:32:07.136Z,1755804727.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262674
2025-08-21T19:32:07.228Z,1755804727.228 [DockingStepper](INFO): Changing to mode: 3
2025-08-21T19:32:07.388Z,1755804727.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515062
2025-08-21T19:32:07.641Z,1755804727.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767101
2025-08-21T19:32:07.892Z,1755804727.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018926
2025-08-21T19:32:07.982Z,1755804727.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:08.144Z,1755804728.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271066
2025-08-21T19:32:08.396Z,1755804728.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522909
2025-08-21T19:32:08.648Z,1755804728.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774787
2025-08-21T19:32:08.900Z,1755804728.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026905
2025-08-21T19:32:08.940Z,1755804728.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:32:09.153Z,1755804729.153 [DAT](INFO): DAT read: Rx Time:19:32:07.9361

2025-08-21T19:32:09.154Z,1755804729.154 [DAT](INFO): Rx dataTimestamp_ set to:1755804729.153219
2025-08-21T19:32:09.154Z,1755804729.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280918
2025-08-21T19:32:09.404Z,1755804729.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530837
2025-08-21T19:32:09.659Z,1755804729.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784992
2025-08-21T19:32:09.914Z,1755804729.914 [DAT](INFO): DAT read: 19:32:07.9361 LVL= 30704, 32753, 32754, 32755, AGC= 66, IDX= 427,-0.13,-0.116,-1.121,-2.185,-1.047, PHS= 1.033,-0.029,-1.183, RAW=  58.6,   1.9, CAL=  58.7,  -0.6, ROT=  91.3,   0.6

2025-08-21T19:32:09.915Z,1755804729.915 [DAT](INFO): got valid direction response:
 19:32:07.9361 LVL= 30704, 32753, 32754, 32755, AGC= 66, IDX= 427,-0.13,-0.116,-1.121,-2.185,-1.047, PHS= 1.033,-0.029,-1.183, RAW=  58.6,   1.9, CAL=  58.7,  -0.6, ROT=  91.3,   0.6

2025-08-21T19:32:09.916Z,1755804729.916 [DAT](INFO): DAT read: Bearing 212.5,  82.4 (Local)

2025-08-21T19:32:09.916Z,1755804729.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 212.5,  82.4 (Local)

2025-08-21T19:32:09.917Z,1755804729.917 [DAT](INFO): DAT read: Range 11 to 50 : 319.8 m  (Round-trip  426.4 ms) speed  0.0 m/s

2025-08-21T19:32:09.918Z,1755804729.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:09.935Z,1755804729.935 [DAT](INFO): direction in FSK: [-0.022686,0.999688,-0.010472]
2025-08-21T19:32:09.935Z,1755804729.935 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:09.939Z,1755804729.939 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:09.939Z,1755804729.939 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:09.939Z,1755804729.939 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:09.944Z,1755804729.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:32:10.160Z,1755804730.160 [DAT](INFO): DAT read: user:3928>

2025-08-21T19:32:10.161Z,1755804730.161 [DAT](INFO): DAT read: Tx time:19:32:09.3555

2025-08-21T19:32:10.162Z,1755804730.162 [DAT](INFO): Ping request sent.
2025-08-21T19:32:10.162Z,1755804730.162 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:10.162Z,1755804730.162 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:10.163Z,1755804730.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001015
2025-08-21T19:32:10.360Z,1755804730.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:10.413Z,1755804730.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250869
2025-08-21T19:32:10.664Z,1755804730.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502551
2025-08-21T19:32:10.916Z,1755804730.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754641
2025-08-21T19:32:11.169Z,1755804731.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972
2025-08-21T19:32:11.420Z,1755804731.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258617
2025-08-21T19:32:11.672Z,1755804731.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510487
2025-08-21T19:32:11.924Z,1755804731.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762593
2025-08-21T19:32:12.177Z,1755804732.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015151
2025-08-21T19:32:12.384Z,1755804732.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:12.428Z,1755804732.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266592
2025-08-21T19:32:12.680Z,1755804732.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518448
2025-08-21T19:32:12.933Z,1755804732.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771100
2025-08-21T19:32:13.184Z,1755804733.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022618
2025-08-21T19:32:13.194Z,1755804733.194 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-21T19:32:13.436Z,1755804733.436 [DAT](INFO): DAT read: Rx Time:19:32:12.1853

2025-08-21T19:32:13.437Z,1755804733.437 [DAT](INFO): Rx dataTimestamp_ set to:1755804733.436513
2025-08-21T19:32:13.437Z,1755804733.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275649
2025-08-21T19:32:13.689Z,1755804733.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527366
2025-08-21T19:32:13.946Z,1755804733.946 [DAT](INFO): DAT read: 19:32:12.1853 LVL= 29424, 27521, 32754, 32755, AGC= 67, IDX= 435,-0.18,-2.005,-2.963, 2.303,-2.903, PHS= 1.000,-0.015,-1.122, RAW=  58.6,   1.5, CAL=  58.7,  -0.9, ROT=  91.3,   0.9

2025-08-21T19:32:13.947Z,1755804733.947 [DAT](INFO): got valid direction response:
 19:32:12.1853 LVL= 29424, 27521, 32754, 32755, AGC= 67, IDX= 435,-0.18,-2.005,-2.963, 2.303,-2.903, PHS= 1.000,-0.015,-1.122, RAW=  58.6,   1.5, CAL=  58.7,  -0.9, ROT=  91.3,   0.9

2025-08-21T19:32:13.948Z,1755804733.948 [DAT](INFO): DAT read: Bearing 242.7,  82.6 (Local)

2025-08-21T19:32:13.948Z,1755804733.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.7,  82.6 (Local)

2025-08-21T19:32:13.949Z,1755804733.949 [DAT](INFO): DAT read: Range 11 to 50 : 319.2 m  (Round-trip  425.6 ms) speed  0.0 m/s

2025-08-21T19:32:13.950Z,1755804733.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:13.951Z,1755804733.951 [DAT](INFO): direction in FSK: [-0.022685,0.999619,-0.015707]
2025-08-21T19:32:13.951Z,1755804733.951 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:13.955Z,1755804733.955 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:13.955Z,1755804733.955 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:13.955Z,1755804733.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:14.192Z,1755804734.192 [DAT](INFO): DAT read: user:3929>

2025-08-21T19:32:14.193Z,1755804734.193 [DAT](INFO): DAT read: Tx time:19:32:13.4055

2025-08-21T19:32:14.193Z,1755804734.193 [DAT](INFO): Ping request sent.
2025-08-21T19:32:14.194Z,1755804734.194 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:14.194Z,1755804734.194 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:14.194Z,1755804734.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-21T19:32:14.403Z,1755804734.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:14.445Z,1755804734.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251819
2025-08-21T19:32:14.696Z,1755804734.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502749
2025-08-21T19:32:14.948Z,1755804734.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754783
2025-08-21T19:32:15.200Z,1755804735.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006780
2025-08-21T19:32:15.452Z,1755804735.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258589
2025-08-21T19:32:15.705Z,1755804735.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510969
2025-08-21T19:32:15.957Z,1755804735.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762920
2025-08-21T19:32:16.208Z,1755804736.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014602
2025-08-21T19:32:16.416Z,1755804736.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:16.460Z,1755804736.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266701
2025-08-21T19:32:16.712Z,1755804736.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518579
2025-08-21T19:32:16.965Z,1755804736.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771129
2025-08-21T19:32:17.217Z,1755804737.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022985
2025-08-21T19:32:17.226Z,1755804737.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -123.08476.46,    1,  19.39,  0.00
2025-08-21T19:32:17.468Z,1755804737.468 [DAT](INFO): DAT read: Rx Time:19:32:16.2345

2025-08-21T19:32:17.469Z,1755804737.469 [DAT](INFO): Rx dataTimestamp_ set to:1755804737.468566
2025-08-21T19:32:17.469Z,1755804737.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275826
2025-08-21T19:32:17.721Z,1755804737.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962
2025-08-21T19:32:17.988Z,1755804737.988 [DAT](INFO): DAT read: 19:32:16.2345 LVL= 22560, 25249, 32754, 32755, AGC= 65, IDX= 427, 0.23,-2.503, 2.720, 1.849, 2.925, PHS= 0.957,-0.159,-1.119, RAW=  62.5,   3.6, CAL=  62.0,   1.4, ROT=  88.0,  -1.4

2025-08-21T19:32:17.989Z,1755804737.989 [DAT](INFO): got valid direction response:
 19:32:16.2345 LVL= 22560, 25249, 32754, 32755, AGC= 65, IDX= 427, 0.23,-2.503, 2.720, 1.849, 2.925, PHS= 0.957,-0.159,-1.119, RAW=  62.5,   3.6, CAL=  62.0,   1.4, ROT=  88.0,  -1.4

2025-08-21T19:32:17.990Z,1755804737.990 [DAT](INFO): DAT read: Bearing 291.8,  81.7 (Local)

2025-08-21T19:32:17.990Z,1755804737.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.8,  81.7 (Local)

2025-08-21T19:32:17.994Z,1755804737.994 [DAT](INFO): DAT read: Range 11 to 50 : 318.6 m  (Round-trip  424.9 ms) speed  0.0 m/s

2025-08-21T19:32:17.995Z,1755804737.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:17.996Z,1755804737.996 [DAT](INFO): direction in FSK: [0.034889,0.999092,0.024432]
2025-08-21T19:32:17.996Z,1755804737.996 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:18.037Z,1755804738.037 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:18.037Z,1755804738.037 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:18.037Z,1755804738.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:18.224Z,1755804738.224 [DAT](INFO): DAT read: user:3930>

2025-08-21T19:32:18.225Z,1755804738.225 [DAT](INFO): DAT read: Tx time:19:32:17.4555

2025-08-21T19:32:18.225Z,1755804738.225 [DAT](INFO): Ping request sent.
2025-08-21T19:32:18.225Z,1755804738.225 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:18.225Z,1755804738.225 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:18.226Z,1755804738.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-21T19:32:18.443Z,1755804738.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:18.476Z,1755804738.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251085
2025-08-21T19:32:18.728Z,1755804738.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503239
2025-08-21T19:32:18.983Z,1755804738.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757070
2025-08-21T19:32:19.232Z,1755804739.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006827
2025-08-21T19:32:19.484Z,1755804739.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259053
2025-08-21T19:32:19.737Z,1755804739.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511847
2025-08-21T19:32:19.988Z,1755804739.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763002
2025-08-21T19:32:20.240Z,1755804740.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015030
2025-08-21T19:32:20.474Z,1755804740.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:20.492Z,1755804740.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267139
2025-08-21T19:32:20.745Z,1755804740.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520120
2025-08-21T19:32:20.997Z,1755804740.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771941
2025-08-21T19:32:21.248Z,1755804741.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023105
2025-08-21T19:32:21.500Z,1755804741.500 [DAT](INFO): DAT read: Rx Time:19:32:20.2837

2025-08-21T19:32:21.501Z,1755804741.501 [DAT](INFO): Rx dataTimestamp_ set to:1755804741.500443
2025-08-21T19:32:21.501Z,1755804741.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276061
2025-08-21T19:32:21.753Z,1755804741.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527621
2025-08-21T19:32:22.007Z,1755804742.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781133
2025-08-21T19:32:22.089Z,1755804742.089 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623194102,35.0, +12.9,   0.0,150
2025-08-21T19:32:22.261Z,1755804742.261 [DAT](INFO): DAT read: 19:32:20.2837 LVL= 21216, 25297, 30610, 28195, AGC= 66, IDX= 435,-0.10,-2.729, 2.353, 1.569, 2.708, PHS= 0.948,-0.311,-1.184, RAW=  66.0,   5.9, CAL=  64.9,   5.2, ROT=  85.1,  -5.2

2025-08-21T19:32:22.262Z,1755804742.262 [DAT](INFO): got valid direction response:
 19:32:20.2837 LVL= 21216, 25297, 30610, 28195, AGC= 66, IDX= 435,-0.10,-2.729, 2.353, 1.569, 2.708, PHS= 0.948,-0.311,-1.184, RAW=  66.0,   5.9, CAL=  64.9,   5.2, ROT=  85.1,  -5.2

2025-08-21T19:32:22.264Z,1755804742.264 [DAT](INFO): DAT read: Bearing 326.3,  78.6 (Local)

2025-08-21T19:32:22.264Z,1755804742.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.3,  78.6 (Local)

2025-08-21T19:32:22.265Z,1755804742.265 [DAT](INFO): DAT read: Range 11 to 50 : 318.0 m  (Round-trip  424.1 ms) speed  0.1 m/s

2025-08-21T19:32:22.266Z,1755804742.266 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:22.267Z,1755804742.267 [DAT](INFO): direction in FSK: [0.085065,0.992245,0.090633]
2025-08-21T19:32:22.267Z,1755804742.267 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:22.270Z,1755804742.270 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:22.270Z,1755804742.270 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:22.271Z,1755804742.271 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:22.508Z,1755804742.508 [DAT](INFO): DAT read: user:3931>

2025-08-21T19:32:22.509Z,1755804742.509 [DAT](INFO): DAT read: Tx time:19:32:21.7055

2025-08-21T19:32:22.509Z,1755804742.509 [DAT](INFO): Ping request sent.
2025-08-21T19:32:22.509Z,1755804742.509 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:22.510Z,1755804742.510 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:22.510Z,1755804742.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-21T19:32:22.760Z,1755804742.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250889
2025-08-21T19:32:22.883Z,1755804742.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:23.013Z,1755804743.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503419
2025-08-21T19:32:23.265Z,1755804743.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755169
2025-08-21T19:32:23.516Z,1755804743.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006928
2025-08-21T19:32:23.769Z,1755804743.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259128
2025-08-21T19:32:24.020Z,1755804744.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510888
2025-08-21T19:32:24.272Z,1755804744.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762919
2025-08-21T19:32:24.525Z,1755804744.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015501
2025-08-21T19:32:24.776Z,1755804744.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266827
2025-08-21T19:32:24.902Z,1755804744.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:25.028Z,1755804745.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518966
2025-08-21T19:32:25.280Z,1755804745.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770811
2025-08-21T19:32:25.533Z,1755804745.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023157
2025-08-21T19:32:25.786Z,1755804745.786 [DAT](INFO): DAT read: Rx Time:19:32:24.5327

2025-08-21T19:32:25.786Z,1755804745.786 [DAT](INFO): Rx dataTimestamp_ set to:1755804745.786099
2025-08-21T19:32:25.787Z,1755804745.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277556
2025-08-21T19:32:26.036Z,1755804746.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526996
2025-08-21T19:32:26.293Z,1755804746.293 [DAT](INFO): DAT read: 19:32:24.5327 LVL= 21232, 25761, 25842, 28147, AGC= 66, IDX= 424, 0.15,-1.022,-2.224,-2.890,-1.769, PHS= 0.849,-0.409,-1.164, RAW=  68.2,   8.3, CAL=  66.9,   9.5, ROT=  83.1,  -9.5

2025-08-21T19:32:26.295Z,1755804746.295 [DAT](INFO): got valid direction response:
 19:32:24.5327 LVL= 21232, 25761, 25842, 28147, AGC= 66, IDX= 424, 0.15,-1.022,-2.224,-2.890,-1.769, PHS= 0.849,-0.409,-1.164, RAW=  68.2,   8.3, CAL=  66.9,   9.5, ROT=  83.1,  -9.5

2025-08-21T19:32:26.296Z,1755804746.296 [DAT](INFO): DAT read: Bearing 345.7,  75.3 (Local)

2025-08-21T19:32:26.296Z,1755804746.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.7,  75.3 (Local)

2025-08-21T19:32:26.298Z,1755804746.298 [DAT](INFO): DAT read: Range 11 to 50 : 317.2 m  (Round-trip  423.0 ms) speed  0.0 m/s

2025-08-21T19:32:26.298Z,1755804746.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:26.299Z,1755804746.299 [DAT](INFO): direction in FSK: [0.118489,0.979142,0.165048]
2025-08-21T19:32:26.300Z,1755804746.300 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:26.303Z,1755804746.303 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:26.303Z,1755804746.303 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:26.303Z,1755804746.303 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:26.540Z,1755804746.540 [DAT](INFO): DAT read: user:3932>

2025-08-21T19:32:26.541Z,1755804746.541 [DAT](INFO): DAT read: Tx time:19:32:25.7055

2025-08-21T19:32:26.541Z,1755804746.541 [DAT](INFO): Ping request sent.
2025-08-21T19:32:26.541Z,1755804746.541 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:26.542Z,1755804746.542 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:26.542Z,1755804746.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T19:32:26.792Z,1755804746.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250721
2025-08-21T19:32:26.922Z,1755804746.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:27.044Z,1755804747.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824
2025-08-21T19:32:27.299Z,1755804747.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757156
2025-08-21T19:32:27.553Z,1755804747.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011455
2025-08-21T19:32:27.805Z,1755804747.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263061
2025-08-21T19:32:28.056Z,1755804748.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514992
2025-08-21T19:32:28.308Z,1755804748.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766728
2025-08-21T19:32:28.561Z,1755804748.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019866
2025-08-21T19:32:28.812Z,1755804748.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270787
2025-08-21T19:32:28.938Z,1755804748.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:29.065Z,1755804749.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523557
2025-08-21T19:32:29.316Z,1755804749.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774985
2025-08-21T19:32:29.569Z,1755804749.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027420
2025-08-21T19:32:29.821Z,1755804749.821 [DAT](INFO): DAT read: Rx Time:19:32:28.5317

2025-08-21T19:32:29.821Z,1755804749.821 [DAT](INFO): Rx dataTimestamp_ set to:1755804749.821120
2025-08-21T19:32:29.822Z,1755804749.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280802
2025-08-21T19:32:30.073Z,1755804750.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531374
2025-08-21T19:32:30.329Z,1755804750.329 [DAT](INFO): DAT read: 19:32:28.5317 LVL= 17264, 21345, 26098, 24467, AGC= 65, IDX= 430,-0.03,-2.169, 2.938, 2.344,-2.842, PHS= 0.774,-0.459,-1.141, RAW=  69.4,   9.9, CAL=  68.0,  12.5, ROT=  82.0, -12.5

2025-08-21T19:32:30.331Z,1755804750.331 [DAT](INFO): got valid direction response:
 19:32:28.5317 LVL= 17264, 21345, 26098, 24467, AGC= 65, IDX= 430,-0.03,-2.169, 2.938, 2.344,-2.842, PHS= 0.774,-0.459,-1.141, RAW=  69.4,   9.9, CAL=  68.0,  12.5, ROT=  82.0, -12.5

2025-08-21T19:32:30.332Z,1755804750.332 [DAT](INFO): DAT read: Bearing 356.1,  73.2 (Local)

2025-08-21T19:32:30.332Z,1755804750.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.1,  73.2 (Local)

2025-08-21T19:32:30.333Z,1755804750.333 [DAT](INFO): DAT read: Range 11 to 50 : 316.5 m  (Round-trip  422.0 ms) speed  0.0 m/s

2025-08-21T19:32:30.334Z,1755804750.334 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:30.335Z,1755804750.335 [DAT](INFO): direction in FSK: [0.135874,0.966795,0.216440]
2025-08-21T19:32:30.335Z,1755804750.335 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:30.338Z,1755804750.338 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:30.338Z,1755804750.338 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:30.339Z,1755804750.339 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:30.577Z,1755804750.577 [DAT](INFO): DAT read: user:3933>

2025-08-21T19:32:30.578Z,1755804750.578 [DAT](INFO): DAT read: Tx time:19:32:29.7555

2025-08-21T19:32:30.578Z,1755804750.578 [DAT](INFO): Ping request sent.
2025-08-21T19:32:30.579Z,1755804750.579 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:30.579Z,1755804750.579 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:30.581Z,1755804750.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002832
2025-08-21T19:32:30.828Z,1755804750.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249962
2025-08-21T19:32:30.962Z,1755804750.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:31.082Z,1755804751.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502655
2025-08-21T19:32:31.332Z,1755804751.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753663
2025-08-21T19:32:31.584Z,1755804751.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005829
2025-08-21T19:32:31.836Z,1755804751.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257805
2025-08-21T19:32:32.088Z,1755804752.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509695
2025-08-21T19:32:32.340Z,1755804752.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761717
2025-08-21T19:32:32.592Z,1755804752.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013667
2025-08-21T19:32:32.844Z,1755804752.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265673
2025-08-21T19:32:32.980Z,1755804752.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:33.098Z,1755804753.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519396
2025-08-21T19:32:33.348Z,1755804753.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769752
2025-08-21T19:32:33.414Z,1755804753.414 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 316.50 m. Transitioning docking module to standby.
2025-08-21T19:32:33.600Z,1755804753.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021705
2025-08-21T19:32:33.852Z,1755804753.852 [DAT](INFO): DAT read: Rx Time:19:32:32.5809

2025-08-21T19:32:33.853Z,1755804753.853 [DAT](INFO): Rx dataTimestamp_ set to:1755804753.852528
2025-08-21T19:32:33.853Z,1755804753.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274865
2025-08-21T19:32:33.928Z,1755804753.928 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:32:34.104Z,1755804754.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525916
2025-08-21T19:32:34.365Z,1755804754.365 [DAT](INFO): DAT read: 19:32:32.5809 LVL= 21232, 24753, 25906, 28851, AGC= 65, IDX= 438, 0.13, 0.297,-1.010,-1.478,-0.394, PHS= 0.793,-0.571,-1.128, RAW=  73.6,  10.6, CAL=  72.6,  13.5, ROT=  77.4, -13.5

2025-08-21T19:32:34.366Z,1755804754.366 [DAT](INFO): got valid direction response:
 19:32:32.5809 LVL= 21232, 24753, 25906, 28851, AGC= 65, IDX= 438, 0.13, 0.297,-1.010,-1.478,-0.394, PHS= 0.793,-0.571,-1.128, RAW=  73.6,  10.6, CAL=  72.6,  13.5, ROT=  77.4, -13.5

2025-08-21T19:32:34.372Z,1755804754.372 [DAT](INFO): DAT read: Bearing 356.3,  68.8 (Local)

2025-08-21T19:32:34.373Z,1755804754.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,  68.8 (Local)

2025-08-21T19:32:34.374Z,1755804754.374 [DAT](INFO): DAT read: Range 11 to 50 : 315.9 m  (Round-trip  421.2 ms) speed -0.1 m/s

2025-08-21T19:32:34.375Z,1755804754.375 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:34.388Z,1755804754.388 [DAT](INFO): direction in FSK: [0.212116,0.948952,0.233445]
2025-08-21T19:32:34.388Z,1755804754.388 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:34.391Z,1755804754.391 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:34.392Z,1755804754.392 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:34.392Z,1755804754.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:34.608Z,1755804754.608 [DAT](INFO): DAT read: user:3934>

2025-08-21T19:32:34.609Z,1755804754.609 [DAT](INFO): DAT read: Tx time:19:32:33.8055

2025-08-21T19:32:34.609Z,1755804754.609 [DAT](INFO): Ping request sent.
2025-08-21T19:32:34.609Z,1755804754.609 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:34.609Z,1755804754.609 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:34.610Z,1755804754.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-21T19:32:34.860Z,1755804754.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251066
2025-08-21T19:32:35.017Z,1755804755.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:35.116Z,1755804755.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505381
2025-08-21T19:32:35.364Z,1755804755.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755272
2025-08-21T19:32:35.616Z,1755804755.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007028
2025-08-21T19:32:35.868Z,1755804755.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259039
2025-08-21T19:32:36.126Z,1755804756.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516640
2025-08-21T19:32:36.376Z,1755804756.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767076
2025-08-21T19:32:36.628Z,1755804756.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019290
2025-08-21T19:32:36.880Z,1755804756.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271274
2025-08-21T19:32:37.039Z,1755804757.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:37.135Z,1755804757.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525151
2025-08-21T19:32:37.384Z,1755804757.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775180
2025-08-21T19:32:37.636Z,1755804757.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027323
2025-08-21T19:32:37.888Z,1755804757.888 [DAT](INFO): DAT read: Rx Time:19:32:36.6299

2025-08-21T19:32:37.889Z,1755804757.889 [DAT](INFO): Rx dataTimestamp_ set to:1755804757.888584
2025-08-21T19:32:37.889Z,1755804757.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280249
2025-08-21T19:32:38.144Z,1755804758.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533874
2025-08-21T19:32:38.398Z,1755804758.398 [DAT](INFO): DAT read: 19:32:36.6299 LVL= 18544, 32753, 32114, 32707, AGC= 66, IDX= 411, 0.39,-1.620,-2.932, 2.875,-2.378, PHS= 0.860,-0.509,-1.074, RAW=  73.5,   8.4, CAL=  72.5,   9.3, ROT=  77.5,  -9.3

2025-08-21T19:32:38.399Z,1755804758.399 [DAT](INFO): got valid direction response:
 19:32:36.6299 LVL= 18544, 32753, 32114, 32707, AGC= 66, IDX= 411, 0.39,-1.620,-2.932, 2.875,-2.378, PHS= 0.860,-0.509,-1.074, RAW=  73.5,   8.4, CAL=  72.5,   9.3, ROT=  77.5,  -9.3

2025-08-21T19:32:38.400Z,1755804758.400 [DAT](INFO): DAT read: Bearing 346.1,  70.4 (Local)

2025-08-21T19:32:38.401Z,1755804758.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.1,  70.4 (Local)

2025-08-21T19:32:38.402Z,1755804758.402 [DAT](INFO): DAT read: Range 11 to 50 : 315.2 m  (Round-trip  420.3 ms) speed  0.1 m/s

2025-08-21T19:32:38.403Z,1755804758.403 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:38.404Z,1755804758.404 [DAT](INFO): direction in FSK: [0.213595,0.963463,0.161604]
2025-08-21T19:32:38.404Z,1755804758.404 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:38.407Z,1755804758.407 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:38.407Z,1755804758.407 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:38.408Z,1755804758.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:38.644Z,1755804758.644 [DAT](INFO): DAT read: user:3935>

2025-08-21T19:32:38.645Z,1755804758.645 [DAT](INFO): DAT read: Tx time:19:32:37.8555

2025-08-21T19:32:38.645Z,1755804758.645 [DAT](INFO): Ping request sent.
2025-08-21T19:32:38.645Z,1755804758.645 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:38.645Z,1755804758.645 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:38.646Z,1755804758.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:32:38.896Z,1755804758.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250904
2025-08-21T19:32:39.048Z,1755804759.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:39.151Z,1755804759.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505274
2025-08-21T19:32:39.400Z,1755804759.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972
2025-08-21T19:32:39.652Z,1755804759.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-08-21T19:32:39.866Z,1755804759.866 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-21T19:32:39.904Z,1755804759.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258891
2025-08-21T19:32:40.068Z,1755804760.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:32:40.160Z,1755804760.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513793
2025-08-21T19:32:40.277Z,1755804760.277 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-21T19:32:40.277Z,1755804760.277 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-21T19:32:40.278Z,1755804760.278 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-21T19:32:40.408Z,1755804760.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909
2025-08-21T19:32:40.658Z,1755804760.658 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-21T19:32:40.658Z,1755804760.658 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-21T19:32:40.659Z,1755804760.659 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-21T19:32:40.660Z,1755804760.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015055
2025-08-21T19:32:40.912Z,1755804760.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267021
2025-08-21T19:32:41.072Z,1755804761.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:32:41.075Z,1755804761.075 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:41.076Z,1755804761.076 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-21T19:32:41.077Z,1755804761.077 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T19:32:41.077Z,1755804761.077 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-21T19:32:41.077Z,1755804761.077 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T19:32:41.077Z,1755804761.077 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T19:32:41.168Z,1755804761.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522521
2025-08-21T19:32:41.416Z,1755804761.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771201
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-21T19:32:41.498Z,1755804761.498 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T19:32:41.499Z,1755804761.499 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-21T19:32:41.499Z,1755804761.499 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-21T19:32:41.499Z,1755804761.499 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T19:32:41.499Z,1755804761.499 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T19:32:41.500Z,1755804761.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T19:32:41.500Z,1755804761.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-21T19:32:41.500Z,1755804761.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T19:32:41.500Z,1755804761.500 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-21T19:32:41.501Z,1755804761.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 315.200012 m 
2025-08-21T19:32:41.501Z,1755804761.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-21T19:32:41.501Z,1755804761.501 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-21T19:32:41.502Z,1755804761.502 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-21T19:32:41.502Z,1755804761.502 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-21T19:32:41.502Z,1755804761.502 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-21T19:32:41.502Z,1755804761.502 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-21T19:32:41.503Z,1755804761.503 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-21T19:32:41.668Z,1755804761.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022910
2025-08-21T19:32:41.920Z,1755804761.920 [DAT](INFO): DAT read: Rx Time:19:32:40.6789

2025-08-21T19:32:41.921Z,1755804761.921 [DAT](INFO): Rx dataTimestamp_ set to:1755804761.920513
2025-08-21T19:32:41.921Z,1755804761.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276097
2025-08-21T19:32:41.931Z,1755804761.931 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-21T19:32:41.933Z,1755804761.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-21T19:32:41.933Z,1755804761.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T19:32:41.933Z,1755804761.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-21T19:32:41.933Z,1755804761.933 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T19:32:41.972Z,1755804761.972 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-21T19:32:41.972Z,1755804761.972 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-21T19:32:42.175Z,1755804762.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528720
2025-08-21T19:32:42.296Z,1755804762.296 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T19:32:42.296Z,1755804762.296 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T19:32:42.296Z,1755804762.296 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T19:32:42.298Z,1755804762.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-21T19:32:42.299Z,1755804762.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T19:32:42.300Z,1755804762.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T19:32:42.300Z,1755804762.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T19:32:42.300Z,1755804762.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-21T19:32:42.301Z,1755804762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T19:32:42.301Z,1755804762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-21T19:32:42.301Z,1755804762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T19:32:42.301Z,1755804762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T19:32:42.301Z,1755804762.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-21T19:32:42.302Z,1755804762.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-21T19:32:42.302Z,1755804762.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-21T19:32:42.302Z,1755804762.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-21T19:32:42.302Z,1755804762.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-21T19:32:42.302Z,1755804762.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T19:32:42.303Z,1755804762.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-21T19:32:42.319Z,1755804762.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T19:32:42.320Z,1755804762.320 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-21T19:32:42.321Z,1755804762.321 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-21T19:32:42.321Z,1755804762.321 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-21T19:32:42.432Z,1755804762.432 [DAT](INFO): DAT read: 19:32:40.6789 LVL= 21696, 30929, 30498, 32755, AGC= 66, IDX= 432, 0.39, 0.319,-1.144,-1.481,-0.457, PHS= 0.878,-0.642,-1.068, RAW=  78.0,   9.4, CAL=  77.2,  10.5, ROT=  72.8, -10.5

2025-08-21T19:32:42.433Z,1755804762.433 [DAT](INFO): got valid direction response:
 19:32:40.6789 LVL= 21696, 30929, 30498, 32755, AGC= 66, IDX= 432, 0.39, 0.319,-1.144,-1.481,-0.457, PHS= 0.878,-0.642,-1.068, RAW=  78.0,   9.4, CAL=  77.2,  10.5, ROT=  72.8, -10.5

2025-08-21T19:32:42.434Z,1755804762.434 [DAT](INFO): DAT read: Bearing 349.1,  66.3 (Local)

2025-08-21T19:32:42.434Z,1755804762.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.1,  66.3 (Local)

2025-08-21T19:32:42.436Z,1755804762.436 [DAT](INFO): DAT read: Range 11 to 50 : 314.4 m  (Round-trip  419.2 ms) speed  0.0 m/s

2025-08-21T19:32:42.436Z,1755804762.436 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:42.437Z,1755804762.437 [DAT](INFO): direction in FSK: [0.290756,0.939282,0.182236]
2025-08-21T19:32:42.438Z,1755804762.438 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:42.441Z,1755804762.441 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:42.441Z,1755804762.441 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:42.441Z,1755804762.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:42.676Z,1755804762.676 [DAT](INFO): DAT read: user:3936>

2025-08-21T19:32:42.677Z,1755804762.677 [DAT](INFO): DAT read: Tx time:19:32:41.8555

2025-08-21T19:32:42.677Z,1755804762.677 [DAT](INFO): Ping request sent.
2025-08-21T19:32:42.677Z,1755804762.677 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:42.678Z,1755804762.678 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:42.678Z,1755804762.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T19:32:42.715Z,1755804762.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 314.399994 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-21T19:32:42.726Z,1755804762.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 312.575287 m,
      bearing: 259.312916 deg,
      lat: 36.779305 deg,
      lon: -121.859535 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-21T19:32:42.726Z,1755804762.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:42.733Z,1755804762.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.840515 m,
      bearing: 262.609523 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 188.686749 deg,
      new cmd heading: 262.609523 deg.

2025-08-21T19:32:42.734Z,1755804762.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583401 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:42.758Z,1755804762.758 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-21T19:32:42.759Z,1755804762.759 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-21T19:32:42.928Z,1755804762.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251060
2025-08-21T19:32:43.087Z,1755804763.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:43.089Z,1755804763.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:43.092Z,1755804763.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.763916 m,
      bearing: 262.623732 deg,
      approach rate: -0.204335 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.609517 deg,
      new cmd heading: 262.623732 deg.

2025-08-21T19:32:43.093Z,1755804763.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583649 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:43.181Z,1755804763.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503734
2025-08-21T19:32:43.432Z,1755804763.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754702
2025-08-21T19:32:43.520Z,1755804763.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:43.522Z,1755804763.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.686676 m,
      bearing: 262.638465 deg,
      approach rate: -0.179310 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.623724 deg,
      new cmd heading: 262.638465 deg.

2025-08-21T19:32:43.524Z,1755804763.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583906 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:43.605Z,1755804763.605 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:32:43.685Z,1755804763.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007130
2025-08-21T19:32:43.728Z,1755804763.728 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:32:43.888Z,1755804763.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:43.890Z,1755804763.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.620605 m,
      bearing: 262.650968 deg,
      approach rate: -0.179690 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.638477 deg,
      new cmd heading: 262.650968 deg.

2025-08-21T19:32:43.891Z,1755804763.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584124 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:43.936Z,1755804763.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258981
2025-08-21T19:32:44.192Z,1755804764.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513705
2025-08-21T19:32:44.314Z,1755804764.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:44.317Z,1755804764.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.547211 m,
      bearing: 262.665026 deg,
      approach rate: -0.172058 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.650963 deg,
      new cmd heading: 262.665026 deg.

2025-08-21T19:32:44.318Z,1755804764.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584370 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:44.440Z,1755804764.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762838
2025-08-21T19:32:44.693Z,1755804764.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015120
2025-08-21T19:32:44.702Z,1755804764.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:44.705Z,1755804764.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.480286 m,
      bearing: 262.677800 deg,
      approach rate: -0.172572 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.665033 deg,
      new cmd heading: 262.677800 deg.

2025-08-21T19:32:44.705Z,1755804764.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584592 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:44.945Z,1755804764.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267519
2025-08-21T19:32:45.100Z,1755804765.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:45.102Z,1755804765.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:45.104Z,1755804765.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.411163 m,
      bearing: 262.690923 deg,
      approach rate: -0.172845 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.677792 deg,
      new cmd heading: 262.690923 deg.

2025-08-21T19:32:45.105Z,1755804765.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584822 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:45.197Z,1755804765.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519209
2025-08-21T19:32:45.448Z,1755804765.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770858
2025-08-21T19:32:45.545Z,1755804765.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:45.560Z,1755804765.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.338776 m,
      bearing: 262.704163 deg,
      approach rate: -0.163905 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.690933 deg,
      new cmd heading: 262.704163 deg.

2025-08-21T19:32:45.561Z,1755804765.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585052 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:45.700Z,1755804765.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865
2025-08-21T19:32:45.910Z,1755804765.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:45.913Z,1755804765.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.275940 m,
      bearing: 262.715592 deg,
      approach rate: -0.171242 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.704157 deg,
      new cmd heading: 262.715592 deg.

2025-08-21T19:32:45.914Z,1755804765.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585252 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:45.952Z,1755804765.952 [DAT](INFO): DAT read: Rx Time:19:32:44.6780

2025-08-21T19:32:45.953Z,1755804765.953 [DAT](INFO): Rx dataTimestamp_ set to:1755804765.952436
2025-08-21T19:32:45.953Z,1755804765.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275861
2025-08-21T19:32:46.205Z,1755804766.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527531
2025-08-21T19:32:46.352Z,1755804766.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.58 m.
2025-08-21T19:32:46.354Z,1755804766.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 312.575287 m,
      nav range: 298.202179 m,
      bearing: 262.728736 deg,
      approach rate: -0.166997 m/s,
      LOS rate: nan deg/s,
      cmd heading: 262.715604 deg,
      new cmd heading: 262.728736 deg.

2025-08-21T19:32:46.356Z,1755804766.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585482 target range: 312.575287 and range: 314.40 m.
2025-08-21T19:32:46.462Z,1755804766.462 [DAT](INFO): DAT read: 19:32:44.6780 LVL= 31424, 32753, 32754, 32755, AGC= 65, IDX= 440,-0.10,-2.100, 2.606, 2.389,-2.904, PHS= 0.906,-0.728,-1.035, RAW=  81.5,   9.5, CAL=  80.9,  10.2, ROT=  69.1, -10.2

2025-08-21T19:32:46.463Z,1755804766.463 [DAT](INFO): got valid direction response:
 19:32:44.6780 LVL= 31424, 32753, 32754, 32755, AGC= 65, IDX= 440,-0.10,-2.100, 2.606, 2.389,-2.904, PHS= 0.906,-0.728,-1.035, RAW=  81.5,   9.5, CAL=  80.9,  10.2, ROT=  69.1, -10.2

2025-08-21T19:32:46.464Z,1755804766.464 [DAT](INFO): DAT read: Bearing 348.4,  63.5 (Local)

2025-08-21T19:32:46.464Z,1755804766.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.4,  63.5 (Local)

2025-08-21T19:32:46.466Z,1755804766.466 [DAT](INFO): DAT read: Range 11 to 50 : 313.7 m  (Round-trip  418.3 ms) speed  0.0 m/s

2025-08-21T19:32:46.466Z,1755804766.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:46.467Z,1755804766.467 [DAT](INFO): direction in FSK: [0.351100,0.919440,0.177085]
2025-08-21T19:32:46.468Z,1755804766.468 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:46.471Z,1755804766.471 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:46.471Z,1755804766.471 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:46.487Z,1755804766.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:46.708Z,1755804766.708 [DAT](INFO): DAT read: user:3937>

2025-08-21T19:32:46.709Z,1755804766.709 [DAT](INFO): DAT read: Tx time:19:32:45.9055

2025-08-21T19:32:46.709Z,1755804766.709 [DAT](INFO): Ping request sent.
2025-08-21T19:32:46.710Z,1755804766.710 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:46.710Z,1755804766.710 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:46.710Z,1755804766.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-21T19:32:46.804Z,1755804766.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 313.700012 m,
      deltaT: 4.030188 s,
      deltaX: -0.699982 m,
      approachRate: -0.173685 m/s,
      rangeRepo size: 2

2025-08-21T19:32:46.806Z,1755804766.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 311.880371 m,
      bearing: 256.926896 deg,
      lat: 36.779218 deg,
      lon: -121.859522 deg,
      deltaT: 4.030188 s,
      deltaX: -0.694916 m,
      approachRate: -0.172428 m/s,
      posRepo size: 2

2025-08-21T19:32:46.811Z,1755804766.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:46.813Z,1755804766.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 256.926896 deg.
2025-08-21T19:32:46.813Z,1755804766.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484221 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:46.960Z,1755804766.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250671
2025-08-21T19:32:47.140Z,1755804767.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:47.142Z,1755804767.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:47.169Z,1755804767.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 298.310791 m,
      bearing: 260.882243 deg,
      approach rate: -0.187692 m/s,
      LOS rate: 0.030499 deg/s,
      cmd heading: 256.926909 deg,
      new cmd heading: 256.947846 deg.

2025-08-21T19:32:47.177Z,1755804767.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.484586 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:47.212Z,1755804767.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502782
2025-08-21T19:32:47.465Z,1755804767.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755112
2025-08-21T19:32:47.597Z,1755804767.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:47.600Z,1755804767.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 298.223755 m,
      bearing: 260.896524 deg,
      approach rate: -0.191607 m/s,
      LOS rate: 0.031449 deg/s,
      cmd heading: 256.947837 deg,
      new cmd heading: 256.976408 deg.

2025-08-21T19:32:47.601Z,1755804767.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485085 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:47.641Z,1755804767.641 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:32:47.717Z,1755804767.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007244
2025-08-21T19:32:47.968Z,1755804767.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258640
2025-08-21T19:32:48.035Z,1755804768.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:48.040Z,1755804768.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 298.141174 m,
      bearing: 260.909911 deg,
      approach rate: -0.188886 m/s,
      LOS rate: 0.030628 deg/s,
      cmd heading: 256.976415 deg,
      new cmd heading: 257.003196 deg.

2025-08-21T19:32:48.042Z,1755804768.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485552 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:48.220Z,1755804768.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739
2025-08-21T19:32:48.472Z,1755804768.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762790
2025-08-21T19:32:48.474Z,1755804768.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:48.478Z,1755804768.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 298.050323 m,
      bearing: 260.925870 deg,
      approach rate: -0.206325 m/s,
      LOS rate: 0.036255 deg/s,
      cmd heading: 257.003189 deg,
      new cmd heading: 257.035117 deg.

2025-08-21T19:32:48.479Z,1755804768.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486109 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:48.726Z,1755804768.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015967
2025-08-21T19:32:48.860Z,1755804768.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:48.862Z,1755804768.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 297.971436 m,
      bearing: 260.939530 deg,
      approach rate: -0.204816 m/s,
      LOS rate: 0.035473 deg/s,
      cmd heading: 257.035127 deg,
      new cmd heading: 257.062453 deg.

2025-08-21T19:32:48.864Z,1755804768.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486586 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:48.977Z,1755804768.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267540
2025-08-21T19:32:49.228Z,1755804769.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518632
2025-08-21T19:32:49.250Z,1755804769.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:49.252Z,1755804769.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:49.254Z,1755804769.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 297.885773 m,
      bearing: 260.954139 deg,
      approach rate: -0.218368 m/s,
      LOS rate: 0.037252 deg/s,
      cmd heading: 257.062448 deg,
      new cmd heading: 257.091674 deg.

2025-08-21T19:32:49.277Z,1755804769.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487096 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:49.480Z,1755804769.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770722
2025-08-21T19:32:49.659Z,1755804769.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:49.662Z,1755804769.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 297.788391 m,
      bearing: 260.971102 deg,
      approach rate: -0.239244 m/s,
      LOS rate: 0.041689 deg/s,
      cmd heading: 257.091681 deg,
      new cmd heading: 257.125619 deg.

2025-08-21T19:32:49.663Z,1755804769.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.487689 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:49.732Z,1755804769.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022814
2025-08-21T19:32:49.984Z,1755804769.984 [DAT](INFO): DAT read: Rx Time:19:32:48.7270

2025-08-21T19:32:49.985Z,1755804769.985 [DAT](INFO): Rx dataTimestamp_ set to:1755804769.984501
2025-08-21T19:32:49.985Z,1755804769.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275799
2025-08-21T19:32:50.075Z,1755804770.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.88 m.
2025-08-21T19:32:50.078Z,1755804770.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.880371 m,
      nav range: 297.688049 m,
      bearing: 260.988271 deg,
      approach rate: -0.241055 m/s,
      LOS rate: 0.041259 deg/s,
      cmd heading: 257.125613 deg,
      new cmd heading: 257.159962 deg.

2025-08-21T19:32:50.079Z,1755804770.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.488288 target range: 311.880371 and range: 313.70 m.
2025-08-21T19:32:50.236Z,1755804770.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526882
2025-08-21T19:32:50.494Z,1755804770.494 [DAT](INFO): DAT read: 19:32:48.7270 LVL= 20464, 32753, 31218, 31955, AGC= 66, IDX= 430,-0.24,-1.237,-2.953,-3.012,-2.137, PHS= 1.003,-0.770,-0.918, RAW=  86.0,   7.5, CAL=  85.3,   6.5, ROT=  64.7,  -6.5

2025-08-21T19:32:50.495Z,1755804770.495 [DAT](INFO): got valid direction response:
 19:32:48.7270 LVL= 20464, 32753, 31218, 31955, AGC= 66, IDX= 430,-0.24,-1.237,-2.953,-3.012,-2.137, PHS= 1.003,-0.770,-0.918, RAW=  86.0,   7.5, CAL=  85.3,   6.5, ROT=  64.7,  -6.5

2025-08-21T19:32:50.496Z,1755804770.496 [DAT](INFO): DAT read: Bearing 344.2,  60.8 (Local)

2025-08-21T19:32:50.496Z,1755804770.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.2,  60.8 (Local)

2025-08-21T19:32:50.497Z,1755804770.497 [DAT](INFO): DAT read: Range 11 to 50 : 312.9 m  (Round-trip  417.3 ms) speed  0.1 m/s

2025-08-21T19:32:50.498Z,1755804770.498 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:50.509Z,1755804770.509 [DAT](INFO): direction in FSK: [0.424611,0.898271,0.113203]
2025-08-21T19:32:50.509Z,1755804770.509 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:50.530Z,1755804770.530 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:50.531Z,1755804770.531 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:50.531Z,1755804770.531 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:50.621Z,1755804770.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 312.899994 m,
      deltaT: 4.031968 s,
      deltaX: -0.800018 m,
      approachRate: -0.198419 m/s,
      rangeRepo size: 3

2025-08-21T19:32:50.627Z,1755804770.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 311.087830 m,
      bearing: 258.067257 deg,
      lat: 36.779148 deg,
      lon: -121.859535 deg,
      deltaT: 4.031968 s,
      deltaX: -0.792542 m,
      approachRate: -0.196564 m/s,
      posRepo size: 3

2025-08-21T19:32:50.628Z,1755804770.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:50.631Z,1755804770.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.996368 m,
      bearing: 259.571962 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.041259 deg/s,
      cmd heading: 257.159955 deg,
      new cmd heading: 257.204958 deg.

2025-08-21T19:32:50.636Z,1755804770.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489073 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:50.742Z,1755804770.742 [DAT](INFO): DAT read: user:3938>

2025-08-21T19:32:50.743Z,1755804770.743 [DAT](INFO): DAT read: Tx time:19:32:49.9555

2025-08-21T19:32:50.743Z,1755804770.743 [DAT](INFO): Ping request sent.
2025-08-21T19:32:50.744Z,1755804770.744 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:50.744Z,1755804770.744 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:50.744Z,1755804770.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-21T19:32:50.983Z,1755804770.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:50.986Z,1755804770.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.889954 m,
      bearing: 259.588904 deg,
      approach rate: -0.293603 m/s,
      LOS rate: 0.046760 deg/s,
      cmd heading: 257.204953 deg,
      new cmd heading: 257.238848 deg.

2025-08-21T19:32:50.987Z,1755804770.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489665 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:50.996Z,1755804770.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252533
2025-08-21T19:32:51.249Z,1755804771.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505097
2025-08-21T19:32:51.425Z,1755804771.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:51.427Z,1755804771.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:51.430Z,1755804771.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.755707 m,
      bearing: 259.611718 deg,
      approach rate: -0.302228 m/s,
      LOS rate: 0.051384 deg/s,
      cmd heading: 257.238858 deg,
      new cmd heading: 257.284506 deg.

2025-08-21T19:32:51.431Z,1755804771.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.490462 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:51.502Z,1755804771.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757602
2025-08-21T19:32:51.752Z,1755804771.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008533
2025-08-21T19:32:51.816Z,1755804771.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:51.818Z,1755804771.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.641846 m,
      bearing: 259.630702 deg,
      approach rate: -0.305708 m/s,
      LOS rate: 0.050990 deg/s,
      cmd heading: 257.284511 deg,
      new cmd heading: 257.322493 deg.

2025-08-21T19:32:51.824Z,1755804771.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491125 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:52.004Z,1755804772.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260598
2025-08-21T19:32:52.211Z,1755804772.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:52.214Z,1755804772.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.515472 m,
      bearing: 259.651364 deg,
      approach rate: -0.307307 m/s,
      LOS rate: 0.050266 deg/s,
      cmd heading: 257.322487 deg,
      new cmd heading: 257.363828 deg.

2025-08-21T19:32:52.215Z,1755804772.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491846 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:52.258Z,1755804772.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514451
2025-08-21T19:32:52.508Z,1755804772.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764683
2025-08-21T19:32:52.628Z,1755804772.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:52.631Z,1755804772.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.379089 m,
      bearing: 259.674737 deg,
      approach rate: -0.326742 m/s,
      LOS rate: 0.056022 deg/s,
      cmd heading: 257.363823 deg,
      new cmd heading: 257.410591 deg.

2025-08-21T19:32:52.632Z,1755804772.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492662 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:52.761Z,1755804772.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016642
2025-08-21T19:32:53.014Z,1755804773.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270279
2025-08-21T19:32:53.034Z,1755804773.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:53.042Z,1755804773.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.252899 m,
      bearing: 259.695919 deg,
      approach rate: -0.311448 m/s,
      LOS rate: 0.052301 deg/s,
      cmd heading: 257.410596 deg,
      new cmd heading: 257.452978 deg.

2025-08-21T19:32:53.048Z,1755804773.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493402 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:53.264Z,1755804773.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520592
2025-08-21T19:32:53.453Z,1755804773.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:53.455Z,1755804773.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:53.458Z,1755804773.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 299.104645 m,
      bearing: 259.722639 deg,
      approach rate: -0.351831 m/s,
      LOS rate: 0.063442 deg/s,
      cmd heading: 257.452970 deg,
      new cmd heading: 257.506437 deg.

2025-08-21T19:32:53.459Z,1755804773.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494335 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:53.519Z,1755804773.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774902
2025-08-21T19:32:53.768Z,1755804773.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024659
2025-08-21T19:32:53.868Z,1755804773.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:53.870Z,1755804773.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 298.971771 m,
      bearing: 259.746618 deg,
      approach rate: -0.321633 m/s,
      LOS rate: 0.058070 deg/s,
      cmd heading: 257.506437 deg,
      new cmd heading: 257.554417 deg.

2025-08-21T19:32:53.880Z,1755804773.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495173 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:54.021Z,1755804774.021 [DAT](INFO): DAT read: Rx Time:19:32:52.7755

2025-08-21T19:32:54.022Z,1755804774.022 [DAT](INFO): Rx dataTimestamp_ set to:1755804774.021488
2025-08-21T19:32:54.023Z,1755804774.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278778
2025-08-21T19:32:54.252Z,1755804774.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.09 m.
2025-08-21T19:32:54.255Z,1755804774.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 311.087830 m,
      nav range: 298.834473 m,
      bearing: 259.770208 deg,
      approach rate: -0.357315 m/s,
      LOS rate: 0.061421 deg/s,
      cmd heading: 257.554412 deg,
      new cmd heading: 257.601615 deg.

2025-08-21T19:32:54.260Z,1755804774.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.495996 target range: 311.087830 and range: 312.90 m.
2025-08-21T19:32:54.272Z,1755804774.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528768
2025-08-21T19:32:54.537Z,1755804774.537 [DAT](INFO): DAT read: 19:32:52.7755 LVL= 20976, 32337, 32754, 32755, AGC= 68, IDX= 431,-0.04,-0.254,-1.998,-2.000,-1.207, PHS= 1.055,-0.746,-0.838, RAW=  87.5,   5.8, CAL=  86.8,   3.8, ROT=  63.2,  -3.8

2025-08-21T19:32:54.538Z,1755804774.538 [DAT](INFO): got valid direction response:
 19:32:52.7755 LVL= 20976, 32337, 32754, 32755, AGC= 68, IDX= 431,-0.04,-0.254,-1.998,-2.000,-1.207, PHS= 1.055,-0.746,-0.838, RAW=  87.5,   5.8, CAL=  86.8,   3.8, ROT=  63.2,  -3.8

2025-08-21T19:32:54.543Z,1755804774.543 [DAT](INFO): DAT read: Bearing 341.6,  60.9 (Local)

2025-08-21T19:32:54.545Z,1755804774.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6,  60.9 (Local)

2025-08-21T19:32:54.547Z,1755804774.547 [DAT](INFO): DAT read: Range 11 to 50 : 311.9 m  (Round-trip  415.9 ms) speed  0.3 m/s

2025-08-21T19:32:54.548Z,1755804774.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:54.549Z,1755804774.549 [DAT](INFO): direction in FSK: [0.449886,0.890623,0.066274]
2025-08-21T19:32:54.550Z,1755804774.550 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:54.556Z,1755804774.556 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:54.556Z,1755804774.556 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:54.556Z,1755804774.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:54.709Z,1755804774.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 311.899994 m,
      deltaT: 4.037785 s,
      deltaX: -1.000000 m,
      approachRate: -0.247661 m/s,
      rangeRepo size: 4

2025-08-21T19:32:54.712Z,1755804774.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 310.090942 m,
      bearing: 262.684470 deg,
      lat: 36.779148 deg,
      lon: -121.859575 deg,
      deltaT: 4.037785 s,
      deltaX: -0.996887 m,
      approachRate: -0.246890 m/s,
      posRepo size: 4

2025-08-21T19:32:54.713Z,1755804774.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:54.716Z,1755804774.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 302.184143 m,
      bearing: 259.919227 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.061421 deg/s,
      cmd heading: 257.601623 deg,
      new cmd heading: 257.657721 deg.

2025-08-21T19:32:54.717Z,1755804774.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496975 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:54.782Z,1755804774.782 [DAT](INFO): DAT read: user:3939>

2025-08-21T19:32:54.783Z,1755804774.783 [DAT](INFO): DAT read: Tx time:19:32:54.0055

2025-08-21T19:32:54.783Z,1755804774.783 [DAT](INFO): Ping request sent.
2025-08-21T19:32:54.783Z,1755804774.783 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:54.784Z,1755804774.783 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:54.784Z,1755804774.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-08-21T19:32:55.030Z,1755804775.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246220
2025-08-21T19:32:55.082Z,1755804775.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:55.093Z,1755804775.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 302.053802 m,
      bearing: 259.942926 deg,
      approach rate: -0.349580 m/s,
      LOS rate: 0.063591 deg/s,
      cmd heading: 257.657712 deg,
      new cmd heading: 257.705132 deg.

2025-08-21T19:32:55.094Z,1755804775.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.497803 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:55.280Z,1755804775.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496858
2025-08-21T19:32:55.533Z,1755804775.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749307
2025-08-21T19:32:55.537Z,1755804775.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:55.545Z,1755804775.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:55.551Z,1755804775.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.904480 m,
      bearing: 259.970692 deg,
      approach rate: -0.322560 m/s,
      LOS rate: 0.060008 deg/s,
      cmd heading: 257.705141 deg,
      new cmd heading: 257.760700 deg.

2025-08-21T19:32:55.552Z,1755804775.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498773 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:55.785Z,1755804775.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001564
2025-08-21T19:32:55.897Z,1755804775.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:55.900Z,1755804775.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.772644 m,
      bearing: 259.994495 deg,
      approach rate: -0.373691 m/s,
      LOS rate: 0.067500 deg/s,
      cmd heading: 257.760712 deg,
      new cmd heading: 257.808339 deg.

2025-08-21T19:32:55.901Z,1755804775.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499604 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:56.041Z,1755804776.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257751
2025-08-21T19:32:56.292Z,1755804776.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508956
2025-08-21T19:32:56.293Z,1755804776.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:56.312Z,1755804776.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.628235 m,
      bearing: 260.019803 deg,
      approach rate: -0.364498 m/s,
      LOS rate: 0.063911 deg/s,
      cmd heading: 257.808332 deg,
      new cmd heading: 257.858973 deg.

2025-08-21T19:32:56.313Z,1755804776.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.500488 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:56.546Z,1755804776.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762430
2025-08-21T19:32:56.741Z,1755804776.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:56.744Z,1755804776.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.468445 m,
      bearing: 260.050493 deg,
      approach rate: -0.356970 m/s,
      LOS rate: 0.068598 deg/s,
      cmd heading: 257.858984 deg,
      new cmd heading: 257.920397 deg.

2025-08-21T19:32:56.745Z,1755804776.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501560 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:56.796Z,1755804776.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013057
2025-08-21T19:32:57.049Z,1755804777.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265362
2025-08-21T19:32:57.121Z,1755804777.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:57.124Z,1755804777.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.334625 m,
      bearing: 260.074596 deg,
      approach rate: -0.351856 m/s,
      LOS rate: 0.063401 deg/s,
      cmd heading: 257.920401 deg,
      new cmd heading: 257.968627 deg.

2025-08-21T19:32:57.125Z,1755804777.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502402 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:57.300Z,1755804777.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517083
2025-08-21T19:32:57.553Z,1755804777.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769423
2025-08-21T19:32:57.647Z,1755804777.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:57.650Z,1755804777.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:57.652Z,1755804777.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 301.125031 m,
      bearing: 260.110554 deg,
      approach rate: -0.396876 m/s,
      LOS rate: 0.068137 deg/s,
      cmd heading: 257.968622 deg,
      new cmd heading: 258.040590 deg.

2025-08-21T19:32:57.653Z,1755804777.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503658 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:57.805Z,1755804777.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021195
2025-08-21T19:32:58.056Z,1755804778.056 [DAT](INFO): DAT read: Rx Time:19:32:56.8239

2025-08-21T19:32:58.057Z,1755804778.057 [DAT](INFO): Rx dataTimestamp_ set to:1755804778.056508
2025-08-21T19:32:58.057Z,1755804778.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274004
2025-08-21T19:32:58.073Z,1755804778.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 310.09 m.
2025-08-21T19:32:58.078Z,1755804778.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 310.090942 m,
      nav range: 300.966888 m,
      bearing: 260.136804 deg,
      approach rate: -0.373125 m/s,
      LOS rate: 0.061965 deg/s,
      cmd heading: 258.040585 deg,
      new cmd heading: 258.093111 deg.

2025-08-21T19:32:58.084Z,1755804778.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.504575 target range: 310.090942 and range: 311.90 m.
2025-08-21T19:32:58.308Z,1755804778.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524986
2025-08-21T19:32:58.574Z,1755804778.574 [DAT](INFO): DAT read: 19:32:56.8239 LVL= 26976, 32753, 32754, 32755, AGC= 68, IDX= 430,-0.15, 0.231,-1.443,-1.238,-0.547, PHS= 0.879,-0.851,-0.735, RAW=  93.4,   8.5, CAL=  93.4,   8.5, ROT=  56.6,  -8.5

2025-08-21T19:32:58.575Z,1755804778.575 [DAT](INFO): got valid direction response:
 19:32:56.8239 LVL= 26976, 32753, 32754, 32755, AGC= 68, IDX= 430,-0.15, 0.231,-1.443,-1.238,-0.547, PHS= 0.879,-0.851,-0.735, RAW=  93.4,   8.5, CAL=  93.4,   8.5, ROT=  56.6,  -8.5

2025-08-21T19:32:58.580Z,1755804778.580 [DAT](INFO): DAT read: Bearing 357.8,  57.1 (Local)

2025-08-21T19:32:58.580Z,1755804778.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.8,  57.1 (Local)

2025-08-21T19:32:58.582Z,1755804778.582 [DAT](INFO): DAT read: Range 11 to 50 : 310.6 m  (Round-trip  414.2 ms) speed  0.3 m/s

2025-08-21T19:32:58.582Z,1755804778.582 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:32:58.588Z,1755804778.588 [DAT](INFO): direction in FSK: [0.544434,0.825678,0.147809]
2025-08-21T19:32:58.588Z,1755804778.588 [DAT](INFO): publishing direction and range info
2025-08-21T19:32:58.603Z,1755804778.603 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:32:58.604Z,1755804778.604 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:32:58.604Z,1755804778.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:32:58.668Z,1755804778.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 310.600006 m,
      deltaT: 4.035828 s,
      deltaX: -1.299988 m,
      approachRate: -0.322112 m/s,
      rangeRepo size: 4

2025-08-21T19:32:58.670Z,1755804778.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 308.796906 m,
      bearing: 265.898105 deg,
      lat: 36.779148 deg,
      lon: -121.859550 deg,
      deltaT: 4.035828 s,
      deltaX: -1.294037 m,
      approachRate: -0.320637 m/s,
      posRepo size: 4

2025-08-21T19:32:58.675Z,1755804778.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:32:58.678Z,1755804778.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 298.506958 m,
      bearing: 260.098576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.061965 deg/s,
      cmd heading: 258.093123 deg,
      new cmd heading: 258.166711 deg.

2025-08-21T19:32:58.683Z,1755804778.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505859 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:32:58.813Z,1755804778.813 [DAT](INFO): DAT read: user:3940>

2025-08-21T19:32:58.814Z,1755804778.814 [DAT](INFO): DAT read: Tx time:19:32:58.0055

2025-08-21T19:32:58.814Z,1755804778.814 [DAT](INFO): Ping request sent.
2025-08-21T19:32:58.814Z,1755804778.814 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:32:58.815Z,1755804778.815 [DAT](INFO): publishing transmit ping time
2025-08-21T19:32:58.815Z,1755804778.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000873
2025-08-21T19:32:58.977Z,1755804778.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:32:58.980Z,1755804778.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 298.349823 m,
      bearing: 260.122750 deg,
      approach rate: -0.506533 m/s,
      LOS rate: 0.077967 deg/s,
      cmd heading: 258.166698 deg,
      new cmd heading: 258.215071 deg.

2025-08-21T19:32:58.981Z,1755804778.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.506703 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:32:59.065Z,1755804779.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250526
2025-08-21T19:32:59.316Z,1755804779.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501751
2025-08-21T19:32:59.385Z,1755804779.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:32:59.388Z,1755804779.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 298.176331 m,
      bearing: 260.148504 deg,
      approach rate: -0.425485 m/s,
      LOS rate: 0.063197 deg/s,
      cmd heading: 258.215083 deg,
      new cmd heading: 258.266621 deg.

2025-08-21T19:32:59.389Z,1755804779.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507603 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:32:59.568Z,1755804779.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753709
2025-08-21T19:32:59.807Z,1755804779.807 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:32:59.809Z,1755804779.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:32:59.812Z,1755804779.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 297.986938 m,
      bearing: 260.174940 deg,
      approach rate: -0.446986 m/s,
      LOS rate: 0.062432 deg/s,
      cmd heading: 258.266610 deg,
      new cmd heading: 258.319516 deg.

2025-08-21T19:32:59.813Z,1755804779.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508526 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:32:59.820Z,1755804779.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005890
2025-08-21T19:33:00.072Z,1755804780.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257674
2025-08-21T19:33:00.213Z,1755804780.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:00.216Z,1755804780.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 297.800934 m,
      bearing: 260.199950 deg,
      approach rate: -0.460681 m/s,
      LOS rate: 0.061980 deg/s,
      cmd heading: 258.319503 deg,
      new cmd heading: 258.369553 deg.

2025-08-21T19:33:00.217Z,1755804780.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.509399 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:00.326Z,1755804780.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510970
2025-08-21T19:33:00.583Z,1755804780.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768503
2025-08-21T19:33:00.631Z,1755804780.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:00.669Z,1755804780.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 297.599304 m,
      bearing: 260.225686 deg,
      approach rate: -0.482391 m/s,
      LOS rate: 0.061615 deg/s,
      cmd heading: 258.369555 deg,
      new cmd heading: 258.421062 deg.

2025-08-21T19:33:00.670Z,1755804780.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510298 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:00.836Z,1755804780.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021739
2025-08-21T19:33:01.085Z,1755804781.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:01.088Z,1755804781.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273900
2025-08-21T19:33:01.089Z,1755804781.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 297.380432 m,
      bearing: 260.253674 deg,
      approach rate: -0.482057 m/s,
      LOS rate: 0.061689 deg/s,
      cmd heading: 258.421054 deg,
      new cmd heading: 258.477072 deg.

2025-08-21T19:33:01.090Z,1755804781.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511276 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:01.340Z,1755804781.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525851
2025-08-21T19:33:01.434Z,1755804781.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:01.437Z,1755804781.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 297.207672 m,
      bearing: 260.274095 deg,
      approach rate: -0.493858 m/s,
      LOS rate: 0.058408 deg/s,
      cmd heading: 258.477062 deg,
      new cmd heading: 258.517926 deg.

2025-08-21T19:33:01.443Z,1755804781.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511989 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:01.593Z,1755804781.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778676
2025-08-21T19:33:01.844Z,1755804781.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029745
2025-08-21T19:33:01.893Z,1755804781.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:01.895Z,1755804781.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:01.925Z,1755804781.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 296.975891 m,
      bearing: 260.300664 deg,
      approach rate: -0.503701 m/s,
      LOS rate: 0.057784 deg/s,
      cmd heading: 258.517934 deg,
      new cmd heading: 258.571113 deg.

2025-08-21T19:33:01.926Z,1755804781.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512917 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:02.096Z,1755804782.096 [DAT](INFO): DAT read: Rx Time:19:33:00.8216

2025-08-21T19:33:02.097Z,1755804782.097 [DAT](INFO): Rx dataTimestamp_ set to:1755804782.096446
2025-08-21T19:33:02.097Z,1755804782.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282820
2025-08-21T19:33:02.348Z,1755804782.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533734
2025-08-21T19:33:02.391Z,1755804782.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.80 m.
2025-08-21T19:33:02.394Z,1755804782.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 308.796906 m,
      nav range: 296.724091 m,
      bearing: 260.328330 deg,
      approach rate: -0.528446 m/s,
      LOS rate: 0.058112 deg/s,
      cmd heading: 258.571100 deg,
      new cmd heading: 258.626479 deg.

2025-08-21T19:33:02.399Z,1755804782.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513884 target range: 308.796906 and range: 310.60 m.
2025-08-21T19:33:02.606Z,1755804782.606 [DAT](INFO): DAT read: 19:33:00.8216 LVL= 23952, 32753, 32610, 32755, AGC= 66, IDX= 423,-0.35, 1.403,-0.431, 0.197, 0.694, PHS= 0.811,-1.081,-0.541, RAW= 106.1,   9.6, CAL= 107.5,  10.9, ROT=  42.5, -10.9

2025-08-21T19:33:02.607Z,1755804782.607 [DAT](INFO): got valid direction response:
 19:33:00.8216 LVL= 23952, 32753, 32610, 32755, AGC= 66, IDX= 423,-0.35, 1.403,-0.431, 0.197, 0.694, PHS= 0.811,-1.081,-0.541, RAW= 106.1,   9.6, CAL= 107.5,  10.9, ROT=  42.5, -10.9

2025-08-21T19:33:02.608Z,1755804782.608 [DAT](INFO): DAT read: Bearing  13.2,  45.4 (Local)

2025-08-21T19:33:02.608Z,1755804782.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.2,  45.4 (Local)

2025-08-21T19:33:02.609Z,1755804782.609 [DAT](INFO): DAT read: Range 11 to 50 : 309.0 m  (Round-trip  412.0 ms) speed  0.4 m/s

2025-08-21T19:33:02.610Z,1755804782.610 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:02.611Z,1755804782.611 [DAT](INFO): direction in FSK: [0.723976,0.663402,0.189095]
2025-08-21T19:33:02.612Z,1755804782.612 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:02.615Z,1755804782.615 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:02.615Z,1755804782.615 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:02.615Z,1755804782.615 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:02.852Z,1755804782.852 [DAT](INFO): DAT read: user:3941>

2025-08-21T19:33:02.853Z,1755804782.853 [DAT](INFO): DAT read: Tx time:19:33:02.0555

2025-08-21T19:33:02.853Z,1755804782.853 [DAT](INFO): Ping request sent.
2025-08-21T19:33:02.853Z,1755804782.853 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:02.854Z,1755804782.854 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:02.854Z,1755804782.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T19:33:02.860Z,1755804782.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 309.000000 m,
      deltaT: 4.038576 s,
      deltaX: -1.600006 m,
      approachRate: -0.396181 m/s,
      rangeRepo size: 4

2025-08-21T19:33:02.862Z,1755804782.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 307.206024 m,
      bearing: 261.971540 deg,
      lat: 36.779231 deg,
      lon: -121.859550 deg,
      deltaT: 4.038576 s,
      deltaX: -1.590881 m,
      approachRate: -0.393921 m/s,
      posRepo size: 4

2025-08-21T19:33:02.863Z,1755804782.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:02.869Z,1755804782.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 295.065277 m,
      bearing: 262.129885 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058112 deg/s,
      cmd heading: 258.626479 deg,
      new cmd heading: 258.682231 deg.

2025-08-21T19:33:02.870Z,1755804782.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514857 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:03.105Z,1755804783.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251407
2025-08-21T19:33:03.357Z,1755804783.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503031
2025-08-21T19:33:03.407Z,1755804783.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:03.410Z,1755804783.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 294.764526 m,
      bearing: 262.161338 deg,
      approach rate: -0.540546 m/s,
      LOS rate: 0.056588 deg/s,
      cmd heading: 258.682241 deg,
      new cmd heading: 258.745210 deg.

2025-08-21T19:33:03.415Z,1755804783.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515956 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:03.608Z,1755804783.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754749
2025-08-21T19:33:03.860Z,1755804783.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006658
2025-08-21T19:33:03.965Z,1755804783.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:03.967Z,1755804783.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:03.970Z,1755804783.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 294.453125 m,
      bearing: 262.194537 deg,
      approach rate: -0.556369 m/s,
      LOS rate: 0.059377 deg/s,
      cmd heading: 258.745215 deg,
      new cmd heading: 258.811682 deg.

2025-08-21T19:33:03.971Z,1755804783.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517116 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:04.112Z,1755804784.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258938
2025-08-21T19:33:04.369Z,1755804784.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515371
2025-08-21T19:33:04.493Z,1755804784.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:04.520Z,1755804784.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 294.166351 m,
      bearing: 262.222347 deg,
      approach rate: -0.548123 m/s,
      LOS rate: 0.053206 deg/s,
      cmd heading: 258.811686 deg,
      new cmd heading: 258.867361 deg.

2025-08-21T19:33:04.528Z,1755804784.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518088 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:04.617Z,1755804784.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763336
2025-08-21T19:33:04.869Z,1755804784.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015081
2025-08-21T19:33:04.943Z,1755804784.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:04.946Z,1755804784.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 293.909027 m,
      bearing: 262.247717 deg,
      approach rate: -0.568280 m/s,
      LOS rate: 0.056079 deg/s,
      cmd heading: 258.867366 deg,
      new cmd heading: 258.918152 deg.

2025-08-21T19:33:04.947Z,1755804784.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518974 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:05.120Z,1755804785.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266752
2025-08-21T19:33:05.293Z,1755804785.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:05.297Z,1755804785.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 293.710022 m,
      bearing: 262.266397 deg,
      approach rate: -0.568417 m/s,
      LOS rate: 0.053392 deg/s,
      cmd heading: 258.918155 deg,
      new cmd heading: 258.955541 deg.

2025-08-21T19:33:05.298Z,1755804785.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519627 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:05.373Z,1755804785.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519249
2025-08-21T19:33:05.625Z,1755804785.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771016
2025-08-21T19:33:05.718Z,1755804785.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:05.721Z,1755804785.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 293.462952 m,
      bearing: 262.289187 deg,
      approach rate: -0.580746 m/s,
      LOS rate: 0.053612 deg/s,
      cmd heading: 258.955530 deg,
      new cmd heading: 259.001147 deg.

2025-08-21T19:33:05.722Z,1755804785.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.520423 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:05.876Z,1755804785.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022790
2025-08-21T19:33:06.098Z,1755804786.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:06.100Z,1755804786.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:06.103Z,1755804786.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 293.238770 m,
      bearing: 262.308792 deg,
      approach rate: -0.587162 m/s,
      LOS rate: 0.051388 deg/s,
      cmd heading: 259.001156 deg,
      new cmd heading: 259.040396 deg.

2025-08-21T19:33:06.120Z,1755804786.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521108 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:06.128Z,1755804786.128 [DAT](INFO): DAT read: Rx Time:19:33:04.8689

2025-08-21T19:33:06.129Z,1755804786.129 [DAT](INFO): Rx dataTimestamp_ set to:1755804786.128585
2025-08-21T19:33:06.129Z,1755804786.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275935
2025-08-21T19:33:06.380Z,1755804786.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526696
2025-08-21T19:33:06.602Z,1755804786.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 307.21 m.
2025-08-21T19:33:06.624Z,1755804786.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 307.206024 m,
      nav range: 292.983856 m,
      bearing: 262.329846 deg,
      approach rate: -0.516281 m/s,
      LOS rate: 0.042679 deg/s,
      cmd heading: 259.040388 deg,
      new cmd heading: 259.082534 deg.

2025-08-21T19:33:06.625Z,1755804786.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521843 target range: 307.206024 and range: 309.00 m.
2025-08-21T19:33:06.638Z,1755804786.638 [DAT](INFO): DAT read: 19:33:04.8689 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.29,-2.580, 1.925, 2.832, 3.132, PHS= 0.673,-1.163,-0.345, RAW= 116.4,  10.5, CAL= 117.6,  11.7, ROT=  32.4, -11.7

2025-08-21T19:33:06.639Z,1755804786.639 [DAT](INFO): got valid direction response:
 19:33:04.8689 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 412,-0.29,-2.580, 1.925, 2.832, 3.132, PHS= 0.673,-1.163,-0.345, RAW= 116.4,  10.5, CAL= 117.6,  11.7, ROT=  32.4, -11.7

2025-08-21T19:33:06.640Z,1755804786.640 [DAT](INFO): DAT read: Bearing  26.5,  37.0 (Local)

2025-08-21T19:33:06.640Z,1755804786.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.5,  37.0 (Local)

2025-08-21T19:33:06.642Z,1755804786.642 [DAT](INFO): DAT read: Range 11 to 50 : 306.9 m  (Round-trip  409.2 ms) speed  0.4 m/s

2025-08-21T19:33:06.642Z,1755804786.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:06.643Z,1755804786.643 [DAT](INFO): direction in FSK: [0.826785,0.524694,0.202787]
2025-08-21T19:33:06.643Z,1755804786.643 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:06.648Z,1755804786.648 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:06.648Z,1755804786.648 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:06.648Z,1755804786.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:06.884Z,1755804786.884 [DAT](INFO): DAT read: user:3942>

2025-08-21T19:33:06.885Z,1755804786.885 [DAT](INFO): DAT read: Tx time:19:33:06.0555

2025-08-21T19:33:06.885Z,1755804786.885 [DAT](INFO): Ping request sent.
2025-08-21T19:33:06.885Z,1755804786.885 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:06.886Z,1755804786.886 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:06.886Z,1755804786.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T19:33:07.074Z,1755804787.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.899994 m,
      deltaT: 4.031858 s,
      deltaX: -2.100006 m,
      approachRate: -0.520853 m/s,
      rangeRepo size: 4

2025-08-21T19:33:07.076Z,1755804787.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.116425 m,
      bearing: 264.394938 deg,
      lat: 36.779274 deg,
      lon: -121.859550 deg,
      deltaT: 4.031858 s,
      deltaX: -2.089600 m,
      approachRate: -0.518272 m/s,
      posRepo size: 4

2025-08-21T19:33:07.077Z,1755804787.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:07.080Z,1755804787.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 292.051819 m,
      bearing: 263.292794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042679 deg/s,
      cmd heading: 259.082544 deg,
      new cmd heading: 259.123433 deg.

2025-08-21T19:33:07.081Z,1755804787.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.522557 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:07.137Z,1755804787.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251794
2025-08-21T19:33:07.388Z,1755804787.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502902
2025-08-21T19:33:07.442Z,1755804787.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:07.448Z,1755804787.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 291.830322 m,
      bearing: 263.310097 deg,
      approach rate: -0.601008 m/s,
      LOS rate: 0.046985 deg/s,
      cmd heading: 259.123444 deg,
      new cmd heading: 259.158076 deg.

2025-08-21T19:33:07.449Z,1755804787.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523162 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:07.640Z,1755804787.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796
2025-08-21T19:33:07.863Z,1755804787.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:07.866Z,1755804787.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 291.566742 m,
      bearing: 263.330816 deg,
      approach rate: -0.625271 m/s,
      LOS rate: 0.049193 deg/s,
      cmd heading: 259.158086 deg,
      new cmd heading: 259.199561 deg.

2025-08-21T19:33:07.870Z,1755804787.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523886 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:07.892Z,1755804787.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006979
2025-08-21T19:33:08.145Z,1755804788.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259321
2025-08-21T19:33:08.253Z,1755804788.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:08.256Z,1755804788.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:08.258Z,1755804788.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 291.328247 m,
      bearing: 263.349597 deg,
      approach rate: -0.607912 m/s,
      LOS rate: 0.047911 deg/s,
      cmd heading: 259.199559 deg,
      new cmd heading: 259.237152 deg.

2025-08-21T19:33:08.260Z,1755804788.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524542 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:08.398Z,1755804788.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512394
2025-08-21T19:33:08.648Z,1755804788.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891
2025-08-21T19:33:08.669Z,1755804788.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:08.672Z,1755804788.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 291.065063 m,
      bearing: 263.367992 deg,
      approach rate: -0.636256 m/s,
      LOS rate: 0.044510 deg/s,
      cmd heading: 259.237153 deg,
      new cmd heading: 259.273975 deg.

2025-08-21T19:33:08.673Z,1755804788.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525185 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:08.900Z,1755804788.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862
2025-08-21T19:33:09.047Z,1755804789.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:09.050Z,1755804789.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 290.823395 m,
      bearing: 263.383759 deg,
      approach rate: -0.639625 m/s,
      LOS rate: 0.041765 deg/s,
      cmd heading: 259.273981 deg,
      new cmd heading: 259.305541 deg.

2025-08-21T19:33:09.052Z,1755804789.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525735 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:09.155Z,1755804789.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269423
2025-08-21T19:33:09.404Z,1755804789.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519085
2025-08-21T19:33:09.454Z,1755804789.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:09.458Z,1755804789.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 290.560486 m,
      bearing: 263.399700 deg,
      approach rate: -0.645792 m/s,
      LOS rate: 0.039193 deg/s,
      cmd heading: 259.305536 deg,
      new cmd heading: 259.337448 deg.

2025-08-21T19:33:09.459Z,1755804789.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526292 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:09.656Z,1755804789.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770869
2025-08-21T19:33:09.893Z,1755804789.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:09.908Z,1755804789.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022871
2025-08-21T19:33:09.917Z,1755804789.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 290.275635 m,
      bearing: 263.417310 deg,
      approach rate: -0.648167 m/s,
      LOS rate: 0.040110 deg/s,
      cmd heading: 259.337447 deg,
      new cmd heading: 259.372702 deg.

2025-08-21T19:33:09.918Z,1755804789.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526907 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:10.161Z,1755804790.161 [DAT](INFO): DAT read: Rx Time:19:33:08.8659

2025-08-21T19:33:10.162Z,1755804790.162 [DAT](INFO): Rx dataTimestamp_ set to:1755804790.161220
2025-08-21T19:33:10.163Z,1755804790.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277033
2025-08-21T19:33:10.326Z,1755804790.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:10.329Z,1755804790.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.12 m.
2025-08-21T19:33:10.332Z,1755804790.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.116425 m,
      nav range: 289.980591 m,
      bearing: 263.432909 deg,
      approach rate: -0.677737 m/s,
      LOS rate: 0.035868 deg/s,
      cmd heading: 259.372691 deg,
      new cmd heading: 259.403920 deg.

2025-08-21T19:33:10.333Z,1755804790.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527452 target range: 305.116425 and range: 306.90 m.
2025-08-21T19:33:10.412Z,1755804790.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527058
2025-08-21T19:33:10.669Z,1755804790.669 [DAT](INFO): DAT read: 19:33:08.8659 LVL= 28048, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.05, 1.607,-0.387, 0.985, 1.040, PHS= 0.669,-1.382,-0.099, RAW= 128.2,   9.1, CAL= 128.4,  10.3, ROT=  21.6, -10.3

2025-08-21T19:33:10.670Z,1755804790.670 [DAT](INFO): got valid direction response:
 19:33:08.8659 LVL= 28048, 32753, 32754, 32755, AGC= 65, IDX= 412,-0.05, 1.607,-0.387, 0.985, 1.040, PHS= 0.669,-1.382,-0.099, RAW= 128.2,   9.1, CAL= 128.4,  10.3, ROT=  21.6, -10.3

2025-08-21T19:33:10.671Z,1755804790.671 [DAT](INFO): DAT read: Bearing  38.3,  26.9 (Local)

2025-08-21T19:33:10.672Z,1755804790.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing  38.3,  26.9 (Local)

2025-08-21T19:33:10.673Z,1755804790.673 [DAT](INFO): DAT read: Range 11 to 50 : 304.6 m  (Round-trip  406.2 ms) speed  0.5 m/s

2025-08-21T19:33:10.674Z,1755804790.674 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:10.675Z,1755804790.675 [DAT](INFO): direction in FSK: [0.914793,0.362192,0.178802]
2025-08-21T19:33:10.675Z,1755804790.675 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:10.678Z,1755804790.678 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:10.678Z,1755804790.678 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:10.679Z,1755804790.679 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:10.861Z,1755804790.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.600006 m,
      deltaT: 4.031832 s,
      deltaX: -2.299988 m,
      approachRate: -0.570457 m/s,
      rangeRepo size: 4

2025-08-21T19:33:10.863Z,1755804790.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 302.829926 m,
      bearing: 264.618233 deg,
      lat: 36.779329 deg,
      lon: -121.859538 deg,
      deltaT: 4.031832 s,
      deltaX: -2.286499 m,
      approachRate: -0.567112 m/s,
      posRepo size: 4

2025-08-21T19:33:10.868Z,1755804790.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:10.870Z,1755804790.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 287.983124 m,
      bearing: 264.619205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035868 deg/s,
      cmd heading: 259.403918 deg,
      new cmd heading: 259.442011 deg.

2025-08-21T19:33:10.875Z,1755804790.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528117 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:10.917Z,1755804790.917 [DAT](INFO): DAT read: user:3943>

2025-08-21T19:33:10.917Z,1755804790.917 [DAT](INFO): DAT read: Tx time:19:33:10.1055

2025-08-21T19:33:10.918Z,1755804790.918 [DAT](INFO): Ping request sent.
2025-08-21T19:33:10.918Z,1755804790.918 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:10.918Z,1755804790.918 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:10.918Z,1755804790.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-21T19:33:11.169Z,1755804791.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250884
2025-08-21T19:33:11.208Z,1755804791.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:33:11.260Z,1755804791.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:11.262Z,1755804791.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 287.709442 m,
      bearing: 264.631806 deg,
      approach rate: -0.684896 m/s,
      LOS rate: 0.031565 deg/s,
      cmd heading: 259.442004 deg,
      new cmd heading: 259.467230 deg.

2025-08-21T19:33:11.263Z,1755804791.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.528557 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:11.420Z,1755804791.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502508
2025-08-21T19:33:11.673Z,1755804791.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910
2025-08-21T19:33:11.724Z,1755804791.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:11.726Z,1755804791.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 287.403503 m,
      bearing: 264.645442 deg,
      approach rate: -0.659638 m/s,
      LOS rate: 0.029432 deg/s,
      cmd heading: 259.467221 deg,
      new cmd heading: 259.494521 deg.

2025-08-21T19:33:11.727Z,1755804791.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529034 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:11.924Z,1755804791.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006733
2025-08-21T19:33:12.062Z,1755804792.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:12.065Z,1755804792.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 287.179413 m,
      bearing: 264.654623 deg,
      approach rate: -0.662063 m/s,
      LOS rate: 0.027145 deg/s,
      cmd heading: 259.494514 deg,
      new cmd heading: 259.512890 deg.

2025-08-21T19:33:12.066Z,1755804792.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529355 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:12.177Z,1755804792.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259122
2025-08-21T19:33:12.212Z,1755804792.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:33:12.428Z,1755804792.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510664
2025-08-21T19:33:12.472Z,1755804792.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:12.478Z,1755804792.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:12.485Z,1755804792.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 286.905396 m,
      bearing: 264.664874 deg,
      approach rate: -0.659574 m/s,
      LOS rate: 0.024699 deg/s,
      cmd heading: 259.512901 deg,
      new cmd heading: 259.533423 deg.

2025-08-21T19:33:12.487Z,1755804792.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529713 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:12.680Z,1755804792.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762604
2025-08-21T19:33:12.886Z,1755804792.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:12.889Z,1755804792.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 286.629974 m,
      bearing: 264.674715 deg,
      approach rate: -0.672793 m/s,
      LOS rate: 0.024063 deg/s,
      cmd heading: 259.533419 deg,
      new cmd heading: 259.553121 deg.

2025-08-21T19:33:12.890Z,1755804792.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530056 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:12.934Z,1755804792.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016105
2025-08-21T19:33:13.184Z,1755804793.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266592
2025-08-21T19:33:13.275Z,1755804793.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:13.277Z,1755804793.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 286.370026 m,
      bearing: 264.683205 deg,
      approach rate: -0.669783 m/s,
      LOS rate: 0.021895 deg/s,
      cmd heading: 259.553117 deg,
      new cmd heading: 259.570113 deg.

2025-08-21T19:33:13.278Z,1755804793.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530353 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:13.436Z,1755804793.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518631
2025-08-21T19:33:13.691Z,1755804793.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772732
2025-08-21T19:33:13.756Z,1755804793.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:13.759Z,1755804793.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 286.050415 m,
      bearing: 264.694077 deg,
      approach rate: -0.663552 m/s,
      LOS rate: 0.022596 deg/s,
      cmd heading: 259.570111 deg,
      new cmd heading: 259.591878 deg.

2025-08-21T19:33:13.760Z,1755804793.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530733 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:13.941Z,1755804793.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022916
2025-08-21T19:33:14.089Z,1755804794.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:14.095Z,1755804794.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 285.829315 m,
      bearing: 264.701021 deg,
      approach rate: -0.665386 m/s,
      LOS rate: 0.020914 deg/s,
      cmd heading: 259.591885 deg,
      new cmd heading: 259.605784 deg.

2025-08-21T19:33:14.096Z,1755804794.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530976 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:14.193Z,1755804794.193 [DAT](INFO): DAT read: Rx Time:19:33:12.9123

2025-08-21T19:33:14.194Z,1755804794.194 [DAT](INFO): Rx dataTimestamp_ set to:1755804794.193254
2025-08-21T19:33:14.194Z,1755804794.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276743
2025-08-21T19:33:14.444Z,1755804794.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526535
2025-08-21T19:33:14.522Z,1755804794.522 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:14.529Z,1755804794.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.83 m.
2025-08-21T19:33:14.533Z,1755804794.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 302.829926 m,
      nav range: 285.541779 m,
      bearing: 264.709329 deg,
      approach rate: -0.653498 m/s,
      LOS rate: 0.018902 deg/s,
      cmd heading: 259.605791 deg,
      new cmd heading: 259.622425 deg.

2025-08-21T19:33:14.534Z,1755804794.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531266 target range: 302.829926 and range: 304.60 m.
2025-08-21T19:33:14.705Z,1755804794.705 [DAT](INFO): DAT read: 19:33:12.9123 LVL= 27456, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.49, 2.455, 0.447, 1.942, 1.957, PHS= 0.600,-1.466,-0.059, RAW= 131.8,  10.1, CAL= 131.5,  11.3, ROT=  18.5, -11.3

2025-08-21T19:33:14.706Z,1755804794.706 [DAT](INFO): got valid direction response:
 19:33:12.9123 LVL= 27456, 32753, 32754, 32755, AGC= 67, IDX= 407, 0.49, 2.455, 0.447, 1.942, 1.957, PHS= 0.600,-1.466,-0.059, RAW= 131.8,  10.1, CAL= 131.5,  11.3, ROT=  18.5, -11.3

2025-08-21T19:33:14.707Z,1755804794.707 [DAT](INFO): DAT read: Bearing  50.5,  23.6 (Local)

2025-08-21T19:33:14.708Z,1755804794.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.5,  23.6 (Local)

2025-08-21T19:33:14.709Z,1755804794.709 [DAT](INFO): DAT read: Range 11 to 50 : 301.9 m  (Round-trip  402.6 ms) speed  0.5 m/s

2025-08-21T19:33:14.710Z,1755804794.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:14.711Z,1755804794.711 [DAT](INFO): direction in FSK: [0.929940,0.311154,0.195946]
2025-08-21T19:33:14.711Z,1755804794.711 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:14.714Z,1755804794.714 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:14.714Z,1755804794.714 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:14.715Z,1755804794.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:14.937Z,1755804794.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.899994 m,
      deltaT: 4.033394 s,
      deltaX: -2.700012 m,
      approachRate: -0.669414 m/s,
      rangeRepo size: 4

2025-08-21T19:33:14.939Z,1755804794.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 300.144165 m,
      bearing: 271.704256 deg,
      lat: 36.779330 deg,
      lon: -121.859538 deg,
      deltaT: 4.033394 s,
      deltaX: -2.685760 m,
      approachRate: -0.665881 m/s,
      posRepo size: 4

2025-08-21T19:33:14.940Z,1755804794.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:14.942Z,1755804794.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 285.266449 m,
      bearing: 264.749144 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018902 deg/s,
      cmd heading: 259.622430 deg,
      new cmd heading: 259.637830 deg.

2025-08-21T19:33:14.948Z,1755804794.948 [DAT](INFO): DAT read: user:3944>

2025-08-21T19:33:14.949Z,1755804794.949 [DAT](INFO): DAT read: Tx time:19:33:14.1555

2025-08-21T19:33:14.949Z,1755804794.949 [DAT](INFO): Ping request sent.
2025-08-21T19:33:14.949Z,1755804794.949 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:14.950Z,1755804794.950 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:14.950Z,1755804794.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T19:33:14.955Z,1755804794.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531535 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:15.204Z,1755804795.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254249
2025-08-21T19:33:15.301Z,1755804795.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:15.304Z,1755804795.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 285.007111 m,
      bearing: 264.756358 deg,
      approach rate: -0.710041 m/s,
      LOS rate: 0.019767 deg/s,
      cmd heading: 259.637839 deg,
      new cmd heading: 259.652279 deg.

2025-08-21T19:33:15.305Z,1755804795.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531787 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:15.452Z,1755804795.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502809
2025-08-21T19:33:15.707Z,1755804795.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757153
2025-08-21T19:33:15.773Z,1755804795.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:15.776Z,1755804795.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 284.683197 m,
      bearing: 264.764757 deg,
      approach rate: -0.686857 m/s,
      LOS rate: 0.017831 deg/s,
      cmd heading: 259.652291 deg,
      new cmd heading: 259.669110 deg.

2025-08-21T19:33:15.777Z,1755804795.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532081 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:15.956Z,1755804795.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701
2025-08-21T19:33:16.123Z,1755804796.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:16.126Z,1755804796.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 284.453552 m,
      bearing: 264.770404 deg,
      approach rate: -0.686745 m/s,
      LOS rate: 0.016899 deg/s,
      cmd heading: 259.669121 deg,
      new cmd heading: 259.680423 deg.

2025-08-21T19:33:16.127Z,1755804796.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532279 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:16.209Z,1755804796.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259609
2025-08-21T19:33:16.460Z,1755804796.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510941
2025-08-21T19:33:16.526Z,1755804796.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:16.529Z,1755804796.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:16.544Z,1755804796.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 284.164185 m,
      bearing: 264.777159 deg,
      approach rate: -0.686516 m/s,
      LOS rate: 0.016042 deg/s,
      cmd heading: 259.680432 deg,
      new cmd heading: 259.693955 deg.

2025-08-21T19:33:16.545Z,1755804796.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532515 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:16.717Z,1755804796.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766841
2025-08-21T19:33:16.966Z,1755804796.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016096
2025-08-21T19:33:17.007Z,1755804797.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:17.017Z,1755804797.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 283.856354 m,
      bearing: 264.782568 deg,
      approach rate: -0.643763 m/s,
      LOS rate: 0.011325 deg/s,
      cmd heading: 259.693956 deg,
      new cmd heading: 259.704786 deg.

2025-08-21T19:33:17.018Z,1755804797.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532703 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:17.217Z,1755804797.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267292
2025-08-21T19:33:17.396Z,1755804797.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:17.398Z,1755804797.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 283.560242 m,
      bearing: 264.787510 deg,
      approach rate: -0.761960 m/s,
      LOS rate: 0.012730 deg/s,
      cmd heading: 259.704775 deg,
      new cmd heading: 259.714669 deg.

2025-08-21T19:33:17.400Z,1755804797.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532876 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:17.470Z,1755804797.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520045
2025-08-21T19:33:17.724Z,1755804797.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774001
2025-08-21T19:33:17.842Z,1755804797.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:17.849Z,1755804797.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 283.239166 m,
      bearing: 264.794156 deg,
      approach rate: -0.718394 m/s,
      LOS rate: 0.014887 deg/s,
      cmd heading: 259.714665 deg,
      new cmd heading: 259.727971 deg.

2025-08-21T19:33:17.850Z,1755804797.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533108 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:17.973Z,1755804797.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023235
2025-08-21T19:33:18.199Z,1755804798.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:18.202Z,1755804798.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 282.972107 m,
      bearing: 264.799490 deg,
      approach rate: -0.749007 m/s,
      LOS rate: 0.014975 deg/s,
      cmd heading: 259.727970 deg,
      new cmd heading: 259.738649 deg.

2025-08-21T19:33:18.203Z,1755804798.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533295 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:18.224Z,1755804798.224 [DAT](INFO): DAT read: Rx Time:19:33:16.9585

2025-08-21T19:33:18.225Z,1755804798.225 [DAT](INFO): Rx dataTimestamp_ set to:1755804798.224545
2025-08-21T19:33:18.225Z,1755804798.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275900
2025-08-21T19:33:18.478Z,1755804798.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528173
2025-08-21T19:33:18.587Z,1755804798.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:18.589Z,1755804798.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 300.14 m.
2025-08-21T19:33:18.592Z,1755804798.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 300.144165 m,
      nav range: 282.686859 m,
      bearing: 264.805043 deg,
      approach rate: -0.731622 m/s,
      LOS rate: 0.014255 deg/s,
      cmd heading: 259.738652 deg,
      new cmd heading: 259.749768 deg.

2025-08-21T19:33:18.593Z,1755804798.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533489 target range: 300.144165 and range: 301.90 m.
2025-08-21T19:33:18.760Z,1755804798.760 [DAT](INFO): DAT read: 19:33:16.9585 LVL= 27008, 32753, 32754, 32755, AGC= 69, IDX= 401, 0.11,-1.242, 3.051,-1.630,-1.666, PHS= 0.526,-1.521,-0.008, RAW= 135.4,  10.9, CAL= 135.0,  12.0, ROT=  15.0, -12.0

2025-08-21T19:33:18.761Z,1755804798.761 [DAT](INFO): got valid direction response:
 19:33:16.9585 LVL= 27008, 32753, 32754, 32755, AGC= 69, IDX= 401, 0.11,-1.242, 3.051,-1.630,-1.666, PHS= 0.526,-1.521,-0.008, RAW= 135.4,  10.9, CAL= 135.0,  12.0, ROT=  15.0, -12.0

2025-08-21T19:33:18.762Z,1755804798.762 [DAT](INFO): DAT read: Bearing  56.7,  19.4 (Local)

2025-08-21T19:33:18.762Z,1755804798.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.7,  19.4 (Local)

2025-08-21T19:33:18.768Z,1755804798.768 [DAT](INFO): DAT read: Range 11 to 50 : 299.1 m  (Round-trip  398.9 ms) speed  0.4 m/s

2025-08-21T19:33:18.769Z,1755804798.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:18.770Z,1755804798.770 [DAT](INFO): direction in FSK: [0.944818,0.253163,0.207912]
2025-08-21T19:33:18.770Z,1755804798.770 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:18.778Z,1755804798.778 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:18.778Z,1755804798.778 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:18.778Z,1755804798.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:18.985Z,1755804798.985 [DAT](INFO): DAT read: user:3945>

2025-08-21T19:33:18.986Z,1755804798.986 [DAT](INFO): DAT read: Tx time:19:33:18.2055

2025-08-21T19:33:18.986Z,1755804798.986 [DAT](INFO): Ping request sent.
2025-08-21T19:33:18.987Z,1755804798.987 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:18.987Z,1755804798.987 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:18.989Z,1755804798.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001767
2025-08-21T19:33:19.071Z,1755804799.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.100006 m,
      deltaT: 4.032622 s,
      deltaX: -2.799988 m,
      approachRate: -0.694334 m/s,
      rangeRepo size: 4

2025-08-21T19:33:19.077Z,1755804799.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.360352 m,
      bearing: 271.831607 deg,
      lat: 36.779330 deg,
      lon: -121.859538 deg,
      deltaT: 4.032622 s,
      deltaX: -2.783813 m,
      approachRate: -0.690323 m/s,
      posRepo size: 4

2025-08-21T19:33:19.078Z,1755804799.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:19.085Z,1755804799.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 282.336700 m,
      bearing: 264.810468 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.014255 deg/s,
      cmd heading: 259.749772 deg,
      new cmd heading: 259.763492 deg.

2025-08-21T19:33:19.086Z,1755804799.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533728 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:19.237Z,1755804799.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249894
2025-08-21T19:33:19.406Z,1755804799.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:19.428Z,1755804799.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 282.066162 m,
      bearing: 264.814572 deg,
      approach rate: -0.806398 m/s,
      LOS rate: 0.012244 deg/s,
      cmd heading: 259.763487 deg,
      new cmd heading: 259.771703 deg.

2025-08-21T19:33:19.429Z,1755804799.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533872 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:19.490Z,1755804799.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502719
2025-08-21T19:33:19.743Z,1755804799.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755364
2025-08-21T19:33:19.842Z,1755804799.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:19.845Z,1755804799.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 281.728088 m,
      bearing: 264.819881 deg,
      approach rate: -0.774956 m/s,
      LOS rate: 0.012185 deg/s,
      cmd heading: 259.771710 deg,
      new cmd heading: 259.782342 deg.

2025-08-21T19:33:19.846Z,1755804799.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534057 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:19.993Z,1755804799.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006314
2025-08-21T19:33:20.213Z,1755804800.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:20.216Z,1755804800.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 281.440277 m,
      bearing: 264.824315 deg,
      approach rate: -0.775492 m/s,
      LOS rate: 0.011959 deg/s,
      cmd heading: 259.782338 deg,
      new cmd heading: 259.791215 deg.

2025-08-21T19:33:20.217Z,1755804800.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534212 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:20.245Z,1755804800.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258264
2025-08-21T19:33:20.497Z,1755804800.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510179
2025-08-21T19:33:20.624Z,1755804800.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:20.626Z,1755804800.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:20.629Z,1755804800.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 281.120453 m,
      bearing: 264.829124 deg,
      approach rate: -0.774503 m/s,
      LOS rate: 0.011659 deg/s,
      cmd heading: 259.791217 deg,
      new cmd heading: 259.800846 deg.

2025-08-21T19:33:20.630Z,1755804800.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534380 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:20.752Z,1755804800.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764465
2025-08-21T19:33:21.000Z,1755804801.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013730
2025-08-21T19:33:21.076Z,1755804801.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:21.079Z,1755804801.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 280.776550 m,
      bearing: 264.835715 deg,
      approach rate: -0.764162 m/s,
      LOS rate: 0.014663 deg/s,
      cmd heading: 259.800834 deg,
      new cmd heading: 259.814032 deg.

2025-08-21T19:33:21.084Z,1755804801.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534610 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:21.252Z,1755804801.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265607
2025-08-21T19:33:21.432Z,1755804801.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:21.447Z,1755804801.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 280.486877 m,
      bearing: 264.841209 deg,
      approach rate: -0.812512 m/s,
      LOS rate: 0.015426 deg/s,
      cmd heading: 259.814030 deg,
      new cmd heading: 259.825030 deg.

2025-08-21T19:33:21.448Z,1755804801.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534802 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:21.507Z,1755804801.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520266
2025-08-21T19:33:21.763Z,1755804801.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775980
2025-08-21T19:33:21.882Z,1755804801.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:21.885Z,1755804801.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 280.133301 m,
      bearing: 264.847536 deg,
      approach rate: -0.786605 m/s,
      LOS rate: 0.014096 deg/s,
      cmd heading: 259.825041 deg,
      new cmd heading: 259.837712 deg.

2025-08-21T19:33:21.886Z,1755804801.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535024 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:22.013Z,1755804802.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026784
2025-08-21T19:33:22.248Z,1755804802.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:22.251Z,1755804802.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 279.845093 m,
      bearing: 264.852571 deg,
      approach rate: -0.787226 m/s,
      LOS rate: 0.013765 deg/s,
      cmd heading: 259.837717 deg,
      new cmd heading: 259.847796 deg.

2025-08-21T19:33:22.253Z,1755804802.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535200 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:22.264Z,1755804802.264 [DAT](INFO): DAT read: Rx Time:19:33:21.0195

2025-08-21T19:33:22.265Z,1755804802.265 [DAT](INFO): Rx dataTimestamp_ set to:1755804802.264527
2025-08-21T19:33:22.265Z,1755804802.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278738
2025-08-21T19:33:22.516Z,1755804802.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529593
2025-08-21T19:33:22.645Z,1755804802.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:22.648Z,1755804802.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.36 m.
2025-08-21T19:33:22.650Z,1755804802.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.360352 m,
      nav range: 279.530975 m,
      bearing: 264.857921 deg,
      approach rate: -0.786263 m/s,
      LOS rate: 0.013407 deg/s,
      cmd heading: 259.847799 deg,
      new cmd heading: 259.858511 deg.

2025-08-21T19:33:22.668Z,1755804802.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535387 target range: 297.360352 and range: 299.10 m.
2025-08-21T19:33:22.788Z,1755804802.788 [DAT](INFO): DAT read: 19:33:21.0195 LVL= 27248, 32497, 28418, 29891, AGC= 71, IDX=  49,-0.12, 1.458,-0.223, 1.289, 0.733, PHS= 0.826,-0.911, 0.512, RAW= 140.2,  -5.4, CAL= 140.3,  -6.2, ROT=   9.7,   6.2

2025-08-21T19:33:22.794Z,1755804802.794 [DAT](INFO): got valid direction response:
 19:33:21.0195 LVL= 27248, 32497, 28418, 29891, AGC= 71, IDX=  49,-0.12, 1.458,-0.223, 1.289, 0.733, PHS= 0.826,-0.911, 0.512, RAW= 140.2,  -5.4, CAL= 140.3,  -6.2, ROT=   9.7,   6.2

2025-08-21T19:33:22.799Z,1755804802.799 [DAT](INFO): DAT read: Bearing  40.1,  12.4 (Local)

2025-08-21T19:33:22.801Z,1755804802.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.1,  12.4 (Local)

2025-08-21T19:33:22.814Z,1755804802.814 [DAT](INFO): DAT read: Range 11 to 50 : 307.3 m  (Round-trip  409.8 ms) speed  0.5 m/s

2025-08-21T19:33:22.820Z,1755804802.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:22.821Z,1755804802.821 [DAT](INFO): direction in FSK: [0.979938,0.167504,-0.107999]
2025-08-21T19:33:22.822Z,1755804802.822 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:22.829Z,1755804802.829 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:22.829Z,1755804802.829 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:22.830Z,1755804802.830 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:23.024Z,1755804803.024 [DAT](INFO): DAT read: user:3946>

2025-08-21T19:33:23.025Z,1755804803.025 [DAT](INFO): DAT read: Tx time:19:33:22.2555

2025-08-21T19:33:23.025Z,1755804803.025 [DAT](INFO): Ping request sent.
2025-08-21T19:33:23.025Z,1755804803.025 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:23.025Z,1755804803.025 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:23.026Z,1755804803.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-21T19:33:23.139Z,1755804803.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 307.299988 m,
      deltaT: 4.042503 s,
      deltaX: 8.199982 m,
      approachRate: 2.028442 m/s,
      rangeRepo size: 4

2025-08-21T19:33:23.146Z,1755804803.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.514313 m,
      bearing: 268.860950 deg,
      lat: 36.779500 deg,
      lon: -121.859558 deg,
      deltaT: 4.042503 s,
      deltaX: 8.153961 m,
      approachRate: 2.017058 m/s,
      posRepo size: 4

2025-08-21T19:33:23.152Z,1755804803.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:23.161Z,1755804803.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 279.919922 m,
      bearing: 268.758789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013407 deg/s,
      cmd heading: 259.858508 deg,
      new cmd heading: 259.871663 deg.

2025-08-21T19:33:23.162Z,1755804803.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535616 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:23.277Z,1755804803.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251455
2025-08-21T19:33:23.463Z,1755804803.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:23.484Z,1755804803.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 279.659363 m,
      bearing: 268.766496 deg,
      approach rate: -0.803381 m/s,
      LOS rate: 0.023783 deg/s,
      cmd heading: 259.871650 deg,
      new cmd heading: 259.887077 deg.

2025-08-21T19:33:23.485Z,1755804803.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535885 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:23.528Z,1755804803.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503241
2025-08-21T19:33:23.780Z,1755804803.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755284
2025-08-21T19:33:23.900Z,1755804803.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:23.903Z,1755804803.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 279.320251 m,
      bearing: 268.776849 deg,
      approach rate: -0.774453 m/s,
      LOS rate: 0.023673 deg/s,
      cmd heading: 259.887086 deg,
      new cmd heading: 259.907818 deg.

2025-08-21T19:33:23.904Z,1755804803.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536247 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:24.032Z,1755804804.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007085
2025-08-21T19:33:24.276Z,1755804804.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:24.279Z,1755804804.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 279.033142 m,
      bearing: 268.785496 deg,
      approach rate: -0.763585 m/s,
      LOS rate: 0.023022 deg/s,
      cmd heading: 259.907822 deg,
      new cmd heading: 259.925135 deg.

2025-08-21T19:33:24.280Z,1755804804.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536550 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:24.284Z,1755804804.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259106
2025-08-21T19:33:24.536Z,1755804804.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510990
2025-08-21T19:33:24.666Z,1755804804.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:24.669Z,1755804804.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:24.672Z,1755804804.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 278.734009 m,
      bearing: 268.794370 deg,
      approach rate: -0.761574 m/s,
      LOS rate: 0.022615 deg/s,
      cmd heading: 259.925144 deg,
      new cmd heading: 259.942910 deg.

2025-08-21T19:33:24.673Z,1755804804.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536860 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:24.791Z,1755804804.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765519
2025-08-21T19:33:25.040Z,1755804805.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015080
2025-08-21T19:33:25.126Z,1755804805.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:25.129Z,1755804805.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 278.394012 m,
      bearing: 268.803712 deg,
      approach rate: -0.744815 m/s,
      LOS rate: 0.020491 deg/s,
      cmd heading: 259.942902 deg,
      new cmd heading: 259.961610 deg.

2025-08-21T19:33:25.130Z,1755804805.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537186 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:25.292Z,1755804805.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267025
2025-08-21T19:33:25.494Z,1755804805.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:25.497Z,1755804805.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 278.097351 m,
      bearing: 268.811647 deg,
      approach rate: -0.804228 m/s,
      LOS rate: 0.021533 deg/s,
      cmd heading: 259.961617 deg,
      new cmd heading: 259.977503 deg.

2025-08-21T19:33:25.498Z,1755804805.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537463 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:25.544Z,1755804805.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519238
2025-08-21T19:33:25.797Z,1755804805.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771433
2025-08-21T19:33:25.927Z,1755804805.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:25.930Z,1755804805.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 277.766846 m,
      bearing: 268.819949 deg,
      approach rate: -0.764399 m/s,
      LOS rate: 0.019224 deg/s,
      cmd heading: 259.977490 deg,
      new cmd heading: 259.994115 deg.

2025-08-21T19:33:25.931Z,1755804805.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537753 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:26.049Z,1755804806.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023915
2025-08-21T19:33:26.290Z,1755804806.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:26.293Z,1755804806.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 277.488861 m,
      bearing: 268.826868 deg,
      approach rate: -0.764789 m/s,
      LOS rate: 0.019054 deg/s,
      cmd heading: 259.994101 deg,
      new cmd heading: 260.007953 deg.

2025-08-21T19:33:26.294Z,1755804806.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537995 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:26.300Z,1755804806.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275174
2025-08-21T19:33:26.553Z,1755804806.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527925
2025-08-21T19:33:26.698Z,1755804806.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:26.700Z,1755804806.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:26.703Z,1755804806.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 277.175842 m,
      bearing: 268.834620 deg,
      approach rate: -0.763621 m/s,
      LOS rate: 0.018933 deg/s,
      cmd heading: 260.007953 deg,
      new cmd heading: 260.023475 deg.

2025-08-21T19:33:26.704Z,1755804806.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538266 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:26.805Z,1755804806.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779449
2025-08-21T19:33:27.057Z,1755804807.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031515
2025-08-21T19:33:27.127Z,1755804807.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:27.146Z,1755804807.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 276.846527 m,
      bearing: 268.843271 deg,
      approach rate: -0.772507 m/s,
      LOS rate: 0.020318 deg/s,
      cmd heading: 260.023471 deg,
      new cmd heading: 260.040794 deg.

2025-08-21T19:33:27.153Z,1755804807.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538568 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:27.308Z,1755804807.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282940
2025-08-21T19:33:27.506Z,1755804807.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:27.509Z,1755804807.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 276.553101 m,
      bearing: 268.850919 deg,
      approach rate: -0.772283 m/s,
      LOS rate: 0.020149 deg/s,
      cmd heading: 260.040793 deg,
      new cmd heading: 260.056104 deg.

2025-08-21T19:33:27.510Z,1755804807.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538835 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:27.561Z,1755804807.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535638
2025-08-21T19:33:27.812Z,1755804807.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787057
2025-08-21T19:33:27.982Z,1755804807.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:27.993Z,1755804807.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 276.205658 m,
      bearing: 268.860028 deg,
      approach rate: -0.729954 m/s,
      LOS rate: 0.019163 deg/s,
      cmd heading: 260.056092 deg,
      new cmd heading: 260.074334 deg.

2025-08-21T19:33:27.994Z,1755804807.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539154 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:28.065Z,1755804808.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039907
2025-08-21T19:33:28.310Z,1755804808.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:28.313Z,1755804808.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 275.935516 m,
      bearing: 268.867092 deg,
      approach rate: -0.823823 m/s,
      LOS rate: 0.021564 deg/s,
      cmd heading: 260.074342 deg,
      new cmd heading: 260.088485 deg.

2025-08-21T19:33:28.314Z,1755804808.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539401 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:28.316Z,1755804808.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291146
2025-08-21T19:33:28.568Z,1755804808.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543285
2025-08-21T19:33:28.715Z,1755804808.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:28.717Z,1755804808.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:28.736Z,1755804808.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 275.622803 m,
      bearing: 268.875304 deg,
      approach rate: -0.769124 m/s,
      LOS rate: 0.020220 deg/s,
      cmd heading: 260.088495 deg,
      new cmd heading: 260.104937 deg.

2025-08-21T19:33:28.737Z,1755804808.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539688 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:28.820Z,1755804808.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795200
2025-08-21T19:33:29.072Z,1755804809.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047067
2025-08-21T19:33:29.153Z,1755804809.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:29.177Z,1755804809.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 275.295563 m,
      bearing: 268.884543 deg,
      approach rate: -0.751450 m/s,
      LOS rate: 0.021240 deg/s,
      cmd heading: 260.104942 deg,
      new cmd heading: 260.123441 deg.

2025-08-21T19:33:29.179Z,1755804809.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540010 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:29.324Z,1755804809.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299086
2025-08-21T19:33:29.523Z,1755804809.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:29.526Z,1755804809.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 275.011658 m,
      bearing: 268.892413 deg,
      approach rate: -0.766207 m/s,
      LOS rate: 0.021262 deg/s,
      cmd heading: 260.123438 deg,
      new cmd heading: 260.139194 deg.

2025-08-21T19:33:29.527Z,1755804809.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540286 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:29.577Z,1755804809.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551824
2025-08-21T19:33:29.829Z,1755804809.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.803304
2025-08-21T19:33:30.009Z,1755804810.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:30.012Z,1755804810.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 274.641388 m,
      bearing: 268.901966 deg,
      approach rate: -0.762124 m/s,
      LOS rate: 0.019689 deg/s,
      cmd heading: 260.139202 deg,
      new cmd heading: 260.158334 deg.

2025-08-21T19:33:30.013Z,1755804810.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540619 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:30.081Z,1755804810.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056022
2025-08-21T19:33:30.332Z,1755804810.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307104
2025-08-21T19:33:30.336Z,1755804810.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:30.338Z,1755804810.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 274.393341 m,
      bearing: 268.908322 deg,
      approach rate: -0.759557 m/s,
      LOS rate: 0.019482 deg/s,
      cmd heading: 260.158326 deg,
      new cmd heading: 260.171051 deg.

2025-08-21T19:33:30.339Z,1755804810.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540842 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:30.585Z,1755804810.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.559490
2025-08-21T19:33:30.731Z,1755804810.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:30.733Z,1755804810.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:30.736Z,1755804810.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 274.088959 m,
      bearing: 268.916016 deg,
      approach rate: -0.764789 m/s,
      LOS rate: 0.019352 deg/s,
      cmd heading: 260.171058 deg,
      new cmd heading: 260.186462 deg.

2025-08-21T19:33:30.737Z,1755804810.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541111 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:30.836Z,1755804810.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811142
2025-08-21T19:33:31.088Z,1755804811.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063002
2025-08-21T19:33:31.199Z,1755804811.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:31.206Z,1755804811.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 273.748535 m,
      bearing: 268.925449 deg,
      approach rate: -0.731719 m/s,
      LOS rate: 0.020301 deg/s,
      cmd heading: 260.186467 deg,
      new cmd heading: 260.205356 deg.

2025-08-21T19:33:31.206Z,1755804811.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541440 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:31.340Z,1755804811.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315140
2025-08-21T19:33:31.592Z,1755804811.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567079
2025-08-21T19:33:31.632Z,1755804811.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:31.640Z,1755804811.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 273.418091 m,
      bearing: 268.934574 deg,
      approach rate: -0.761703 m/s,
      LOS rate: 0.021059 deg/s,
      cmd heading: 260.205345 deg,
      new cmd heading: 260.223617 deg.

2025-08-21T19:33:31.641Z,1755804811.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541759 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:31.845Z,1755804811.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819682
2025-08-21T19:33:32.080Z,1755804812.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:32.082Z,1755804812.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 273.077606 m,
      bearing: 268.943922 deg,
      approach rate: -0.782739 m/s,
      LOS rate: 0.021516 deg/s,
      cmd heading: 260.223623 deg,
      new cmd heading: 260.242342 deg.

2025-08-21T19:33:32.088Z,1755804812.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542086 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:32.097Z,1755804812.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071360
2025-08-21T19:33:32.348Z,1755804812.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323029
2025-08-21T19:33:32.469Z,1755804812.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:32.473Z,1755804812.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 272.787384 m,
      bearing: 268.951908 deg,
      approach rate: -0.722902 m/s,
      LOS rate: 0.019914 deg/s,
      cmd heading: 260.242338 deg,
      new cmd heading: 260.258328 deg.

2025-08-21T19:33:32.474Z,1755804812.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542365 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:32.600Z,1755804812.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575027
2025-08-21T19:33:32.828Z,1755804812.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:32.830Z,1755804812.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:32.833Z,1755804812.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 272.493408 m,
      bearing: 268.959924 deg,
      approach rate: -0.814453 m/s,
      LOS rate: 0.022233 deg/s,
      cmd heading: 260.258320 deg,
      new cmd heading: 260.274371 deg.

2025-08-21T19:33:32.834Z,1755804812.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542645 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:32.852Z,1755804812.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827228
2025-08-21T19:33:33.104Z,1755804813.104 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:33.104Z,1755804813.104 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:33.104Z,1755804813.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:33.262Z,1755804813.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:33.265Z,1755804813.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 272.140839 m,
      bearing: 268.968085 deg,
      approach rate: -0.815786 m/s,
      LOS rate: 0.018906 deg/s,
      cmd heading: 260.274358 deg,
      new cmd heading: 260.290699 deg.

2025-08-21T19:33:33.266Z,1755804813.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.542930 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:33.356Z,1755804813.356 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:33.356Z,1755804813.356 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:33.356Z,1755804813.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:33.608Z,1755804813.608 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:33.608Z,1755804813.608 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:33.608Z,1755804813.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:33.649Z,1755804813.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:33.652Z,1755804813.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 271.828979 m,
      bearing: 268.975270 deg,
      approach rate: -0.806552 m/s,
      LOS rate: 0.018603 deg/s,
      cmd heading: 260.290696 deg,
      new cmd heading: 260.305082 deg.

2025-08-21T19:33:33.653Z,1755804813.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543181 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:33.861Z,1755804813.861 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:33.861Z,1755804813.861 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:33.861Z,1755804813.861 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:34.069Z,1755804814.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:34.072Z,1755804814.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 271.479309 m,
      bearing: 268.983639 deg,
      approach rate: -0.831721 m/s,
      LOS rate: 0.019934 deg/s,
      cmd heading: 260.305094 deg,
      new cmd heading: 260.321855 deg.

2025-08-21T19:33:34.073Z,1755804814.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543473 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:34.112Z,1755804814.112 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:34.112Z,1755804814.112 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:34.112Z,1755804814.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:34.364Z,1755804814.364 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:34.364Z,1755804814.364 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:34.364Z,1755804814.364 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:34.459Z,1755804814.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:34.466Z,1755804814.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 271.181061 m,
      bearing: 268.990794 deg,
      approach rate: -0.766095 m/s,
      LOS rate: 0.018399 deg/s,
      cmd heading: 260.321841 deg,
      new cmd heading: 260.336167 deg.

2025-08-21T19:33:34.467Z,1755804814.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543723 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:34.616Z,1755804814.616 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:34.616Z,1755804814.616 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:34.616Z,1755804814.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:34.834Z,1755804814.834 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:34.836Z,1755804814.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:34.839Z,1755804814.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 270.841217 m,
      bearing: 268.999012 deg,
      approach rate: -0.898775 m/s,
      LOS rate: 0.021761 deg/s,
      cmd heading: 260.336157 deg,
      new cmd heading: 260.352614 deg.

2025-08-21T19:33:34.840Z,1755804814.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544010 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:34.868Z,1755804814.868 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:34.868Z,1755804814.868 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:34.868Z,1755804814.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:35.120Z,1755804815.120 [DAT](INFO): Reached modem response timeout
2025-08-21T19:33:35.120Z,1755804815.120 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:33:35.120Z,1755804815.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:35.265Z,1755804815.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:35.268Z,1755804815.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 270.483704 m,
      bearing: 269.007616 deg,
      approach rate: -0.833907 m/s,
      LOS rate: 0.020095 deg/s,
      cmd heading: 260.352604 deg,
      new cmd heading: 260.369835 deg.

2025-08-21T19:33:35.269Z,1755804815.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544311 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:35.373Z,1755804815.373 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:33:35.373Z,1755804815.373 [DAT](INFO): response not received
2025-08-21T19:33:35.373Z,1755804815.373 [DAT](INFO): DAT read: user:3947>

2025-08-21T19:33:35.374Z,1755804815.374 [DAT](INFO): DAT read: Tx time:19:33:34.7054

2025-08-21T19:33:35.374Z,1755804815.374 [DAT](INFO): Ping request sent.
2025-08-21T19:33:35.374Z,1755804815.374 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:35.374Z,1755804815.374 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:35.375Z,1755804815.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-21T19:33:35.627Z,1755804815.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252653
2025-08-21T19:33:35.660Z,1755804815.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:35.663Z,1755804815.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 270.154419 m,
      bearing: 269.015517 deg,
      approach rate: -0.833600 m/s,
      LOS rate: 0.020025 deg/s,
      cmd heading: 260.369844 deg,
      new cmd heading: 260.385664 deg.

2025-08-21T19:33:35.664Z,1755804815.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544587 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:35.877Z,1755804815.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502287
2025-08-21T19:33:36.101Z,1755804816.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:36.128Z,1755804816.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754067
2025-08-21T19:33:36.129Z,1755804816.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 269.789185 m,
      bearing: 269.024222 deg,
      approach rate: -0.828699 m/s,
      LOS rate: 0.019778 deg/s,
      cmd heading: 260.385662 deg,
      new cmd heading: 260.403096 deg.

2025-08-21T19:33:36.130Z,1755804816.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.544891 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:36.380Z,1755804816.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005837
2025-08-21T19:33:36.481Z,1755804816.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:36.500Z,1755804816.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 269.473846 m,
      bearing: 269.031697 deg,
      approach rate: -0.829721 m/s,
      LOS rate: 0.019690 deg/s,
      cmd heading: 260.403093 deg,
      new cmd heading: 260.418060 deg.

2025-08-21T19:33:36.501Z,1755804816.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545153 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:36.632Z,1755804816.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257844
2025-08-21T19:33:36.881Z,1755804816.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:36.883Z,1755804816.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:36.884Z,1755804816.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510074
2025-08-21T19:33:36.887Z,1755804816.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 269.141144 m,
      bearing: 269.039552 deg,
      approach rate: -0.828389 m/s,
      LOS rate: 0.019583 deg/s,
      cmd heading: 260.418065 deg,
      new cmd heading: 260.433795 deg.

2025-08-21T19:33:36.888Z,1755804816.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545427 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:37.137Z,1755804817.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762803
2025-08-21T19:33:37.321Z,1755804817.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:37.324Z,1755804817.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 268.782410 m,
      bearing: 269.049397 deg,
      approach rate: -0.818615 m/s,
      LOS rate: 0.022496 deg/s,
      cmd heading: 260.433802 deg,
      new cmd heading: 260.453518 deg.

2025-08-21T19:33:37.325Z,1755804817.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.545772 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:37.388Z,1755804817.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014039
2025-08-21T19:33:37.640Z,1755804817.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265919
2025-08-21T19:33:37.695Z,1755804817.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:37.697Z,1755804817.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 268.475677 m,
      bearing: 269.057736 deg,
      approach rate: -0.820873 m/s,
      LOS rate: 0.022342 deg/s,
      cmd heading: 260.453527 deg,
      new cmd heading: 260.470224 deg.

2025-08-21T19:33:37.698Z,1755804817.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546063 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:37.894Z,1755804817.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520146
2025-08-21T19:33:38.134Z,1755804818.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:38.137Z,1755804818.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 268.115509 m,
      bearing: 269.067523 deg,
      approach rate: -0.819716 m/s,
      LOS rate: 0.022306 deg/s,
      cmd heading: 260.470220 deg,
      new cmd heading: 260.489822 deg.

2025-08-21T19:33:38.138Z,1755804818.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546405 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:38.145Z,1755804818.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771015
2025-08-21T19:33:38.396Z,1755804818.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021890
2025-08-21T19:33:38.491Z,1755804818.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:38.493Z,1755804818.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 267.822968 m,
      bearing: 269.075373 deg,
      approach rate: -0.820133 m/s,
      LOS rate: 0.022032 deg/s,
      cmd heading: 260.489809 deg,
      new cmd heading: 260.505527 deg.

2025-08-21T19:33:38.494Z,1755804818.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546679 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:38.650Z,1755804818.650 [DAT](INFO): DAT read: Rx Time:19:33:37.4868

2025-08-21T19:33:38.651Z,1755804818.651 [DAT](INFO): Rx dataTimestamp_ set to:1755804818.650345
2025-08-21T19:33:38.651Z,1755804818.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276983
2025-08-21T19:33:38.890Z,1755804818.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:38.893Z,1755804818.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:38.904Z,1755804818.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529959
2025-08-21T19:33:38.912Z,1755804818.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 267.493530 m,
      bearing: 269.084123 deg,
      approach rate: -0.819286 m/s,
      LOS rate: 0.021787 deg/s,
      cmd heading: 260.505519 deg,
      new cmd heading: 260.523040 deg.

2025-08-21T19:33:38.913Z,1755804818.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.546985 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:39.157Z,1755804819.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782790
2025-08-21T19:33:39.327Z,1755804819.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.51 m.
2025-08-21T19:33:39.330Z,1755804819.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.514313 m,
      nav range: 267.147003 m,
      bearing: 269.092690 deg,
      approach rate: -0.798538 m/s,
      LOS rate: 0.019768 deg/s,
      cmd heading: 260.523031 deg,
      new cmd heading: 260.540188 deg.

2025-08-21T19:33:39.331Z,1755804819.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547284 target range: 305.514313 and range: 307.30 m.
2025-08-21T19:33:39.418Z,1755804819.418 [DAT](INFO): DAT read: 19:33:37.4868 LVL= 28448, 32753, 32754, 32755, AGC= 71, IDX=  83, 0.19, 0.274,-1.698, 0.007,-0.026, PHS= 0.402,-1.627,-0.011, RAW= 138.9,  13.2, CAL= 138.2,  14.3, ROT=  11.8, -14.3

2025-08-21T19:33:39.420Z,1755804819.420 [DAT](INFO): got valid direction response:
 19:33:37.4868 LVL= 28448, 32753, 32754, 32755, AGC= 71, IDX=  83, 0.19, 0.274,-1.698, 0.007,-0.026, PHS= 0.402,-1.627,-0.011, RAW= 138.9,  13.2, CAL= 138.2,  14.3, ROT=  11.8, -14.3

2025-08-21T19:33:39.422Z,1755804819.422 [DAT](INFO): DAT read: Bearing  60.6,  15.1 (Local)

2025-08-21T19:33:39.422Z,1755804819.422 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.6,  15.1 (Local)

2025-08-21T19:33:39.450Z,1755804819.450 [DAT](INFO): DAT read: Range 11 to 50 : 282.9 m  (Round-trip  377.2 ms) speed  0.4 m/s

2025-08-21T19:33:39.456Z,1755804819.456 [DAT](INFO): DAT read: user:3948>

2025-08-21T19:33:39.457Z,1755804819.457 [DAT](INFO): DAT read: Tx time:19:33:38.6054

2025-08-21T19:33:39.457Z,1755804819.457 [DAT](INFO): Ping request sent.
2025-08-21T19:33:39.457Z,1755804819.457 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:39.457Z,1755804819.457 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:39.458Z,1755804819.458 [DAT](INFO): direction in FSK: [0.948538,0.198160,0.246999]
2025-08-21T19:33:39.459Z,1755804819.459 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:39.463Z,1755804819.463 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:39.466Z,1755804819.466 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:39.467Z,1755804819.467 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:39.717Z,1755804819.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 282.899994 m,
      deltaT: 16.636187 s,
      deltaX: -24.399994 m,
      approachRate: -1.466682 m/s,
      rangeRepo size: 4

2025-08-21T19:33:39.719Z,1755804819.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 281.253845 m,
      bearing: 272.560109 deg,
      lat: 36.779641 deg,
      lon: -121.859567 deg,
      deltaT: 16.636187 s,
      deltaX: -24.260468 m,
      approachRate: -1.458295 m/s,
      posRepo size: 4

2025-08-21T19:33:39.720Z,1755804819.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:39.722Z,1755804819.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 267.801575 m,
      bearing: 272.461083 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019768 deg/s,
      cmd heading: 260.540189 deg,
      new cmd heading: 260.555574 deg.

2025-08-21T19:33:39.723Z,1755804819.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547553 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:40.150Z,1755804820.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:40.155Z,1755804820.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 267.451935 m,
      bearing: 272.474367 deg,
      approach rate: -0.805197 m/s,
      LOS rate: 0.030631 deg/s,
      cmd heading: 260.555570 deg,
      new cmd heading: 260.582172 deg.

2025-08-21T19:33:40.157Z,1755804820.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548017 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:40.512Z,1755804820.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:40.514Z,1755804820.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 267.153961 m,
      bearing: 272.485732 deg,
      approach rate: -0.823910 m/s,
      LOS rate: 0.031460 deg/s,
      cmd heading: 260.582181 deg,
      new cmd heading: 260.604936 deg.

2025-08-21T19:33:40.516Z,1755804820.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548414 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:40.936Z,1755804820.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:40.940Z,1755804820.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:40.945Z,1755804820.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 266.827271 m,
      bearing: 272.498191 deg,
      approach rate: -0.764135 m/s,
      LOS rate: 0.029177 deg/s,
      cmd heading: 260.604939 deg,
      new cmd heading: 260.629887 deg.

2025-08-21T19:33:40.948Z,1755804820.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.548850 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:41.181Z,1755804821.181 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:41.181Z,1755804821.181 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:41.181Z,1755804821.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:41.344Z,1755804821.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:41.347Z,1755804821.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 266.481598 m,
      bearing: 272.511392 deg,
      approach rate: -0.853037 m/s,
      LOS rate: 0.032621 deg/s,
      cmd heading: 260.629883 deg,
      new cmd heading: 260.656320 deg.

2025-08-21T19:33:41.348Z,1755804821.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549311 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:41.434Z,1755804821.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976525
2025-08-21T19:33:41.684Z,1755804821.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226895
2025-08-21T19:33:41.726Z,1755804821.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:41.728Z,1755804821.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 266.174713 m,
      bearing: 272.523184 deg,
      approach rate: -0.805231 m/s,
      LOS rate: 0.030976 deg/s,
      cmd heading: 260.656329 deg,
      new cmd heading: 260.679940 deg.

2025-08-21T19:33:41.729Z,1755804821.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.549723 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:41.937Z,1755804821.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479653
2025-08-21T19:33:42.188Z,1755804822.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731212
2025-08-21T19:33:42.202Z,1755804822.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:42.209Z,1755804822.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 265.795929 m,
      bearing: 272.536589 deg,
      approach rate: -0.794552 m/s,
      LOS rate: 0.028159 deg/s,
      cmd heading: 260.679934 deg,
      new cmd heading: 260.706783 deg.

2025-08-21T19:33:42.210Z,1755804822.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550192 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:42.336Z,1755804822.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:33:42.441Z,1755804822.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984264
2025-08-21T19:33:42.536Z,1755804822.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:42.543Z,1755804822.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 265.520203 m,
      bearing: 272.546362 deg,
      approach rate: -0.827801 m/s,
      LOS rate: 0.029372 deg/s,
      cmd heading: 260.706791 deg,
      new cmd heading: 260.726357 deg.

2025-08-21T19:33:42.544Z,1755804822.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550533 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:42.693Z,1755804822.693 [DAT](INFO): DAT read: Rx Time:19:33:41.3825

2025-08-21T19:33:42.693Z,1755804822.693 [DAT](INFO): Rx dataTimestamp_ set to:1755804822.692769
2025-08-21T19:33:42.694Z,1755804822.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236427
2025-08-21T19:33:42.945Z,1755804822.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487488
2025-08-21T19:33:42.961Z,1755804822.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:42.967Z,1755804822.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 281.25 m.
2025-08-21T19:33:42.970Z,1755804822.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 281.253845 m,
      nav range: 265.181671 m,
      bearing: 272.558416 deg,
      approach rate: -0.791614 m/s,
      LOS rate: 0.028222 deg/s,
      cmd heading: 260.726352 deg,
      new cmd heading: 260.750490 deg.

2025-08-21T19:33:42.971Z,1755804822.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.550954 target range: 281.253845 and range: 282.90 m.
2025-08-21T19:33:43.203Z,1755804823.203 [DAT](INFO): DAT read: 19:33:41.3825 LVL= 31712, 32753, 32754, 32755, AGC= 68, IDX= 392,-0.47, 2.822, 0.842, 2.630, 2.558, PHS= 0.366,-1.671, 0.027, RAW= 141.1,  13.4, CAL= 140.4,  14.5, ROT=   9.6, -14.5

2025-08-21T19:33:43.204Z,1755804823.204 [DAT](INFO): got valid direction response:
 19:33:41.3825 LVL= 31712, 32753, 32754, 32755, AGC= 68, IDX= 392,-0.47, 2.822, 0.842, 2.630, 2.558, PHS= 0.366,-1.671, 0.027, RAW= 141.1,  13.4, CAL= 140.4,  14.5, ROT=   9.6, -14.5

2025-08-21T19:33:43.205Z,1755804823.205 [DAT](INFO): DAT read: Bearing  59.8,  13.2 (Local)

2025-08-21T19:33:43.205Z,1755804823.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.8,  13.2 (Local)

2025-08-21T19:33:43.206Z,1755804823.206 [DAT](INFO): DAT read: Range 11 to 50 : 279.6 m  (Round-trip  372.9 ms) speed  0.5 m/s

2025-08-21T19:33:43.215Z,1755804823.215 [DAT](INFO): DAT read: user:3949>

2025-08-21T19:33:43.216Z,1755804823.216 [DAT](INFO): DAT read: Tx time:19:33:42.5054

2025-08-21T19:33:43.216Z,1755804823.216 [DAT](INFO): Ping request sent.
2025-08-21T19:33:43.217Z,1755804823.217 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:43.217Z,1755804823.217 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:43.218Z,1755804823.218 [DAT](INFO): direction in FSK: [0.954590,0.161457,0.250380]
2025-08-21T19:33:43.218Z,1755804823.218 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:43.218Z,1755804823.218 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:43.222Z,1755804823.222 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:43.222Z,1755804823.222 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:43.340Z,1755804823.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:33:43.436Z,1755804823.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 279.600006 m,
      deltaT: 3.787342 s,
      deltaX: -3.299988 m,
      approachRate: -0.871320 m/s,
      rangeRepo size: 4

2025-08-21T19:33:43.444Z,1755804823.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 277.973785 m,
      bearing: 270.345440 deg,
      lat: 36.779641 deg,
      lon: -121.859567 deg,
      deltaT: 3.787342 s,
      deltaX: -3.280060 m,
      approachRate: -0.866059 m/s,
      posRepo size: 4

2025-08-21T19:33:43.444Z,1755804823.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:43.451Z,1755804823.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 264.820618 m,
      bearing: 272.571622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028222 deg/s,
      cmd heading: 260.750477 deg,
      new cmd heading: 260.776818 deg.

2025-08-21T19:33:43.452Z,1755804823.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551414 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:43.737Z,1755804823.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:43.740Z,1755804823.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 264.546722 m,
      bearing: 272.581657 deg,
      approach rate: -0.891192 m/s,
      LOS rate: 0.032685 deg/s,
      cmd heading: 260.776814 deg,
      new cmd heading: 260.796904 deg.

2025-08-21T19:33:43.741Z,1755804823.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551764 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:44.211Z,1755804824.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:44.213Z,1755804824.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 264.164917 m,
      bearing: 272.595559 deg,
      approach rate: -0.806259 m/s,
      LOS rate: 0.029400 deg/s,
      cmd heading: 260.796895 deg,
      new cmd heading: 260.824739 deg.

2025-08-21T19:33:44.214Z,1755804824.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552250 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:44.568Z,1755804824.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:44.571Z,1755804824.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 263.875793 m,
      bearing: 272.606113 deg,
      approach rate: -0.808041 m/s,
      LOS rate: 0.029530 deg/s,
      cmd heading: 260.824734 deg,
      new cmd heading: 260.845866 deg.

2025-08-21T19:33:44.572Z,1755804824.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.552619 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:44.975Z,1755804824.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:44.977Z,1755804824.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:44.981Z,1755804824.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 263.545776 m,
      bearing: 272.618190 deg,
      approach rate: -0.807304 m/s,
      LOS rate: 0.029580 deg/s,
      cmd heading: 260.845853 deg,
      new cmd heading: 260.870037 deg.

2025-08-21T19:33:44.982Z,1755804824.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553041 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:45.212Z,1755804825.212 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:45.212Z,1755804825.212 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:45.212Z,1755804825.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:45.386Z,1755804825.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:45.389Z,1755804825.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 263.221130 m,
      bearing: 272.630727 deg,
      approach rate: -0.794484 m/s,
      LOS rate: 0.030720 deg/s,
      cmd heading: 260.870032 deg,
      new cmd heading: 260.895138 deg.

2025-08-21T19:33:45.390Z,1755804825.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553479 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:45.465Z,1755804825.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248355
2025-08-21T19:33:45.716Z,1755804825.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499630
2025-08-21T19:33:45.829Z,1755804825.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:45.832Z,1755804825.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 262.869507 m,
      bearing: 272.644304 deg,
      approach rate: -0.794328 m/s,
      LOS rate: 0.030710 deg/s,
      cmd heading: 260.895140 deg,
      new cmd heading: 260.922329 deg.

2025-08-21T19:33:45.833Z,1755804825.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.553954 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:45.969Z,1755804825.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751992
2025-08-21T19:33:46.220Z,1755804826.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003468
2025-08-21T19:33:46.277Z,1755804826.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:46.284Z,1755804826.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 262.515900 m,
      bearing: 272.657255 deg,
      approach rate: -0.788818 m/s,
      LOS rate: 0.028929 deg/s,
      cmd heading: 260.922324 deg,
      new cmd heading: 260.948261 deg.

2025-08-21T19:33:46.285Z,1755804826.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554406 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:46.473Z,1755804826.473 [DAT](INFO): DAT read: Rx Time:19:33:45.2782

2025-08-21T19:33:46.474Z,1755804826.474 [DAT](INFO): Rx dataTimestamp_ set to:1755804826.473283
2025-08-21T19:33:46.474Z,1755804826.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257507
2025-08-21T19:33:46.645Z,1755804826.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:46.648Z,1755804826.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 262.226562 m,
      bearing: 272.667840 deg,
      approach rate: -0.786317 m/s,
      LOS rate: 0.028799 deg/s,
      cmd heading: 260.948252 deg,
      new cmd heading: 260.969446 deg.

2025-08-21T19:33:46.649Z,1755804826.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.554776 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:46.726Z,1755804826.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508897
2025-08-21T19:33:46.988Z,1755804826.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762030
2025-08-21T19:33:47.087Z,1755804827.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:47.089Z,1755804827.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.97 m.
2025-08-21T19:33:47.092Z,1755804827.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 277.973785 m,
      nav range: 261.856842 m,
      bearing: 272.681364 deg,
      approach rate: -0.832565 m/s,
      LOS rate: 0.030497 deg/s,
      cmd heading: 260.969452 deg,
      new cmd heading: 260.996538 deg.

2025-08-21T19:33:47.093Z,1755804827.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555249 target range: 277.973785 and range: 279.60 m.
2025-08-21T19:33:47.240Z,1755804827.240 [DAT](INFO): DAT read: 19:33:45.2782 LVL= 27312, 32753, 32754, 32755, AGC= 69, IDX= 395, 0.47, 1.957,-0.042, 1.788, 1.709, PHS= 0.351,-1.706, 0.035, RAW= 141.8,  13.7, CAL= 141.2,  14.8, ROT=   8.8, -14.8

2025-08-21T19:33:47.241Z,1755804827.241 [DAT](INFO): got valid direction response:
 19:33:45.2782 LVL= 27312, 32753, 32754, 32755, AGC= 69, IDX= 395, 0.47, 1.957,-0.042, 1.788, 1.709, PHS= 0.351,-1.706, 0.035, RAW= 141.8,  13.7, CAL= 141.2,  14.8, ROT=   8.8, -14.8

2025-08-21T19:33:47.242Z,1755804827.242 [DAT](INFO): DAT read: Bearing  59.1,  12.5 (Local)

2025-08-21T19:33:47.242Z,1755804827.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.1,  12.5 (Local)

2025-08-21T19:33:47.244Z,1755804827.244 [DAT](INFO): DAT read: Range 11 to 50 : 276.4 m  (Round-trip  368.6 ms) speed  0.5 m/s

2025-08-21T19:33:47.244Z,1755804827.244 [DAT](INFO): DAT read: user:3950>

2025-08-21T19:33:47.245Z,1755804827.245 [DAT](INFO): DAT read: Tx time:19:33:46.4054

2025-08-21T19:33:47.245Z,1755804827.245 [DAT](INFO): Ping request sent.
2025-08-21T19:33:47.245Z,1755804827.245 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:47.246Z,1755804827.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:47.247Z,1755804827.247 [DAT](INFO): direction in FSK: [0.955442,0.147910,0.255446]
2025-08-21T19:33:47.247Z,1755804827.247 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:47.254Z,1755804827.254 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:47.258Z,1755804827.258 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:47.258Z,1755804827.258 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:47.494Z,1755804827.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.399994 m,
      deltaT: 4.032215 s,
      deltaX: -3.200012 m,
      approachRate: -0.793612 m/s,
      rangeRepo size: 4

2025-08-21T19:33:47.500Z,1755804827.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 274.791199 m,
      bearing: 269.754516 deg,
      lat: 36.779549 deg,
      lon: -121.859567 deg,
      deltaT: 4.032215 s,
      deltaX: -3.182587 m,
      approachRate: -0.789290 m/s,
      posRepo size: 4

2025-08-21T19:33:47.501Z,1755804827.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:47.510Z,1755804827.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 261.260193 m,
      bearing: 270.439481 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030497 deg/s,
      cmd heading: 260.996527 deg,
      new cmd heading: 261.021191 deg.

2025-08-21T19:33:47.515Z,1755804827.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555679 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:47.832Z,1755804827.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:47.835Z,1755804827.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 260.969940 m,
      bearing: 270.447630 deg,
      approach rate: -0.856299 m/s,
      LOS rate: 0.024069 deg/s,
      cmd heading: 261.021198 deg,
      new cmd heading: 261.037515 deg.

2025-08-21T19:33:47.836Z,1755804827.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555964 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:48.273Z,1755804828.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:48.275Z,1755804828.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 260.603546 m,
      bearing: 270.458653 deg,
      approach rate: -0.831914 m/s,
      LOS rate: 0.025062 deg/s,
      cmd heading: 261.037508 deg,
      new cmd heading: 261.059584 deg.

2025-08-21T19:33:48.276Z,1755804828.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556349 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:48.632Z,1755804828.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:48.634Z,1755804828.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 260.303558 m,
      bearing: 270.467734 deg,
      approach rate: -0.835879 m/s,
      LOS rate: 0.025333 deg/s,
      cmd heading: 261.059584 deg,
      new cmd heading: 261.077767 deg.

2025-08-21T19:33:48.636Z,1755804828.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.556667 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:49.032Z,1755804829.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:49.035Z,1755804829.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 259.970245 m,
      bearing: 270.477860 deg,
      approach rate: -0.832047 m/s,
      LOS rate: 0.025309 deg/s,
      cmd heading: 261.077779 deg,
      new cmd heading: 261.098056 deg.

2025-08-21T19:33:49.036Z,1755804829.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557021 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:49.548Z,1755804829.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:49.550Z,1755804829.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:49.553Z,1755804829.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 259.534515 m,
      bearing: 270.489408 deg,
      approach rate: -0.840707 m/s,
      LOS rate: 0.022319 deg/s,
      cmd heading: 261.098051 deg,
      new cmd heading: 261.121187 deg.

2025-08-21T19:33:49.554Z,1755804829.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557425 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:49.748Z,1755804829.748 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:49.748Z,1755804829.748 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:49.748Z,1755804829.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:49.989Z,1755804829.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:50.000Z,1755804830.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754894
2025-08-21T19:33:50.009Z,1755804830.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 259.165314 m,
      bearing: 270.499211 deg,
      approach rate: -0.841646 m/s,
      LOS rate: 0.022378 deg/s,
      cmd heading: 261.121192 deg,
      new cmd heading: 261.140825 deg.

2025-08-21T19:33:50.010Z,1755804830.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557767 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:50.253Z,1755804830.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007296
2025-08-21T19:33:50.505Z,1755804830.505 [DAT](INFO): DAT read: Rx Time:19:33:49.1738

2025-08-21T19:33:50.505Z,1755804830.505 [DAT](INFO): Rx dataTimestamp_ set to:1755804830.504809
2025-08-21T19:33:50.506Z,1755804830.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260184
2025-08-21T19:33:50.509Z,1755804830.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:50.513Z,1755804830.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 258.724121 m,
      bearing: 270.510365 deg,
      approach rate: -0.847717 m/s,
      LOS rate: 0.021468 deg/s,
      cmd heading: 261.140836 deg,
      new cmd heading: 261.163182 deg.

2025-08-21T19:33:50.514Z,1755804830.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558157 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:50.756Z,1755804830.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510798
2025-08-21T19:33:50.943Z,1755804830.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.79 m.
2025-08-21T19:33:50.950Z,1755804830.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.791199 m,
      nav range: 258.360657 m,
      bearing: 270.519568 deg,
      approach rate: -0.838734 m/s,
      LOS rate: 0.021267 deg/s,
      cmd heading: 261.163184 deg,
      new cmd heading: 261.181616 deg.

2025-08-21T19:33:50.956Z,1755804830.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558479 target range: 274.791199 and range: 276.40 m.
2025-08-21T19:33:51.017Z,1755804831.017 [DAT](INFO): DAT read: 19:33:49.1738 LVL= 28592, 32753, 31218, 32755, AGC= 70, IDX= 398, 0.30, 0.491,-1.589, 0.265, 0.177, PHS= 0.416,-1.721, 0.045, RAW= 140.6,  12.7, CAL= 140.0,  13.7, ROT=  10.0, -13.7

2025-08-21T19:33:51.019Z,1755804831.019 [DAT](INFO): got valid direction response:
 19:33:49.1738 LVL= 28592, 32753, 31218, 32755, AGC= 70, IDX= 398, 0.30, 0.491,-1.589, 0.265, 0.177, PHS= 0.416,-1.721, 0.045, RAW= 140.6,  12.7, CAL= 140.0,  13.7, ROT=  10.0, -13.7

2025-08-21T19:33:51.021Z,1755804831.021 [DAT](INFO): DAT read: Bearing  57.0,  13.7 (Local)

2025-08-21T19:33:51.021Z,1755804831.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.0,  13.7 (Local)

2025-08-21T19:33:51.023Z,1755804831.023 [DAT](INFO): DAT read: Range 11 to 50 : 273.1 m  (Round-trip  364.2 ms) speed  0.4 m/s

2025-08-21T19:33:51.025Z,1755804831.025 [DAT](INFO): DAT read: user:3951>

2025-08-21T19:33:51.026Z,1755804831.026 [DAT](INFO): DAT read: Tx time:19:33:50.2554

2025-08-21T19:33:51.026Z,1755804831.026 [DAT](INFO): Ping request sent.
2025-08-21T19:33:51.026Z,1755804831.026 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:51.026Z,1755804831.026 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:51.028Z,1755804831.028 [DAT](INFO): direction in FSK: [0.956789,0.168708,0.236838]
2025-08-21T19:33:51.028Z,1755804831.028 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:51.028Z,1755804831.028 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:51.032Z,1755804831.032 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:51.032Z,1755804831.032 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:51.337Z,1755804831.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.100006 m,
      deltaT: 3.780616 s,
      deltaX: -3.299988 m,
      approachRate: -0.872870 m/s,
      rangeRepo size: 4

2025-08-21T19:33:51.339Z,1755804831.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.509644 m,
      bearing: 270.963328 deg,
      lat: 36.779549 deg,
      lon: -121.859567 deg,
      deltaT: 3.780616 s,
      deltaX: -3.281555 m,
      approachRate: -0.867995 m/s,
      posRepo size: 4

2025-08-21T19:33:51.344Z,1755804831.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:51.346Z,1755804831.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 258.024323 m,
      bearing: 270.527994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021267 deg/s,
      cmd heading: 261.181625 deg,
      new cmd heading: 261.197981 deg.

2025-08-21T19:33:51.352Z,1755804831.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.558765 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:51.698Z,1755804831.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:51.701Z,1755804831.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:51.704Z,1755804831.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 257.700012 m,
      bearing: 270.536193 deg,
      approach rate: -0.868531 m/s,
      LOS rate: 0.021986 deg/s,
      cmd heading: 261.197991 deg,
      new cmd heading: 261.214410 deg.

2025-08-21T19:33:51.705Z,1755804831.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559052 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:51.764Z,1755804831.764 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:51.764Z,1755804831.764 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:51.764Z,1755804831.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:52.016Z,1755804832.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990022
2025-08-21T19:33:52.128Z,1755804832.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:52.130Z,1755804832.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 257.343079 m,
      bearing: 270.545284 deg,
      approach rate: -0.844449 m/s,
      LOS rate: 0.021537 deg/s,
      cmd heading: 261.214410 deg,
      new cmd heading: 261.232617 deg.

2025-08-21T19:33:52.136Z,1755804832.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559369 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:52.271Z,1755804832.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244709
2025-08-21T19:33:52.520Z,1755804832.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494115
2025-08-21T19:33:52.533Z,1755804832.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:52.536Z,1755804832.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 256.990723 m,
      bearing: 270.555626 deg,
      approach rate: -0.860755 m/s,
      LOS rate: 0.025299 deg/s,
      cmd heading: 261.232606 deg,
      new cmd heading: 261.253318 deg.

2025-08-21T19:33:52.537Z,1755804832.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.559731 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:52.772Z,1755804832.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745981
2025-08-21T19:33:52.943Z,1755804832.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:52.945Z,1755804832.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 256.644653 m,
      bearing: 270.565812 deg,
      approach rate: -0.844582 m/s,
      LOS rate: 0.024893 deg/s,
      cmd heading: 261.253315 deg,
      new cmd heading: 261.273715 deg.

2025-08-21T19:33:52.946Z,1755804832.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560087 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:53.026Z,1755804833.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999349
2025-08-21T19:33:53.276Z,1755804833.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250087
2025-08-21T19:33:53.339Z,1755804833.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:53.342Z,1755804833.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 256.314056 m,
      bearing: 270.575533 deg,
      approach rate: -0.834070 m/s,
      LOS rate: 0.024555 deg/s,
      cmd heading: 261.273724 deg,
      new cmd heading: 261.293190 deg.

2025-08-21T19:33:53.344Z,1755804833.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560426 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:53.528Z,1755804833.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502035
2025-08-21T19:33:53.720Z,1755804833.720 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:53.722Z,1755804833.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:53.725Z,1755804833.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 255.994659 m,
      bearing: 270.584924 deg,
      approach rate: -0.833271 m/s,
      LOS rate: 0.024532 deg/s,
      cmd heading: 261.293176 deg,
      new cmd heading: 261.311982 deg.

2025-08-21T19:33:53.726Z,1755804833.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560754 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:53.781Z,1755804833.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755109
2025-08-21T19:33:54.032Z,1755804834.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006056
2025-08-21T19:33:54.124Z,1755804834.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:54.127Z,1755804834.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 255.659088 m,
      bearing: 270.594803 deg,
      approach rate: -0.834860 m/s,
      LOS rate: 0.024610 deg/s,
      cmd heading: 261.311973 deg,
      new cmd heading: 261.331757 deg.

2025-08-21T19:33:54.128Z,1755804834.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561100 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:54.289Z,1755804834.289 [DAT](INFO): DAT read: Rx Time:19:33:53.0195

2025-08-21T19:33:54.290Z,1755804834.290 [DAT](INFO): Rx dataTimestamp_ set to:1755804834.289310
2025-08-21T19:33:54.293Z,1755804834.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266145
2025-08-21T19:33:54.536Z,1755804834.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510177
2025-08-21T19:33:54.549Z,1755804834.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.51 m.
2025-08-21T19:33:54.552Z,1755804834.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.509644 m,
      nav range: 255.312225 m,
      bearing: 270.605219 deg,
      approach rate: -0.816922 m/s,
      LOS rate: 0.024565 deg/s,
      cmd heading: 261.331753 deg,
      new cmd heading: 261.352613 deg.

2025-08-21T19:33:54.553Z,1755804834.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561464 target range: 271.509644 and range: 273.10 m.
2025-08-21T19:33:54.794Z,1755804834.794 [DAT](INFO): DAT read: 19:33:53.0195 LVL= 26032, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.33,-1.899, 2.391,-2.076,-2.167, PHS= 0.369,-1.681, 0.046, RAW= 141.6,  13.2, CAL= 140.9,  14.2, ROT=   9.1, -14.2

2025-08-21T19:33:54.795Z,1755804834.795 [DAT](INFO): got valid direction response:
 19:33:53.0195 LVL= 26032, 32753, 32754, 32755, AGC= 67, IDX= 402, 0.33,-1.899, 2.391,-2.076,-2.167, PHS= 0.369,-1.681, 0.046, RAW= 141.6,  13.2, CAL= 140.9,  14.2, ROT=   9.1, -14.2

2025-08-21T19:33:54.796Z,1755804834.796 [DAT](INFO): DAT read: Bearing  56.6,  13.2 (Local)

2025-08-21T19:33:54.796Z,1755804834.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.6,  13.2 (Local)

2025-08-21T19:33:54.798Z,1755804834.798 [DAT](INFO): DAT read: Range 11 to 50 : 269.9 m  (Round-trip  359.9 ms) speed  0.7 m/s

2025-08-21T19:33:54.798Z,1755804834.798 [DAT](INFO): DAT read: user:3952>

2025-08-21T19:33:54.799Z,1755804834.799 [DAT](INFO): DAT read: Tx time:19:33:54.1054

2025-08-21T19:33:54.799Z,1755804834.799 [DAT](INFO): Ping request sent.
2025-08-21T19:33:54.800Z,1755804834.800 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:54.800Z,1755804834.800 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:54.801Z,1755804834.801 [DAT](INFO): direction in FSK: [0.957244,0.153326,0.245307]
2025-08-21T19:33:54.801Z,1755804834.801 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:54.801Z,1755804834.801 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:54.805Z,1755804834.805 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:54.805Z,1755804834.805 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:54.986Z,1755804834.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.899994 m,
      deltaT: 3.779035 s,
      deltaX: -3.200012 m,
      approachRate: -0.846780 m/s,
      rangeRepo size: 4

2025-08-21T19:33:54.992Z,1755804834.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 268.327911 m,
      bearing: 270.084119 deg,
      lat: 36.779549 deg,
      lon: -121.859564 deg,
      deltaT: 3.779035 s,
      deltaX: -3.181732 m,
      approachRate: -0.841943 m/s,
      posRepo size: 4

2025-08-21T19:33:54.993Z,1755804834.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:54.999Z,1755804834.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 254.711609 m,
      bearing: 270.616131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024565 deg/s,
      cmd heading: 261.352626 deg,
      new cmd heading: 261.374054 deg.

2025-08-21T19:33:55.000Z,1755804835.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.561838 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:55.423Z,1755804835.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:55.426Z,1755804835.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 254.365341 m,
      bearing: 270.624756 deg,
      approach rate: -0.820806 m/s,
      LOS rate: 0.020472 deg/s,
      cmd heading: 261.374045 deg,
      new cmd heading: 261.391318 deg.

2025-08-21T19:33:55.431Z,1755804835.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562139 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:55.734Z,1755804835.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:55.736Z,1755804835.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:55.739Z,1755804835.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 254.092438 m,
      bearing: 270.631524 deg,
      approach rate: -0.828844 m/s,
      LOS rate: 0.020579 deg/s,
      cmd heading: 261.391312 deg,
      new cmd heading: 261.404864 deg.

2025-08-21T19:33:55.740Z,1755804835.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562376 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:55.797Z,1755804835.797 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:55.797Z,1755804835.797 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:55.798Z,1755804835.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:33:56.050Z,1755804836.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250307
2025-08-21T19:33:56.163Z,1755804836.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:56.167Z,1755804836.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 253.750992 m,
      bearing: 270.639978 deg,
      approach rate: -0.800365 m/s,
      LOS rate: 0.019842 deg/s,
      cmd heading: 261.404863 deg,
      new cmd heading: 261.421793 deg.

2025-08-21T19:33:56.169Z,1755804836.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562671 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:56.303Z,1755804836.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502639
2025-08-21T19:33:56.552Z,1755804836.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752648
2025-08-21T19:33:56.565Z,1755804836.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:56.589Z,1755804836.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 253.423630 m,
      bearing: 270.649389 deg,
      approach rate: -0.813041 m/s,
      LOS rate: 0.023405 deg/s,
      cmd heading: 261.421802 deg,
      new cmd heading: 261.440650 deg.

2025-08-21T19:33:56.590Z,1755804836.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563000 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:56.804Z,1755804836.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004606
2025-08-21T19:33:56.985Z,1755804836.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:56.988Z,1755804836.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 253.085526 m,
      bearing: 270.659070 deg,
      approach rate: -0.805580 m/s,
      LOS rate: 0.023097 deg/s,
      cmd heading: 261.440654 deg,
      new cmd heading: 261.460041 deg.

2025-08-21T19:33:56.989Z,1755804836.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563339 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:57.059Z,1755804837.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258996
2025-08-21T19:33:57.316Z,1755804837.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515943
2025-08-21T19:33:57.416Z,1755804837.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:57.418Z,1755804837.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 252.747330 m,
      bearing: 270.668655 deg,
      approach rate: -0.785515 m/s,
      LOS rate: 0.022293 deg/s,
      cmd heading: 261.460051 deg,
      new cmd heading: 261.479247 deg.

2025-08-21T19:33:57.420Z,1755804837.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563674 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:57.564Z,1755804837.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764565
2025-08-21T19:33:57.775Z,1755804837.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:57.777Z,1755804837.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:57.780Z,1755804837.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 252.467880 m,
      bearing: 270.676560 deg,
      approach rate: -0.772833 m/s,
      LOS rate: 0.021887 deg/s,
      cmd heading: 261.479258 deg,
      new cmd heading: 261.495086 deg.

2025-08-21T19:33:57.781Z,1755804837.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.563950 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:57.817Z,1755804837.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017308
2025-08-21T19:33:58.068Z,1755804838.068 [DAT](INFO): DAT read: Rx Time:19:33:56.8653

2025-08-21T19:33:58.069Z,1755804838.069 [DAT](INFO): Rx dataTimestamp_ set to:1755804838.068386
2025-08-21T19:33:58.069Z,1755804838.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269585
2025-08-21T19:33:58.184Z,1755804838.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:58.186Z,1755804838.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 252.135681 m,
      bearing: 270.685908 deg,
      approach rate: -0.817822 m/s,
      LOS rate: 0.023044 deg/s,
      cmd heading: 261.495076 deg,
      new cmd heading: 261.513797 deg.

2025-08-21T19:33:58.187Z,1755804838.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564277 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:58.323Z,1755804838.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522854
2025-08-21T19:33:58.576Z,1755804838.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.775695
2025-08-21T19:33:58.649Z,1755804838.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.33 m.
2025-08-21T19:33:58.652Z,1755804838.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.327911 m,
      nav range: 251.751709 m,
      bearing: 270.694518 deg,
      approach rate: -0.823679 m/s,
      LOS rate: 0.018497 deg/s,
      cmd heading: 261.513791 deg,
      new cmd heading: 261.531037 deg.

2025-08-21T19:33:58.653Z,1755804838.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564578 target range: 268.327911 and range: 269.90 m.
2025-08-21T19:33:58.833Z,1755804838.833 [DAT](INFO): DAT read: 19:33:56.8653 LVL= 29984, 32753, 32754, 32755, AGC= 68, IDX= 391,-0.19,-0.176,-2.102,-0.378,-0.394, PHS= 0.320,-1.663,-0.028, RAW= 140.5,  14.8, CAL= 139.7,  15.9, ROT=  10.3, -15.9

2025-08-21T19:33:58.834Z,1755804838.834 [DAT](INFO): got valid direction response:
 19:33:56.8653 LVL= 29984, 32753, 32754, 32755, AGC= 68, IDX= 391,-0.19,-0.176,-2.102,-0.378,-0.394, PHS= 0.320,-1.663,-0.028, RAW= 140.5,  14.8, CAL= 139.7,  15.9, ROT=  10.3, -15.9

2025-08-21T19:33:58.835Z,1755804838.835 [DAT](INFO): DAT read: Bearing  57.7,  14.8 (Local)

2025-08-21T19:33:58.836Z,1755804838.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.7,  14.8 (Local)

2025-08-21T19:33:58.838Z,1755804838.838 [DAT](INFO): DAT read: Range 11 to 50 : 266.7 m  (Round-trip  355.7 ms) speed  0.6 m/s

2025-08-21T19:33:58.839Z,1755804838.839 [DAT](INFO): DAT read: user:3953>

2025-08-21T19:33:58.840Z,1755804838.840 [DAT](INFO): DAT read: Tx time:19:33:57.9554

2025-08-21T19:33:58.841Z,1755804838.841 [DAT](INFO): Ping request sent.
2025-08-21T19:33:58.841Z,1755804838.841 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:33:58.841Z,1755804838.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:33:58.842Z,1755804838.842 [DAT](INFO): direction in FSK: [0.946243,0.171961,0.273959]
2025-08-21T19:33:58.843Z,1755804838.843 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:58.853Z,1755804838.853 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:58.873Z,1755804838.873 [DAT](INFO): publishing transmit ping time
2025-08-21T19:33:58.873Z,1755804838.873 [DAT](INFO): publishing direction and range info
2025-08-21T19:33:59.034Z,1755804839.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 266.700012 m,
      deltaT: 4.038379 s,
      deltaX: -3.199982 m,
      approachRate: -0.792393 m/s,
      rangeRepo size: 4

2025-08-21T19:33:59.040Z,1755804839.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 265.145386 m,
      bearing: 271.565264 deg,
      lat: 36.779549 deg,
      lon: -121.859563 deg,
      deltaT: 4.038379 s,
      deltaX: -3.182526 m,
      approachRate: -0.788070 m/s,
      posRepo size: 4

2025-08-21T19:33:59.041Z,1755804839.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:33:59.048Z,1755804839.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 251.335175 m,
      bearing: 270.701626 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018497 deg/s,
      cmd heading: 261.531031 deg,
      new cmd heading: 261.545229 deg.

2025-08-21T19:33:59.049Z,1755804839.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.564826 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:33:59.437Z,1755804839.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:33:59.440Z,1755804839.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 250.990189 m,
      bearing: 270.710590 deg,
      approach rate: -0.853598 m/s,
      LOS rate: 0.022210 deg/s,
      cmd heading: 261.545237 deg,
      new cmd heading: 261.563190 deg.

2025-08-21T19:33:59.441Z,1755804839.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565139 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:33:59.785Z,1755804839.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:33:59.788Z,1755804839.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:33:59.790Z,1755804839.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 250.703568 m,
      bearing: 270.718063 deg,
      approach rate: -0.818843 m/s,
      LOS rate: 0.021373 deg/s,
      cmd heading: 261.563187 deg,
      new cmd heading: 261.578150 deg.

2025-08-21T19:33:59.812Z,1755804839.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565400 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:33:59.847Z,1755804839.847 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:33:59.847Z,1755804839.847 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:33:59.847Z,1755804839.847 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:00.100Z,1755804840.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259311
2025-08-21T19:34:00.257Z,1755804840.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:00.260Z,1755804840.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 250.318054 m,
      bearing: 270.728074 deg,
      approach rate: -0.820809 m/s,
      LOS rate: 0.021349 deg/s,
      cmd heading: 261.578159 deg,
      new cmd heading: 261.598213 deg.

2025-08-21T19:34:00.261Z,1755804840.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565750 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:00.357Z,1755804840.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515964
2025-08-21T19:34:00.604Z,1755804840.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763440
2025-08-21T19:34:00.639Z,1755804840.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:00.646Z,1755804840.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 250.018753 m,
      bearing: 270.735257 deg,
      approach rate: -0.784238 m/s,
      LOS rate: 0.018842 deg/s,
      cmd heading: 261.598212 deg,
      new cmd heading: 261.612595 deg.

2025-08-21T19:34:00.647Z,1755804840.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566001 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:00.856Z,1755804840.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015511
2025-08-21T19:34:01.011Z,1755804841.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:01.014Z,1755804841.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 249.693665 m,
      bearing: 270.743063 deg,
      approach rate: -0.873347 m/s,
      LOS rate: 0.020997 deg/s,
      cmd heading: 261.612583 deg,
      new cmd heading: 261.628215 deg.

2025-08-21T19:34:01.015Z,1755804841.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566274 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:01.108Z,1755804841.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439
2025-08-21T19:34:01.363Z,1755804841.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521830
2025-08-21T19:34:01.484Z,1755804841.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:01.486Z,1755804841.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 249.303085 m,
      bearing: 270.752758 deg,
      approach rate: -0.826053 m/s,
      LOS rate: 0.020536 deg/s,
      cmd heading: 261.628210 deg,
      new cmd heading: 261.647631 deg.

2025-08-21T19:34:01.488Z,1755804841.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566613 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:01.612Z,1755804841.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771277
2025-08-21T19:34:01.814Z,1755804841.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:01.816Z,1755804841.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:01.819Z,1755804841.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 249.028656 m,
      bearing: 270.759588 deg,
      approach rate: -0.825811 m/s,
      LOS rate: 0.020577 deg/s,
      cmd heading: 261.647636 deg,
      new cmd heading: 261.661312 deg.

2025-08-21T19:34:01.823Z,1755804841.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.566852 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:01.864Z,1755804841.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023491
2025-08-21T19:34:02.116Z,1755804842.116 [DAT](INFO): DAT read: Rx Time:19:34:00.7110

2025-08-21T19:34:02.117Z,1755804842.117 [DAT](INFO): Rx dataTimestamp_ set to:1755804842.116431
2025-08-21T19:34:02.117Z,1755804842.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276417
2025-08-21T19:34:02.208Z,1755804842.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.15 m.
2025-08-21T19:34:02.211Z,1755804842.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.145386 m,
      nav range: 248.704346 m,
      bearing: 270.767688 deg,
      approach rate: -0.827578 m/s,
      LOS rate: 0.020697 deg/s,
      cmd heading: 261.661323 deg,
      new cmd heading: 261.677544 deg.

2025-08-21T19:34:02.212Z,1755804842.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567135 target range: 265.145386 and range: 266.70 m.
2025-08-21T19:34:02.373Z,1755804842.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531827
2025-08-21T19:34:02.626Z,1755804842.626 [DAT](INFO): DAT read: 19:34:00.7110 LVL= 31280, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.28, 0.018,-1.910,-0.079,-0.218, PHS= 0.338,-1.647, 0.095, RAW= 143.6,  12.9, CAL= 143.1,  14.0, ROT=   6.9, -14.0

2025-08-21T19:34:02.627Z,1755804842.627 [DAT](INFO): got valid direction response:
 19:34:00.7110 LVL= 31280, 32753, 32754, 32755, AGC= 69, IDX= 395,-0.28, 0.018,-1.910,-0.079,-0.218, PHS= 0.338,-1.647, 0.095, RAW= 143.6,  12.9, CAL= 143.1,  14.0, ROT=   6.9, -14.0

2025-08-21T19:34:02.628Z,1755804842.628 [DAT](INFO): DAT read: Bearing  55.1,  12.1 (Local)

2025-08-21T19:34:02.629Z,1755804842.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.1,  12.1 (Local)

2025-08-21T19:34:02.630Z,1755804842.630 [DAT](INFO): DAT read: Range 11 to 50 : 263.5 m  (Round-trip  351.4 ms) speed  0.7 m/s

2025-08-21T19:34:02.631Z,1755804842.631 [DAT](INFO): DAT read: user:3954>

2025-08-21T19:34:02.632Z,1755804842.632 [DAT](INFO): DAT read: Tx time:19:34:01.8054

2025-08-21T19:34:02.632Z,1755804842.632 [DAT](INFO): Ping request sent.
2025-08-21T19:34:02.632Z,1755804842.632 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:02.632Z,1755804842.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:02.633Z,1755804842.633 [DAT](INFO): direction in FSK: [0.963268,0.116568,0.241922]
2025-08-21T19:34:02.633Z,1755804842.633 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:02.634Z,1755804842.634 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:02.642Z,1755804842.642 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:02.642Z,1755804842.642 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:02.741Z,1755804842.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 263.500000 m,
      deltaT: 3.793838 s,
      deltaX: -3.200012 m,
      approachRate: -0.843476 m/s,
      rangeRepo size: 4

2025-08-21T19:34:02.748Z,1755804842.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 261.963379 m,
      bearing: 268.207428 deg,
      lat: 36.779528 deg,
      lon: -121.859562 deg,
      deltaT: 3.793838 s,
      deltaX: -3.182007 m,
      approachRate: -0.838730 m/s,
      posRepo size: 4

2025-08-21T19:34:02.748Z,1755804842.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:02.755Z,1755804842.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 248.240219 m,
      bearing: 270.233773 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020697 deg/s,
      cmd heading: 261.677552 deg,
      new cmd heading: 261.699595 deg.

2025-08-21T19:34:02.756Z,1755804842.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567520 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:03.070Z,1755804843.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:03.073Z,1755804843.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 247.938217 m,
      bearing: 270.241211 deg,
      approach rate: -0.916424 m/s,
      LOS rate: 0.022600 deg/s,
      cmd heading: 261.699600 deg,
      new cmd heading: 261.714495 deg.

2025-08-21T19:34:03.074Z,1755804843.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.567780 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:03.504Z,1755804843.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:03.506Z,1755804843.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 247.579224 m,
      bearing: 270.250144 deg,
      approach rate: -0.827744 m/s,
      LOS rate: 0.020625 deg/s,
      cmd heading: 261.714489 deg,
      new cmd heading: 261.732380 deg.

2025-08-21T19:34:03.508Z,1755804843.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568092 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:03.958Z,1755804843.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:03.960Z,1755804843.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:03.963Z,1755804843.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 247.209122 m,
      bearing: 270.259353 deg,
      approach rate: -0.811261 m/s,
      LOS rate: 0.020216 deg/s,
      cmd heading: 261.732385 deg,
      new cmd heading: 261.750830 deg.

2025-08-21T19:34:03.964Z,1755804843.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568414 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:04.132Z,1755804844.132 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:04.132Z,1755804844.132 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:04.132Z,1755804844.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:04.295Z,1755804844.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:04.297Z,1755804844.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 246.923721 m,
      bearing: 270.266417 deg,
      approach rate: -0.853100 m/s,
      LOS rate: 0.021142 deg/s,
      cmd heading: 261.750826 deg,
      new cmd heading: 261.764972 deg.

2025-08-21T19:34:04.298Z,1755804844.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568661 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:04.391Z,1755804844.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758285
2025-08-21T19:34:04.640Z,1755804844.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008172
2025-08-21T19:34:04.732Z,1755804844.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:04.735Z,1755804844.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 246.565353 m,
      bearing: 270.274908 deg,
      approach rate: -0.819357 m/s,
      LOS rate: 0.019442 deg/s,
      cmd heading: 261.764978 deg,
      new cmd heading: 261.781985 deg.

2025-08-21T19:34:04.736Z,1755804844.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568957 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:04.893Z,1755804844.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261081
2025-08-21T19:34:05.132Z,1755804845.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:05.135Z,1755804845.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 246.237076 m,
      bearing: 270.282692 deg,
      approach rate: -0.820351 m/s,
      LOS rate: 0.019477 deg/s,
      cmd heading: 261.781972 deg,
      new cmd heading: 261.797560 deg.

2025-08-21T19:34:05.137Z,1755804845.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569230 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:05.145Z,1755804845.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513187
2025-08-21T19:34:05.399Z,1755804845.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766511
2025-08-21T19:34:05.530Z,1755804845.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:05.533Z,1755804845.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 245.914459 m,
      bearing: 270.291218 deg,
      approach rate: -0.811494 m/s,
      LOS rate: 0.021473 deg/s,
      cmd heading: 261.797572 deg,
      new cmd heading: 261.814646 deg.

2025-08-21T19:34:05.534Z,1755804845.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569528 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:05.648Z,1755804845.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016492
2025-08-21T19:34:05.901Z,1755804845.901 [DAT](INFO): DAT read: Rx Time:19:34:04.5745

2025-08-21T19:34:05.901Z,1755804845.901 [DAT](INFO): Rx dataTimestamp_ set to:1755804845.901097
2025-08-21T19:34:05.902Z,1755804845.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269934
2025-08-21T19:34:06.004Z,1755804846.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:06.006Z,1755804846.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 261.96 m.
2025-08-21T19:34:06.009Z,1755804846.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 261.963379 m,
      nav range: 245.528076 m,
      bearing: 270.301398 deg,
      approach rate: -0.811046 m/s,
      LOS rate: 0.021404 deg/s,
      cmd heading: 261.814647 deg,
      new cmd heading: 261.835041 deg.

2025-08-21T19:34:06.010Z,1755804846.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.569883 target range: 261.963379 and range: 263.50 m.
2025-08-21T19:34:06.153Z,1755804846.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520802
2025-08-21T19:34:06.410Z,1755804846.410 [DAT](INFO): DAT read: 19:34:04.5745 LVL= 23760, 32465, 27746, 32755, AGC= 70, IDX=  69,-0.12,-2.484, 1.816,-2.601,-2.708, PHS= 0.326,-1.714, 0.063, RAW= 143.2,  13.7, CAL= 142.7,  14.8, ROT=   7.3, -14.8

2025-08-21T19:34:06.411Z,1755804846.411 [DAT](INFO): got valid direction response:
 19:34:04.5745 LVL= 23760, 32465, 27746, 32755, AGC= 70, IDX=  69,-0.12,-2.484, 1.816,-2.601,-2.708, PHS= 0.326,-1.714, 0.063, RAW= 143.2,  13.7, CAL= 142.7,  14.8, ROT=   7.3, -14.8

2025-08-21T19:34:06.413Z,1755804846.413 [DAT](INFO): DAT read: Bearing  55.4,  12.9 (Local)

2025-08-21T19:34:06.414Z,1755804846.414 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.4,  12.9 (Local)

2025-08-21T19:34:06.419Z,1755804846.419 [DAT](INFO): DAT read: Range 11 to 50 : 273.6 m  (Round-trip  364.9 ms) speed  0.5 m/s

2025-08-21T19:34:06.421Z,1755804846.421 [DAT](INFO): DAT read: user:3955>

2025-08-21T19:34:06.434Z,1755804846.434 [DAT](INFO): DAT read: Tx time:19:34:05.7054

2025-08-21T19:34:06.435Z,1755804846.435 [DAT](INFO): Ping request sent.
2025-08-21T19:34:06.444Z,1755804846.444 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:06.445Z,1755804846.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:06.484Z,1755804846.484 [DAT](INFO): direction in FSK: [0.958987,0.122849,0.255446]
2025-08-21T19:34:06.485Z,1755804846.485 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:06.485Z,1755804846.485 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:06.492Z,1755804846.492 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:06.493Z,1755804846.493 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:06.614Z,1755804846.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.600006 m,
      deltaT: 3.783910 s,
      deltaX: 10.100006 m,
      approachRate: 2.669198 m/s,
      rangeRepo size: 4

2025-08-21T19:34:06.621Z,1755804846.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 272.004517 m,
      bearing: 268.827552 deg,
      lat: 36.779528 deg,
      lon: -121.859563 deg,
      deltaT: 3.783910 s,
      deltaX: 10.041138 m,
      approachRate: 2.653641 m/s,
      posRepo size: 4

2025-08-21T19:34:06.621Z,1755804846.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:06.628Z,1755804846.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 245.068512 m,
      bearing: 270.313507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021404 deg/s,
      cmd heading: 261.835029 deg,
      new cmd heading: 261.861028 deg.

2025-08-21T19:34:06.629Z,1755804846.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570337 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:07.150Z,1755804847.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:07.157Z,1755804847.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 244.612778 m,
      bearing: 270.324772 deg,
      approach rate: -0.849306 m/s,
      LOS rate: 0.021032 deg/s,
      cmd heading: 261.861038 deg,
      new cmd heading: 261.883610 deg.

2025-08-21T19:34:07.158Z,1755804847.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.570731 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:07.537Z,1755804847.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:07.539Z,1755804847.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 244.279343 m,
      bearing: 270.333557 deg,
      approach rate: -0.862766 m/s,
      LOS rate: 0.022763 deg/s,
      cmd heading: 261.883605 deg,
      new cmd heading: 261.901200 deg.

2025-08-21T19:34:07.540Z,1755804847.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571038 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:07.922Z,1755804847.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:07.925Z,1755804847.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 243.958435 m,
      bearing: 270.342094 deg,
      approach rate: -0.832061 m/s,
      LOS rate: 0.022163 deg/s,
      cmd heading: 261.901199 deg,
      new cmd heading: 261.918295 deg.

2025-08-21T19:34:07.926Z,1755804847.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571337 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:08.310Z,1755804848.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:08.312Z,1755804848.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:08.315Z,1755804848.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 243.633682 m,
      bearing: 270.350764 deg,
      approach rate: -0.832648 m/s,
      LOS rate: 0.022261 deg/s,
      cmd heading: 261.918302 deg,
      new cmd heading: 261.935667 deg.

2025-08-21T19:34:08.332Z,1755804848.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571640 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:08.420Z,1755804848.420 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:08.421Z,1755804848.421 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:08.421Z,1755804848.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:08.672Z,1755804848.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237288
2025-08-21T19:34:08.756Z,1755804848.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:08.758Z,1755804848.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 243.267883 m,
      bearing: 270.360876 deg,
      approach rate: -0.825409 m/s,
      LOS rate: 0.022850 deg/s,
      cmd heading: 261.935678 deg,
      new cmd heading: 261.955932 deg.

2025-08-21T19:34:08.759Z,1755804848.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571993 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:08.924Z,1755804848.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489397
2025-08-21T19:34:09.120Z,1755804849.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:09.123Z,1755804849.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 242.967194 m,
      bearing: 270.369288 deg,
      approach rate: -0.823803 m/s,
      LOS rate: 0.023076 deg/s,
      cmd heading: 261.955923 deg,
      new cmd heading: 261.972768 deg.

2025-08-21T19:34:09.124Z,1755804849.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572288 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:09.177Z,1755804849.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741915
2025-08-21T19:34:09.432Z,1755804849.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996987
2025-08-21T19:34:09.561Z,1755804849.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:09.564Z,1755804849.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 242.608429 m,
      bearing: 270.378080 deg,
      approach rate: -0.813420 m/s,
      LOS rate: 0.019964 deg/s,
      cmd heading: 261.972780 deg,
      new cmd heading: 261.990390 deg.

2025-08-21T19:34:09.565Z,1755804849.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572595 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:09.680Z,1755804849.680 [DAT](INFO): DAT read: Rx Time:19:34:08.4524

2025-08-21T19:34:09.681Z,1755804849.681 [DAT](INFO): Rx dataTimestamp_ set to:1755804849.680567
2025-08-21T19:34:09.681Z,1755804849.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246533
2025-08-21T19:34:09.932Z,1755804849.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497308
2025-08-21T19:34:09.951Z,1755804849.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 272.00 m.
2025-08-21T19:34:09.958Z,1755804849.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 272.004517 m,
      nav range: 242.307922 m,
      bearing: 270.385489 deg,
      approach rate: -0.771856 m/s,
      LOS rate: 0.019054 deg/s,
      cmd heading: 261.990402 deg,
      new cmd heading: 262.005238 deg.

2025-08-21T19:34:09.959Z,1755804849.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.572854 target range: 272.004517 and range: 273.60 m.
2025-08-21T19:34:10.205Z,1755804850.205 [DAT](INFO): DAT read: 19:34:08.4524 LVL= 27984, 32753, 32754, 32755, AGC= 66, IDX= 211,-0.06, 0.471,-1.468, 0.328, 0.149, PHS= 0.423,-1.573, 0.135, RAW= 142.3,  10.9, CAL= 141.8,  11.8, ROT=   8.2, -11.8

2025-08-21T19:34:10.209Z,1755804850.209 [DAT](INFO): got valid direction response:
 19:34:08.4524 LVL= 27984, 32753, 32754, 32755, AGC= 66, IDX= 211,-0.06, 0.471,-1.468, 0.328, 0.149, PHS= 0.423,-1.573, 0.135, RAW= 142.3,  10.9, CAL= 141.8,  11.8, ROT=   8.2, -11.8

2025-08-21T19:34:10.210Z,1755804850.210 [DAT](INFO): DAT read: Bearing  51.9,  14.3 (Local)

2025-08-21T19:34:10.210Z,1755804850.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.9,  14.3 (Local)

2025-08-21T19:34:10.212Z,1755804850.212 [DAT](INFO): DAT read: Range 11 to 50 : 257.1 m  (Round-trip  342.8 ms) speed  0.7 m/s

2025-08-21T19:34:10.213Z,1755804850.213 [DAT](INFO): DAT read: user:3956>

2025-08-21T19:34:10.213Z,1755804850.213 [DAT](INFO): DAT read: Tx time:19:34:09.5554

2025-08-21T19:34:10.214Z,1755804850.214 [DAT](INFO): Ping request sent.
2025-08-21T19:34:10.214Z,1755804850.214 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:10.214Z,1755804850.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:10.217Z,1755804850.217 [DAT](INFO): direction in FSK: [0.968860,0.139615,0.204496]
2025-08-21T19:34:10.219Z,1755804850.219 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:10.220Z,1755804850.220 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:10.237Z,1755804850.237 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:10.237Z,1755804850.237 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:10.393Z,1755804850.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 257.100006 m,
      deltaT: 3.781686 s,
      deltaX: -16.500000 m,
      approachRate: -4.363133 m/s,
      rangeRepo size: 4

2025-08-21T19:34:10.395Z,1755804850.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 255.599854 m,
      bearing: 269.718247 deg,
      lat: 36.779502 deg,
      lon: -121.859563 deg,
      deltaT: 3.781686 s,
      deltaX: -16.404663 m,
      approachRate: -4.337923 m/s,
      posRepo size: 4

2025-08-21T19:34:10.396Z,1755804850.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:10.398Z,1755804850.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 241.963226 m,
      bearing: 269.717815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019054 deg/s,
      cmd heading: 262.005237 deg,
      new cmd heading: 262.021719 deg.

2025-08-21T19:34:10.404Z,1755804850.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573142 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:10.758Z,1755804850.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:10.760Z,1755804850.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:10.763Z,1755804850.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 241.638824 m,
      bearing: 269.724655 deg,
      approach rate: -0.861140 m/s,
      LOS rate: 0.018180 deg/s,
      cmd heading: 262.021711 deg,
      new cmd heading: 262.035408 deg.

2025-08-21T19:34:10.764Z,1755804850.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573380 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:10.940Z,1755804850.940 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:10.940Z,1755804850.940 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:10.941Z,1755804850.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:11.152Z,1755804851.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:11.156Z,1755804851.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 241.328323 m,
      bearing: 269.731218 deg,
      approach rate: -0.793439 m/s,
      LOS rate: 0.016793 deg/s,
      cmd heading: 262.035399 deg,
      new cmd heading: 262.048543 deg.

2025-08-21T19:34:11.158Z,1755804851.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573610 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:11.192Z,1755804851.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978444
2025-08-21T19:34:11.444Z,1755804851.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230447
2025-08-21T19:34:11.599Z,1755804851.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:11.602Z,1755804851.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 240.983978 m,
      bearing: 269.739542 deg,
      approach rate: -0.769588 m/s,
      LOS rate: 0.018629 deg/s,
      cmd heading: 262.048540 deg,
      new cmd heading: 262.065211 deg.

2025-08-21T19:34:11.603Z,1755804851.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.573901 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:11.697Z,1755804851.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.483176
2025-08-21T19:34:11.957Z,1755804851.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741300
2025-08-21T19:34:11.980Z,1755804851.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:11.983Z,1755804851.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 240.697464 m,
      bearing: 269.746453 deg,
      approach rate: -0.751278 m/s,
      LOS rate: 0.018145 deg/s,
      cmd heading: 262.065206 deg,
      new cmd heading: 262.079046 deg.

2025-08-21T19:34:11.988Z,1755804851.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574142 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:12.205Z,1755804852.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991578
2025-08-21T19:34:12.364Z,1755804852.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:12.370Z,1755804852.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 240.371658 m,
      bearing: 269.754289 deg,
      approach rate: -0.849855 m/s,
      LOS rate: 0.020466 deg/s,
      cmd heading: 262.079058 deg,
      new cmd heading: 262.094749 deg.

2025-08-21T19:34:12.372Z,1755804852.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574416 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:12.457Z,1755804852.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243370
2025-08-21T19:34:12.708Z,1755804852.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494464
2025-08-21T19:34:12.781Z,1755804852.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:12.784Z,1755804852.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:12.786Z,1755804852.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 240.033890 m,
      bearing: 269.761555 deg,
      approach rate: -0.803759 m/s,
      LOS rate: 0.017315 deg/s,
      cmd heading: 262.094740 deg,
      new cmd heading: 262.109292 deg.

2025-08-21T19:34:12.788Z,1755804852.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574670 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:12.963Z,1755804852.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749234
2025-08-21T19:34:13.166Z,1755804853.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:13.170Z,1755804853.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 239.734741 m,
      bearing: 269.767971 deg,
      approach rate: -0.783239 m/s,
      LOS rate: 0.016820 deg/s,
      cmd heading: 262.109302 deg,
      new cmd heading: 262.122150 deg.

2025-08-21T19:34:13.172Z,1755804853.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.574894 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:13.213Z,1755804853.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998855
2025-08-21T19:34:13.464Z,1755804853.464 [DAT](INFO): DAT read: Rx Time:19:34:12.2981

2025-08-21T19:34:13.465Z,1755804853.465 [DAT](INFO): Rx dataTimestamp_ set to:1755804853.464448
2025-08-21T19:34:13.465Z,1755804853.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251532
2025-08-21T19:34:13.468Z,1755804853.468 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:34:13.639Z,1755804853.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:13.642Z,1755804853.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 239.367554 m,
      bearing: 269.775873 deg,
      approach rate: -0.776229 m/s,
      LOS rate: 0.016730 deg/s,
      cmd heading: 262.122142 deg,
      new cmd heading: 262.137971 deg.

2025-08-21T19:34:13.643Z,1755804853.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575171 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:13.717Z,1755804853.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503320
2025-08-21T19:34:13.968Z,1755804853.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.754525
2025-08-21T19:34:13.973Z,1755804853.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 255.60 m.
2025-08-21T19:34:13.977Z,1755804853.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 255.599854 m,
      nav range: 239.090286 m,
      bearing: 269.781827 deg,
      approach rate: -0.828520 m/s,
      LOS rate: 0.017813 deg/s,
      cmd heading: 262.137961 deg,
      new cmd heading: 262.149884 deg.

2025-08-21T19:34:13.978Z,1755804853.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575378 target range: 255.599854 and range: 257.10 m.
2025-08-21T19:34:14.226Z,1755804854.226 [DAT](INFO): DAT read: 19:34:12.2981 LVL= 30704, 32753, 32754, 32755, AGC= 67, IDX= 391, 0.09, 0.762,-1.169, 0.602, 0.401, PHS= 0.463,-1.525, 0.156, RAW= 141.8,   9.8, CAL= 141.3,  10.7, ROT=   8.7, -10.7

2025-08-21T19:34:14.227Z,1755804854.227 [DAT](INFO): got valid direction response:
 19:34:12.2981 LVL= 30704, 32753, 32754, 32755, AGC= 67, IDX= 391, 0.09, 0.762,-1.169, 0.602, 0.401, PHS= 0.463,-1.525, 0.156, RAW= 141.8,   9.8, CAL= 141.3,  10.7, ROT=   8.7, -10.7

2025-08-21T19:34:14.228Z,1755804854.228 [DAT](INFO): DAT read: Bearing  50.6,  15.9 (Local)

2025-08-21T19:34:14.228Z,1755804854.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.6,  15.9 (Local)

2025-08-21T19:34:14.230Z,1755804854.230 [DAT](INFO): DAT read: Range 11 to 50 : 253.8 m  (Round-trip  338.5 ms) speed  0.5 m/s

2025-08-21T19:34:14.231Z,1755804854.231 [DAT](INFO): DAT read: user:3957>

2025-08-21T19:34:14.238Z,1755804854.238 [DAT](INFO): DAT read: Tx time:19:34:13.4054

2025-08-21T19:34:14.243Z,1755804854.243 [DAT](INFO): Ping request sent.
2025-08-21T19:34:14.244Z,1755804854.244 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:14.244Z,1755804854.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:14.246Z,1755804854.246 [DAT](INFO): direction in FSK: [0.971307,0.148631,0.185667]
2025-08-21T19:34:14.246Z,1755804854.246 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:14.246Z,1755804854.246 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:14.258Z,1755804854.258 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:14.258Z,1755804854.258 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:14.469Z,1755804854.469 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:34:14.558Z,1755804854.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 253.800003 m,
      deltaT: 4.034357 s,
      deltaX: -3.300003 m,
      approachRate: -0.817975 m/s,
      rangeRepo size: 4

2025-08-21T19:34:14.573Z,1755804854.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 252.317398 m,
      bearing: 270.530477 deg,
      lat: 36.779502 deg,
      lon: -121.859575 deg,
      deltaT: 4.034357 s,
      deltaX: -3.282455 m,
      approachRate: -0.813625 m/s,
      posRepo size: 4

2025-08-21T19:34:14.580Z,1755804854.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:14.597Z,1755804854.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 239.731369 m,
      bearing: 269.791995 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017813 deg/s,
      cmd heading: 262.149873 deg,
      new cmd heading: 262.170418 deg.

2025-08-21T19:34:14.606Z,1755804854.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575737 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:14.883Z,1755804854.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:14.889Z,1755804854.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:14.896Z,1755804854.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 239.427094 m,
      bearing: 269.798064 deg,
      approach rate: -0.897332 m/s,
      LOS rate: 0.017920 deg/s,
      cmd heading: 262.170418 deg,
      new cmd heading: 262.182571 deg.

2025-08-21T19:34:14.900Z,1755804854.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575949 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:14.976Z,1755804854.976 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:14.976Z,1755804854.976 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:14.977Z,1755804854.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:15.228Z,1755804855.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984512
2025-08-21T19:34:15.254Z,1755804855.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:15.257Z,1755804855.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 239.126053 m,
      bearing: 269.804084 deg,
      approach rate: -0.824408 m/s,
      LOS rate: 0.016507 deg/s,
      cmd heading: 262.182576 deg,
      new cmd heading: 262.194631 deg.

2025-08-21T19:34:15.258Z,1755804855.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576159 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:15.480Z,1755804855.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236644
2025-08-21T19:34:15.691Z,1755804855.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:15.693Z,1755804855.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 238.765305 m,
      bearing: 269.811618 deg,
      approach rate: -0.826917 m/s,
      LOS rate: 0.017296 deg/s,
      cmd heading: 262.194624 deg,
      new cmd heading: 262.209715 deg.

2025-08-21T19:34:15.694Z,1755804855.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576423 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:15.733Z,1755804855.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489125
2025-08-21T19:34:15.984Z,1755804855.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740623
2025-08-21T19:34:16.026Z,1755804856.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:16.029Z,1755804856.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 238.488098 m,
      bearing: 269.817454 deg,
      approach rate: -0.826633 m/s,
      LOS rate: 0.017424 deg/s,
      cmd heading: 262.209705 deg,
      new cmd heading: 262.221392 deg.

2025-08-21T19:34:16.030Z,1755804856.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576627 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:16.236Z,1755804856.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992743
2025-08-21T19:34:16.451Z,1755804856.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:16.454Z,1755804856.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 238.156433 m,
      bearing: 269.824477 deg,
      approach rate: -0.787311 m/s,
      LOS rate: 0.016695 deg/s,
      cmd heading: 262.221399 deg,
      new cmd heading: 262.235465 deg.

2025-08-21T19:34:16.459Z,1755804856.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.576872 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:16.490Z,1755804856.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246721
2025-08-21T19:34:16.740Z,1755804856.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496596
2025-08-21T19:34:16.884Z,1755804856.884 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:16.886Z,1755804856.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:16.893Z,1755804856.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 237.784103 m,
      bearing: 269.832899 deg,
      approach rate: -0.848814 m/s,
      LOS rate: 0.019229 deg/s,
      cmd heading: 262.235469 deg,
      new cmd heading: 262.252339 deg.

2025-08-21T19:34:16.894Z,1755804856.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577167 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:16.993Z,1755804856.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749048
2025-08-21T19:34:17.244Z,1755804857.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000724
2025-08-21T19:34:17.328Z,1755804857.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:17.330Z,1755804857.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 237.411652 m,
      bearing: 269.841373 deg,
      approach rate: -0.842541 m/s,
      LOS rate: 0.019200 deg/s,
      cmd heading: 262.252326 deg,
      new cmd heading: 262.269301 deg.

2025-08-21T19:34:17.332Z,1755804857.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577463 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:17.496Z,1755804857.496 [DAT](INFO): DAT read: Rx Time:19:34:16.1438

2025-08-21T19:34:17.497Z,1755804857.497 [DAT](INFO): Rx dataTimestamp_ set to:1755804857.496413
2025-08-21T19:34:17.497Z,1755804857.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253693
2025-08-21T19:34:17.722Z,1755804857.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 252.32 m.
2025-08-21T19:34:17.725Z,1755804857.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 252.317398 m,
      nav range: 237.081558 m,
      bearing: 269.849057 deg,
      approach rate: -0.838096 m/s,
      LOS rate: 0.019537 deg/s,
      cmd heading: 262.269292 deg,
      new cmd heading: 262.284682 deg.

2025-08-21T19:34:17.726Z,1755804857.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577731 target range: 252.317398 and range: 253.80 m.
2025-08-21T19:34:17.748Z,1755804857.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504796
2025-08-21T19:34:18.006Z,1755804858.006 [DAT](INFO): DAT read: 19:34:16.1438 LVL= 31792, 32753, 32754, 32755, AGC= 66, IDX= 395, 0.34,-1.191,-3.039,-1.283,-1.485, PHS= 0.395,-1.509, 0.158, RAW= 143.4,  10.6, CAL= 143.0,  11.6, ROT=   7.0, -11.6

2025-08-21T19:34:18.007Z,1755804858.007 [DAT](INFO): got valid direction response:
 19:34:16.1438 LVL= 31792, 32753, 32754, 32755, AGC= 66, IDX= 395, 0.34,-1.191,-3.039,-1.283,-1.485, PHS= 0.395,-1.509, 0.158, RAW= 143.4,  10.6, CAL= 143.0,  11.6, ROT=   7.0, -11.6

2025-08-21T19:34:18.008Z,1755804858.008 [DAT](INFO): DAT read: Bearing  51.6,  14.9 (Local)

2025-08-21T19:34:18.008Z,1755804858.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,  14.9 (Local)

2025-08-21T19:34:18.010Z,1755804858.010 [DAT](INFO): DAT read: Range 11 to 50 : 250.6 m  (Round-trip  334.2 ms) speed  0.6 m/s

2025-08-21T19:34:18.011Z,1755804858.011 [DAT](INFO): DAT read: user:3958>

2025-08-21T19:34:18.011Z,1755804858.011 [DAT](INFO): DAT read: Tx time:19:34:17.2570

2025-08-21T19:34:18.012Z,1755804858.012 [DAT](INFO): Ping request sent.
2025-08-21T19:34:18.012Z,1755804858.012 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:18.012Z,1755804858.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:18.013Z,1755804858.013 [DAT](INFO): direction in FSK: [0.972274,0.119380,0.201078]
2025-08-21T19:34:18.013Z,1755804858.013 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:18.014Z,1755804858.014 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:18.041Z,1755804858.041 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:18.042Z,1755804858.042 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:18.143Z,1755804858.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 250.600006 m,
      deltaT: 3.780047 s,
      deltaX: -3.199997 m,
      approachRate: -0.846550 m/s,
      rangeRepo size: 4

2025-08-21T19:34:18.152Z,1755804858.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 249.133728 m,
      bearing: 268.707773 deg,
      lat: 36.779469 deg,
      lon: -121.859575 deg,
      deltaT: 3.780047 s,
      deltaX: -3.183670 m,
      approachRate: -0.842230 m/s,
      posRepo size: 4

2025-08-21T19:34:18.153Z,1755804858.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:18.161Z,1755804858.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 236.788162 m,
      bearing: 268.961422 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019537 deg/s,
      cmd heading: 262.284674 deg,
      new cmd heading: 262.301091 deg.

2025-08-21T19:34:18.162Z,1755804858.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578018 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:18.539Z,1755804858.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:18.542Z,1755804858.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 236.434723 m,
      bearing: 268.968439 deg,
      approach rate: -0.890123 m/s,
      LOS rate: 0.017698 deg/s,
      cmd heading: 262.301093 deg,
      new cmd heading: 262.315148 deg.

2025-08-21T19:34:18.543Z,1755804858.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578263 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:18.931Z,1755804858.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:18.949Z,1755804858.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:18.959Z,1755804858.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 236.109573 m,
      bearing: 268.975362 deg,
      approach rate: -0.793260 m/s,
      LOS rate: 0.016913 deg/s,
      cmd heading: 262.315136 deg,
      new cmd heading: 262.329002 deg.

2025-08-21T19:34:18.960Z,1755804858.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578505 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:19.008Z,1755804859.008 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:19.008Z,1755804859.008 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:19.009Z,1755804859.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:19.261Z,1755804859.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248793
2025-08-21T19:34:19.324Z,1755804859.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:19.327Z,1755804859.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 235.785873 m,
      bearing: 268.982283 deg,
      approach rate: -0.862675 m/s,
      LOS rate: 0.018470 deg/s,
      cmd heading: 262.329015 deg,
      new cmd heading: 262.342876 deg.

2025-08-21T19:34:19.328Z,1755804859.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.578747 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:19.512Z,1755804859.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500368
2025-08-21T19:34:19.747Z,1755804859.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:19.749Z,1755804859.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 235.438278 m,
      bearing: 268.990537 deg,
      approach rate: -0.822695 m/s,
      LOS rate: 0.019566 deg/s,
      cmd heading: 262.342867 deg,
      new cmd heading: 262.359400 deg.

2025-08-21T19:34:19.750Z,1755804859.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579035 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:19.764Z,1755804859.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752382
2025-08-21T19:34:20.016Z,1755804860.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004565
2025-08-21T19:34:20.125Z,1755804860.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:20.129Z,1755804860.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 235.127090 m,
      bearing: 268.997929 deg,
      approach rate: -0.821486 m/s,
      LOS rate: 0.019538 deg/s,
      cmd heading: 262.359396 deg,
      new cmd heading: 262.374198 deg.

2025-08-21T19:34:20.130Z,1755804860.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579294 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:20.268Z,1755804860.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256287
2025-08-21T19:34:20.520Z,1755804860.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508416
2025-08-21T19:34:20.530Z,1755804860.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:20.533Z,1755804860.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 234.793945 m,
      bearing: 269.005860 deg,
      approach rate: -0.823750 m/s,
      LOS rate: 0.019639 deg/s,
      cmd heading: 262.374204 deg,
      new cmd heading: 262.390088 deg.

2025-08-21T19:34:20.534Z,1755804860.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579571 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:20.772Z,1755804860.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760539
2025-08-21T19:34:20.954Z,1755804860.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:20.956Z,1755804860.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:20.959Z,1755804860.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 234.441681 m,
      bearing: 269.013961 deg,
      approach rate: -0.826028 m/s,
      LOS rate: 0.019024 deg/s,
      cmd heading: 262.390077 deg,
      new cmd heading: 262.406303 deg.

2025-08-21T19:34:20.960Z,1755804860.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579854 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:21.026Z,1755804861.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014047
2025-08-21T19:34:21.278Z,1755804861.278 [DAT](INFO): DAT read: Rx Time:19:34:19.9912

2025-08-21T19:34:21.278Z,1755804861.278 [DAT](INFO): Rx dataTimestamp_ set to:1755804861.277783
2025-08-21T19:34:21.279Z,1755804861.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266749
2025-08-21T19:34:21.380Z,1755804861.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 249.13 m.
2025-08-21T19:34:21.383Z,1755804861.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 249.133728 m,
      nav range: 234.096436 m,
      bearing: 269.021908 deg,
      approach rate: -0.813834 m/s,
      LOS rate: 0.018761 deg/s,
      cmd heading: 262.406306 deg,
      new cmd heading: 262.422223 deg.

2025-08-21T19:34:21.384Z,1755804861.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580132 target range: 249.133728 and range: 250.60 m.
2025-08-21T19:34:21.528Z,1755804861.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516318
2025-08-21T19:34:21.786Z,1755804861.786 [DAT](INFO): DAT read: 19:34:19.9912 LVL= 31936, 32753, 32754, 32755, AGC= 67, IDX= 400,-0.34,-2.161, 2.236,-2.296,-2.487, PHS= 0.428,-1.516, 0.147, RAW= 142.3,  10.4, CAL= 141.8,  11.3, ROT=   8.2, -11.3

2025-08-21T19:34:21.787Z,1755804861.787 [DAT](INFO): got valid direction response:
 19:34:19.9912 LVL= 31936, 32753, 32754, 32755, AGC= 67, IDX= 400,-0.34,-2.161, 2.236,-2.296,-2.487, PHS= 0.428,-1.516, 0.147, RAW= 142.3,  10.4, CAL= 141.8,  11.3, ROT=   8.2, -11.3

2025-08-21T19:34:21.788Z,1755804861.788 [DAT](INFO): DAT read: Bearing  51.3,  16.6 (Local)

2025-08-21T19:34:21.789Z,1755804861.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.3,  16.6 (Local)

2025-08-21T19:34:21.790Z,1755804861.790 [DAT](INFO): DAT read: Range 11 to 50 : 247.5 m  (Round-trip  330.0 ms) speed  0.8 m/s

2025-08-21T19:34:21.791Z,1755804861.791 [DAT](INFO): DAT read: user:3959>

2025-08-21T19:34:21.792Z,1755804861.792 [DAT](INFO): DAT read: Tx time:19:34:21.1054

2025-08-21T19:34:21.792Z,1755804861.792 [DAT](INFO): Ping request sent.
2025-08-21T19:34:21.792Z,1755804861.792 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:21.792Z,1755804861.792 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:21.793Z,1755804861.793 [DAT](INFO): direction in FSK: [0.970589,0.139864,0.195946]
2025-08-21T19:34:21.793Z,1755804861.793 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:21.794Z,1755804861.794 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:21.797Z,1755804861.797 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:21.797Z,1755804861.797 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:21.841Z,1755804861.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.500000 m,
      deltaT: 3.779982 s,
      deltaX: -3.100006 m,
      approachRate: -0.820111 m/s,
      rangeRepo size: 4

2025-08-21T19:34:21.853Z,1755804861.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 246.051773 m,
      bearing: 269.999022 deg,
      lat: 36.779502 deg,
      lon: -121.859575 deg,
      deltaT: 3.779982 s,
      deltaX: -3.081955 m,
      approachRate: -0.815336 m/s,
      posRepo size: 4

2025-08-21T19:34:21.855Z,1755804861.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:21.866Z,1755804861.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 233.699677 m,
      bearing: 269.937450 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018761 deg/s,
      cmd heading: 262.422234 deg,
      new cmd heading: 262.438697 deg.

2025-08-21T19:34:21.867Z,1755804861.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580420 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:22.196Z,1755804862.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:22.198Z,1755804862.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 233.399521 m,
      bearing: 269.945615 deg,
      approach rate: -0.806673 m/s,
      LOS rate: 0.021972 deg/s,
      cmd heading: 262.438708 deg,
      new cmd heading: 262.455059 deg.

2025-08-21T19:34:22.203Z,1755804862.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.580705 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:22.564Z,1755804862.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:22.566Z,1755804862.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 233.085693 m,
      bearing: 269.954231 deg,
      approach rate: -0.842375 m/s,
      LOS rate: 0.023157 deg/s,
      cmd heading: 262.455046 deg,
      new cmd heading: 262.472300 deg.

2025-08-21T19:34:22.568Z,1755804862.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581006 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:22.978Z,1755804862.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:22.980Z,1755804862.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:22.983Z,1755804862.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 232.745911 m,
      bearing: 269.961932 deg,
      approach rate: -0.816591 m/s,
      LOS rate: 0.018536 deg/s,
      cmd heading: 262.472313 deg,
      new cmd heading: 262.487738 deg.

2025-08-21T19:34:22.984Z,1755804862.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581275 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:23.040Z,1755804863.040 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:23.041Z,1755804863.041 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:23.041Z,1755804863.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:23.294Z,1755804863.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501615
2025-08-21T19:34:23.389Z,1755804863.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:23.392Z,1755804863.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 232.423141 m,
      bearing: 269.969314 deg,
      approach rate: -0.788744 m/s,
      LOS rate: 0.018063 deg/s,
      cmd heading: 262.487749 deg,
      new cmd heading: 262.502532 deg.

2025-08-21T19:34:23.393Z,1755804863.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581533 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:23.544Z,1755804863.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752148
2025-08-21T19:34:23.797Z,1755804863.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004521
2025-08-21T19:34:23.818Z,1755804863.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:23.821Z,1755804863.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 232.062897 m,
      bearing: 269.977541 deg,
      approach rate: -0.840772 m/s,
      LOS rate: 0.019231 deg/s,
      cmd heading: 262.502529 deg,
      new cmd heading: 262.519009 deg.

2025-08-21T19:34:23.822Z,1755804863.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581821 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:24.048Z,1755804864.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256296
2025-08-21T19:34:24.285Z,1755804864.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:24.288Z,1755804864.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 231.682632 m,
      bearing: 269.986326 deg,
      approach rate: -0.812878 m/s,
      LOS rate: 0.018811 deg/s,
      cmd heading: 262.519004 deg,
      new cmd heading: 262.536603 deg.

2025-08-21T19:34:24.289Z,1755804864.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582128 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:24.301Z,1755804864.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508592
2025-08-21T19:34:24.552Z,1755804864.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760404
2025-08-21T19:34:24.765Z,1755804864.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:24.772Z,1755804864.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 231.341843 m,
      bearing: 269.994251 deg,
      approach rate: -0.710809 m/s,
      LOS rate: 0.016554 deg/s,
      cmd heading: 262.536598 deg,
      new cmd heading: 262.552472 deg.

2025-08-21T19:34:24.773Z,1755804864.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582405 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:24.804Z,1755804864.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012367
2025-08-21T19:34:25.056Z,1755804865.056 [DAT](INFO): DAT read: Rx Time:19:34:23.8353

2025-08-21T19:34:25.057Z,1755804865.057 [DAT](INFO): Rx dataTimestamp_ set to:1755804865.056620
2025-08-21T19:34:25.057Z,1755804865.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265426
2025-08-21T19:34:25.250Z,1755804865.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:25.268Z,1755804865.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.05 m.
2025-08-21T19:34:25.275Z,1755804865.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 246.051773 m,
      nav range: 230.896606 m,
      bearing: 270.004644 deg,
      approach rate: -0.884442 m/s,
      LOS rate: 0.020684 deg/s,
      cmd heading: 262.552472 deg,
      new cmd heading: 262.573297 deg.

2025-08-21T19:34:25.284Z,1755804865.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.582768 target range: 246.051773 and range: 247.50 m.
2025-08-21T19:34:25.308Z,1755804865.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516337
2025-08-21T19:34:25.581Z,1755804865.581 [DAT](INFO): DAT read: 19:34:23.8353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.30,-0.515,-2.392,-0.667,-0.856, PHS= 0.443,-1.490, 0.146, RAW= 141.8,  10.0, CAL= 141.3,  10.9, ROT=   8.7, -10.9

2025-08-21T19:34:25.583Z,1755804865.583 [DAT](INFO): got valid direction response:
 19:34:23.8353 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.30,-0.515,-2.392,-0.667,-0.856, PHS= 0.443,-1.490, 0.146, RAW= 141.8,  10.0, CAL= 141.3,  10.9, ROT=   8.7, -10.9

2025-08-21T19:34:25.590Z,1755804865.590 [DAT](INFO): DAT read: Bearing  50.4,  17.6 (Local)

2025-08-21T19:34:25.593Z,1755804865.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,  17.6 (Local)

2025-08-21T19:34:25.600Z,1755804865.600 [DAT](INFO): DAT read: Range 11 to 50 : 244.2 m  (Round-trip  325.7 ms) speed  0.5 m/s

2025-08-21T19:34:25.601Z,1755804865.601 [DAT](INFO): DAT read: user:3960>

2025-08-21T19:34:25.602Z,1755804865.602 [DAT](INFO): DAT read: Tx time:19:34:24.9554

2025-08-21T19:34:25.602Z,1755804865.602 [DAT](INFO): Ping request sent.
2025-08-21T19:34:25.602Z,1755804865.602 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:25.602Z,1755804865.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:25.608Z,1755804865.608 [DAT](INFO): direction in FSK: [0.970660,0.148532,0.189095]
2025-08-21T19:34:25.609Z,1755804865.609 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:25.609Z,1755804865.609 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:25.631Z,1755804865.631 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:25.631Z,1755804865.631 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:25.883Z,1755804865.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.199997 m,
      deltaT: 3.781486 s,
      deltaX: -3.300003 m,
      approachRate: -0.872674 m/s,
      rangeRepo size: 4

2025-08-21T19:34:25.890Z,1755804865.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 242.758682 m,
      bearing: 270.369067 deg,
      lat: 36.779504 deg,
      lon: -121.859554 deg,
      deltaT: 3.781486 s,
      deltaX: -3.293091 m,
      approachRate: -0.870846 m/s,
      posRepo size: 4

2025-08-21T19:34:25.890Z,1755804865.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:25.897Z,1755804865.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 228.592407 m,
      bearing: 270.081286 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020684 deg/s,
      cmd heading: 262.573290 deg,
      new cmd heading: 262.598678 deg.

2025-08-21T19:34:25.898Z,1755804865.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583211 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:26.239Z,1755804866.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:26.242Z,1755804866.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 228.292435 m,
      bearing: 270.089066 deg,
      approach rate: -0.849367 m/s,
      LOS rate: 0.022059 deg/s,
      cmd heading: 262.598671 deg,
      new cmd heading: 262.614252 deg.

2025-08-21T19:34:26.243Z,1755804866.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583483 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:26.632Z,1755804866.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:26.651Z,1755804866.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 227.970093 m,
      bearing: 270.097422 deg,
      approach rate: -0.811625 m/s,
      LOS rate: 0.021070 deg/s,
      cmd heading: 262.614244 deg,
      new cmd heading: 262.630980 deg.

2025-08-21T19:34:26.652Z,1755804866.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583776 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:27.078Z,1755804867.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:27.085Z,1755804867.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 227.625717 m,
      bearing: 270.105875 deg,
      approach rate: -0.773490 m/s,
      LOS rate: 0.019013 deg/s,
      cmd heading: 262.630992 deg,
      new cmd heading: 262.647922 deg.

2025-08-21T19:34:27.086Z,1755804867.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584071 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:27.590Z,1755804867.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:27.592Z,1755804867.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:27.594Z,1755804867.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 227.196030 m,
      bearing: 270.116457 deg,
      approach rate: -0.835659 m/s,
      LOS rate: 0.020620 deg/s,
      cmd heading: 262.647930 deg,
      new cmd heading: 262.669136 deg.

2025-08-21T19:34:27.596Z,1755804867.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584441 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:27.834Z,1755804867.834 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:27.834Z,1755804867.834 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:27.834Z,1755804867.834 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:27.993Z,1755804867.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:27.995Z,1755804867.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 226.875031 m,
      bearing: 270.123779 deg,
      approach rate: -0.800948 m/s,
      LOS rate: 0.018294 deg/s,
      cmd heading: 262.669131 deg,
      new cmd heading: 262.683795 deg.

2025-08-21T19:34:27.996Z,1755804867.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584697 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:28.086Z,1755804868.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483514
2025-08-21T19:34:28.337Z,1755804868.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.734691
2025-08-21T19:34:28.455Z,1755804868.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:28.458Z,1755804868.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 226.504654 m,
      bearing: 270.132231 deg,
      approach rate: -0.800702 m/s,
      LOS rate: 0.018303 deg/s,
      cmd heading: 262.683803 deg,
      new cmd heading: 262.700736 deg.

2025-08-21T19:34:28.459Z,1755804868.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.584993 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:28.588Z,1755804868.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986091
2025-08-21T19:34:28.844Z,1755804868.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240616
2025-08-21T19:34:28.966Z,1755804868.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:28.969Z,1755804868.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 226.093048 m,
      bearing: 270.143547 deg,
      approach rate: -0.805237 m/s,
      LOS rate: 0.022178 deg/s,
      cmd heading: 262.700741 deg,
      new cmd heading: 262.723415 deg.

2025-08-21T19:34:28.970Z,1755804868.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585389 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:29.093Z,1755804869.093 [DAT](INFO): DAT read: Rx Time:19:34:27.6809

2025-08-21T19:34:29.093Z,1755804869.093 [DAT](INFO): Rx dataTimestamp_ set to:1755804869.092800
2025-08-21T19:34:29.094Z,1755804869.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491517
2025-08-21T19:34:29.307Z,1755804869.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.76 m.
2025-08-21T19:34:29.310Z,1755804869.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 242.758682 m,
      nav range: 225.824493 m,
      bearing: 270.150915 deg,
      approach rate: -0.796986 m/s,
      LOS rate: 0.021891 deg/s,
      cmd heading: 262.723418 deg,
      new cmd heading: 262.738171 deg.

2025-08-21T19:34:29.322Z,1755804869.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585646 target range: 242.758682 and range: 244.20 m.
2025-08-21T19:34:29.345Z,1755804869.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.742512
2025-08-21T19:34:29.602Z,1755804869.602 [DAT](INFO): DAT read: 19:34:27.6809 LVL= 29680, 32753, 32754, 32755, AGC= 66, IDX= 392,-0.46, 3.138, 1.159, 2.917, 2.711, PHS= 0.529,-1.507, 0.162, RAW= 140.2,   8.7, CAL= 139.8,   9.6, ROT=  10.2,  -9.6

2025-08-21T19:34:29.603Z,1755804869.603 [DAT](INFO): got valid direction response:
 19:34:27.6809 LVL= 29680, 32753, 32754, 32755, AGC= 66, IDX= 392,-0.46, 3.138, 1.159, 2.917, 2.711, PHS= 0.529,-1.507, 0.162, RAW= 140.2,   8.7, CAL= 139.8,   9.6, ROT=  10.2,  -9.6

2025-08-21T19:34:29.604Z,1755804869.604 [DAT](INFO): DAT read: Bearing  48.8,  18.9 (Local)

2025-08-21T19:34:29.604Z,1755804869.604 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.8,  18.9 (Local)

2025-08-21T19:34:29.606Z,1755804869.606 [DAT](INFO): DAT read: Range 11 to 50 : 240.9 m  (Round-trip  321.3 ms) speed  0.7 m/s

2025-08-21T19:34:29.606Z,1755804869.606 [DAT](INFO): DAT read: user:3961>

2025-08-21T19:34:29.607Z,1755804869.607 [DAT](INFO): DAT read: Tx time:19:34:28.8054

2025-08-21T19:34:29.608Z,1755804869.608 [DAT](INFO): Ping request sent.
2025-08-21T19:34:29.608Z,1755804869.608 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:29.608Z,1755804869.608 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:29.609Z,1755804869.609 [DAT](INFO): direction in FSK: [0.970413,0.174605,0.166769]
2025-08-21T19:34:29.609Z,1755804869.609 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:29.609Z,1755804869.609 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:29.613Z,1755804869.613 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:29.614Z,1755804869.614 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:29.732Z,1755804869.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 240.899994 m,
      deltaT: 4.034428 s,
      deltaX: -3.300003 m,
      approachRate: -0.817961 m/s,
      rangeRepo size: 4

2025-08-21T19:34:29.734Z,1755804869.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 239.474518 m,
      bearing: 272.042725 deg,
      lat: 36.779515 deg,
      lon: -121.859554 deg,
      deltaT: 4.034428 s,
      deltaX: -3.284164 m,
      approachRate: -0.814035 m/s,
      posRepo size: 4

2025-08-21T19:34:29.740Z,1755804869.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:29.753Z,1755804869.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 225.502487 m,
      bearing: 270.451996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021891 deg/s,
      cmd heading: 262.738171 deg,
      new cmd heading: 262.756353 deg.

2025-08-21T19:34:29.761Z,1755804869.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585964 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:30.130Z,1755804870.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:30.132Z,1755804870.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:30.135Z,1755804870.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 225.155106 m,
      bearing: 270.462553 deg,
      approach rate: -0.839881 m/s,
      LOS rate: 0.025562 deg/s,
      cmd heading: 262.756367 deg,
      new cmd heading: 262.777512 deg.

2025-08-21T19:34:30.153Z,1755804870.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586333 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:30.352Z,1755804870.352 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:30.352Z,1755804870.352 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:30.352Z,1755804870.352 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:30.506Z,1755804870.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:30.509Z,1755804870.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 224.849014 m,
      bearing: 270.471855 deg,
      approach rate: -0.818214 m/s,
      LOS rate: 0.024900 deg/s,
      cmd heading: 262.777513 deg,
      new cmd heading: 262.796143 deg.

2025-08-21T19:34:30.510Z,1755804870.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.586658 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:30.604Z,1755804870.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996723
2025-08-21T19:34:30.856Z,1755804870.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248828
2025-08-21T19:34:30.981Z,1755804870.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:30.984Z,1755804870.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 224.457977 m,
      bearing: 270.482686 deg,
      approach rate: -0.823104 m/s,
      LOS rate: 0.022839 deg/s,
      cmd heading: 262.796146 deg,
      new cmd heading: 262.817846 deg.

2025-08-21T19:34:30.985Z,1755804870.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587037 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:31.109Z,1755804871.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501071
2025-08-21T19:34:31.360Z,1755804871.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752635
2025-08-21T19:34:31.383Z,1755804871.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:31.389Z,1755804871.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 224.142197 m,
      bearing: 270.491353 deg,
      approach rate: -0.786973 m/s,
      LOS rate: 0.021629 deg/s,
      cmd heading: 262.817838 deg,
      new cmd heading: 262.835196 deg.

2025-08-21T19:34:31.390Z,1755804871.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587339 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:31.612Z,1755804871.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004521
2025-08-21T19:34:31.764Z,1755804871.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:31.766Z,1755804871.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 223.816788 m,
      bearing: 270.500348 deg,
      approach rate: -0.854343 m/s,
      LOS rate: 0.023651 deg/s,
      cmd heading: 262.835187 deg,
      new cmd heading: 262.853204 deg.

2025-08-21T19:34:31.768Z,1755804871.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587654 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:31.865Z,1755804871.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257586
2025-08-21T19:34:32.116Z,1755804872.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508591
2025-08-21T19:34:32.201Z,1755804872.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:32.220Z,1755804872.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:32.222Z,1755804872.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 223.449341 m,
      bearing: 270.509418 deg,
      approach rate: -0.835264 m/s,
      LOS rate: 0.020651 deg/s,
      cmd heading: 262.853191 deg,
      new cmd heading: 262.871361 deg.

2025-08-21T19:34:32.231Z,1755804872.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.587971 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:32.368Z,1755804872.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760567
2025-08-21T19:34:32.612Z,1755804872.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:32.615Z,1755804872.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 223.129562 m,
      bearing: 270.517336 deg,
      approach rate: -0.781887 m/s,
      LOS rate: 0.019387 deg/s,
      cmd heading: 262.871360 deg,
      new cmd heading: 262.887217 deg.

2025-08-21T19:34:32.616Z,1755804872.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588247 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:32.620Z,1755804872.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012751
2025-08-21T19:34:32.872Z,1755804872.872 [DAT](INFO): DAT read: Rx Time:19:34:31.5266

2025-08-21T19:34:32.873Z,1755804872.873 [DAT](INFO): Rx dataTimestamp_ set to:1755804872.872648
2025-08-21T19:34:32.873Z,1755804872.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265842
2025-08-21T19:34:32.998Z,1755804872.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:33.001Z,1755804873.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 222.787872 m,
      bearing: 270.526036 deg,
      approach rate: -0.886231 m/s,
      LOS rate: 0.022600 deg/s,
      cmd heading: 262.887206 deg,
      new cmd heading: 262.904633 deg.

2025-08-21T19:34:33.002Z,1755804873.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588552 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:33.125Z,1755804873.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516900
2025-08-21T19:34:33.383Z,1755804873.383 [DAT](INFO): DAT read: 19:34:31.5266 LVL= 25568, 32753, 27794, 32755, AGC= 67, IDX= 397,-0.40, 0.698,-1.222, 0.573, 0.372, PHS= 0.428,-1.549, 0.158, RAW= 142.8,  10.4, CAL= 142.3,  11.3, ROT=   7.7, -11.3

2025-08-21T19:34:33.384Z,1755804873.384 [DAT](INFO): got valid direction response:
 19:34:31.5266 LVL= 25568, 32753, 27794, 32755, AGC= 67, IDX= 397,-0.40, 0.698,-1.222, 0.573, 0.372, PHS= 0.428,-1.549, 0.158, RAW= 142.8,  10.4, CAL= 142.3,  11.3, ROT=   7.7, -11.3

2025-08-21T19:34:33.385Z,1755804873.385 [DAT](INFO): DAT read: Bearing  50.3,  15.3 (Local)

2025-08-21T19:34:33.385Z,1755804873.385 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,  15.3 (Local)

2025-08-21T19:34:33.387Z,1755804873.387 [DAT](INFO): DAT read: Range 11 to 50 : 237.8 m  (Round-trip  317.1 ms) speed  0.5 m/s

2025-08-21T19:34:33.396Z,1755804873.396 [DAT](INFO): DAT read: user:3962>

2025-08-21T19:34:33.397Z,1755804873.397 [DAT](INFO): DAT read: Tx time:19:34:32.6553

2025-08-21T19:34:33.397Z,1755804873.397 [DAT](INFO): Ping request sent.
2025-08-21T19:34:33.397Z,1755804873.397 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:33.397Z,1755804873.397 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:33.398Z,1755804873.398 [DAT](INFO): direction in FSK: [0.971773,0.131389,0.195946]
2025-08-21T19:34:33.398Z,1755804873.398 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:33.399Z,1755804873.399 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:33.403Z,1755804873.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 239.47 m.
2025-08-21T19:34:33.406Z,1755804873.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 239.474518 m,
      nav range: 222.472549 m,
      bearing: 270.534117 deg,
      approach rate: -0.836305 m/s,
      LOS rate: 0.021463 deg/s,
      cmd heading: 262.904636 deg,
      new cmd heading: 262.920821 deg.

2025-08-21T19:34:33.407Z,1755804873.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588834 target range: 239.474518 and range: 240.90 m.
2025-08-21T19:34:33.411Z,1755804873.411 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:33.411Z,1755804873.411 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:33.797Z,1755804873.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.800003 m,
      deltaT: 3.780323 s,
      deltaX: -3.099991 m,
      approachRate: -0.820033 m/s,
      rangeRepo size: 4

2025-08-21T19:34:33.799Z,1755804873.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 236.391785 m,
      bearing: 269.379483 deg,
      lat: 36.779504 deg,
      lon: -121.859554 deg,
      deltaT: 3.780323 s,
      deltaX: -3.082733 m,
      approachRate: -0.815468 m/s,
      posRepo size: 4

2025-08-21T19:34:33.800Z,1755804873.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:33.808Z,1755804873.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 222.120132 m,
      bearing: 270.246351 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021463 deg/s,
      cmd heading: 262.920810 deg,
      new cmd heading: 262.938850 deg.

2025-08-21T19:34:33.812Z,1755804873.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589149 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:34.223Z,1755804874.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:34.225Z,1755804874.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:34.228Z,1755804874.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 221.763474 m,
      bearing: 270.254762 deg,
      approach rate: -0.829006 m/s,
      LOS rate: 0.019582 deg/s,
      cmd heading: 262.938842 deg,
      new cmd heading: 262.955691 deg.

2025-08-21T19:34:34.229Z,1755804874.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589443 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:34.385Z,1755804874.385 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:34.385Z,1755804874.385 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:34.386Z,1755804874.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:34.637Z,1755804874.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239572
2025-08-21T19:34:34.700Z,1755804874.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:34.707Z,1755804874.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 221.391663 m,
      bearing: 270.263540 deg,
      approach rate: -0.782725 m/s,
      LOS rate: 0.018511 deg/s,
      cmd heading: 262.955699 deg,
      new cmd heading: 262.973285 deg.

2025-08-21T19:34:34.708Z,1755804874.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.589750 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:34.893Z,1755804874.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495668
2025-08-21T19:34:35.140Z,1755804875.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743274
2025-08-21T19:34:35.218Z,1755804875.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:35.237Z,1755804875.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 220.953598 m,
      bearing: 270.274269 deg,
      approach rate: -0.846826 m/s,
      LOS rate: 0.020781 deg/s,
      cmd heading: 262.973293 deg,
      new cmd heading: 262.994793 deg.

2025-08-21T19:34:35.238Z,1755804875.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590125 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:35.392Z,1755804875.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995225
2025-08-21T19:34:35.645Z,1755804875.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247838
2025-08-21T19:34:35.724Z,1755804875.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:35.726Z,1755804875.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 220.530701 m,
      bearing: 270.284648 deg,
      approach rate: -0.835685 m/s,
      LOS rate: 0.020551 deg/s,
      cmd heading: 262.994795 deg,
      new cmd heading: 263.015594 deg.

2025-08-21T19:34:35.728Z,1755804875.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590488 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:35.899Z,1755804875.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501232
2025-08-21T19:34:36.149Z,1755804876.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751694
2025-08-21T19:34:36.152Z,1755804876.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:36.156Z,1755804876.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 220.202469 m,
      bearing: 270.293093 deg,
      approach rate: -0.805062 m/s,
      LOS rate: 0.020743 deg/s,
      cmd heading: 263.015586 deg,
      new cmd heading: 263.032500 deg.

2025-08-21T19:34:36.158Z,1755804876.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.590783 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:36.400Z,1755804876.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003394
2025-08-21T19:34:36.533Z,1755804876.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:36.535Z,1755804876.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:36.538Z,1755804876.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 219.877716 m,
      bearing: 270.301380 deg,
      approach rate: -0.804955 m/s,
      LOS rate: 0.020570 deg/s,
      cmd heading: 263.032497 deg,
      new cmd heading: 263.049095 deg.

2025-08-21T19:34:36.539Z,1755804876.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591073 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:36.653Z,1755804876.653 [DAT](INFO): DAT read: Rx Time:19:34:35.3927

2025-08-21T19:34:36.654Z,1755804876.654 [DAT](INFO): Rx dataTimestamp_ set to:1755804876.653562
2025-08-21T19:34:36.655Z,1755804876.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257772
2025-08-21T19:34:36.908Z,1755804876.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510469
2025-08-21T19:34:37.019Z,1755804877.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.39 m.
2025-08-21T19:34:37.022Z,1755804877.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 236.391785 m,
      nav range: 219.495193 m,
      bearing: 270.311951 deg,
      approach rate: -0.790975 m/s,
      LOS rate: 0.021898 deg/s,
      cmd heading: 263.049108 deg,
      new cmd heading: 263.070289 deg.

2025-08-21T19:34:37.024Z,1755804877.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591443 target range: 236.391785 and range: 237.80 m.
2025-08-21T19:34:37.166Z,1755804877.166 [DAT](INFO): DAT read: 19:34:35.3927 LVL= 29392, 32753, 32370, 32755, AGC= 68, IDX=  97,-0.16,-2.241, 2.158,-2.357,-2.573, PHS= 0.434,-1.508, 0.171, RAW= 142.9,   9.9, CAL= 142.4,  10.8, ROT=   7.6, -10.8

2025-08-21T19:34:37.172Z,1755804877.172 [DAT](INFO): got valid direction response:
 19:34:35.3927 LVL= 29392, 32753, 32370, 32755, AGC= 68, IDX=  97,-0.16,-2.241, 2.158,-2.357,-2.573, PHS= 0.434,-1.508, 0.171, RAW= 142.9,   9.9, CAL= 142.4,  10.8, ROT=   7.6, -10.8

2025-08-21T19:34:37.174Z,1755804877.174 [DAT](INFO): DAT read: Bearing  49.8,  13.9 (Local)

2025-08-21T19:34:37.174Z,1755804877.174 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.8,  13.9 (Local)

2025-08-21T19:34:37.181Z,1755804877.181 [DAT](INFO): DAT read: Range 11 to 50 : 249.9 m  (Round-trip  333.3 ms) speed  0.5 m/s

2025-08-21T19:34:37.181Z,1755804877.181 [DAT](INFO): DAT read: user:3963>

2025-08-21T19:34:37.182Z,1755804877.182 [DAT](INFO): DAT read: Tx time:19:34:36.5053

2025-08-21T19:34:37.182Z,1755804877.182 [DAT](INFO): Ping request sent.
2025-08-21T19:34:37.183Z,1755804877.183 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:37.183Z,1755804877.183 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:37.188Z,1755804877.188 [DAT](INFO): direction in FSK: [0.973658,0.129914,0.187381]
2025-08-21T19:34:37.189Z,1755804877.189 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:37.189Z,1755804877.189 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:37.203Z,1755804877.203 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:37.204Z,1755804877.204 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:37.472Z,1755804877.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 249.899994 m,
      deltaT: 3.780660 s,
      deltaX: 12.099991 m,
      approachRate: 3.200497 m/s,
      rangeRepo size: 4

2025-08-21T19:34:37.474Z,1755804877.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 248.419571 m,
      bearing: 269.518904 deg,
      lat: 36.779504 deg,
      lon: -121.859578 deg,
      deltaT: 3.780660 s,
      deltaX: 12.027786 m,
      approachRate: 3.181399 m/s,
      posRepo size: 4

2025-08-21T19:34:37.475Z,1755804877.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:37.477Z,1755804877.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 221.234207 m,
      bearing: 270.318527 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021898 deg/s,
      cmd heading: 263.070282 deg,
      new cmd heading: 263.090091 deg.

2025-08-21T19:34:37.478Z,1755804877.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591788 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:38.032Z,1755804878.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:38.035Z,1755804878.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 220.808548 m,
      bearing: 270.328926 deg,
      approach rate: -0.758309 m/s,
      LOS rate: 0.018562 deg/s,
      cmd heading: 263.090090 deg,
      new cmd heading: 263.110928 deg.

2025-08-21T19:34:38.040Z,1755804878.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592152 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:38.522Z,1755804878.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:38.525Z,1755804878.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 220.404724 m,
      bearing: 270.338829 deg,
      approach rate: -0.824947 m/s,
      LOS rate: 0.020268 deg/s,
      cmd heading: 263.110935 deg,
      new cmd heading: 263.130778 deg.

2025-08-21T19:34:38.526Z,1755804878.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592498 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:38.964Z,1755804878.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:38.966Z,1755804878.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:38.969Z,1755804878.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 220.061676 m,
      bearing: 270.347271 deg,
      approach rate: -0.772001 m/s,
      LOS rate: 0.019027 deg/s,
      cmd heading: 263.130770 deg,
      new cmd heading: 263.147680 deg.

2025-08-21T19:34:38.970Z,1755804878.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.592793 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:39.173Z,1755804879.173 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:39.173Z,1755804879.173 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:39.173Z,1755804879.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:39.384Z,1755804879.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:39.386Z,1755804879.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 219.725784 m,
      bearing: 270.355746 deg,
      approach rate: -0.804656 m/s,
      LOS rate: 0.020333 deg/s,
      cmd heading: 263.147682 deg,
      new cmd heading: 263.164657 deg.

2025-08-21T19:34:39.388Z,1755804879.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593090 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:39.426Z,1755804879.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243554
2025-08-21T19:34:39.676Z,1755804879.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493495
2025-08-21T19:34:39.743Z,1755804879.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:39.746Z,1755804879.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 219.451828 m,
      bearing: 270.362608 deg,
      approach rate: -0.770321 m/s,
      LOS rate: 0.019319 deg/s,
      cmd heading: 263.164648 deg,
      new cmd heading: 263.178389 deg.

2025-08-21T19:34:39.751Z,1755804879.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593329 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:39.932Z,1755804879.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748229
2025-08-21T19:34:40.161Z,1755804880.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:40.166Z,1755804880.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 219.109131 m,
      bearing: 270.371653 deg,
      approach rate: -0.812637 m/s,
      LOS rate: 0.021483 deg/s,
      cmd heading: 263.178390 deg,
      new cmd heading: 263.196510 deg.

2025-08-21T19:34:40.168Z,1755804880.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593646 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:40.181Z,1755804880.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998178
2025-08-21T19:34:40.433Z,1755804880.433 [DAT](INFO): DAT read: Rx Time:19:34:39.2386

2025-08-21T19:34:40.434Z,1755804880.434 [DAT](INFO): Rx dataTimestamp_ set to:1755804880.433335
2025-08-21T19:34:40.435Z,1755804880.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251979
2025-08-21T19:34:40.536Z,1755804880.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:40.555Z,1755804880.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 218.799713 m,
      bearing: 270.379815 deg,
      approach rate: -0.823702 m/s,
      LOS rate: 0.021759 deg/s,
      cmd heading: 263.196504 deg,
      new cmd heading: 263.212851 deg.

2025-08-21T19:34:40.556Z,1755804880.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593931 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:40.684Z,1755804880.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501655
2025-08-21T19:34:40.941Z,1755804880.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.757284
2025-08-21T19:34:41.078Z,1755804881.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:41.080Z,1755804881.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.42 m.
2025-08-21T19:34:41.083Z,1755804881.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 248.419571 m,
      nav range: 218.352890 m,
      bearing: 270.391290 deg,
      approach rate: -0.822229 m/s,
      LOS rate: 0.021158 deg/s,
      cmd heading: 263.212842 deg,
      new cmd heading: 263.235838 deg.

2025-08-21T19:34:41.084Z,1755804881.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594332 target range: 248.419571 and range: 249.90 m.
2025-08-21T19:34:41.194Z,1755804881.194 [DAT](INFO): DAT read: 19:34:39.2386 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.33, 2.060, 0.219, 1.983, 1.772, PHS= 0.390,-1.508, 0.166, RAW= 143.8,  10.6, CAL= 143.4,  11.6, ROT=   6.6, -11.6

2025-08-21T19:34:41.195Z,1755804881.195 [DAT](INFO): got valid direction response:
 19:34:39.2386 LVL= 30608, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.33, 2.060, 0.219, 1.983, 1.772, PHS= 0.390,-1.508, 0.166, RAW= 143.8,  10.6, CAL= 143.4,  11.6, ROT=   6.6, -11.6

2025-08-21T19:34:41.196Z,1755804881.196 [DAT](INFO): DAT read: Bearing  50.7,  12.1 (Local)

2025-08-21T19:34:41.197Z,1755804881.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,  12.1 (Local)

2025-08-21T19:34:41.198Z,1755804881.198 [DAT](INFO): DAT read: Range 11 to 50 : 246.8 m  (Round-trip  329.1 ms) speed  0.6 m/s

2025-08-21T19:34:41.199Z,1755804881.199 [DAT](INFO): DAT read: user:3964>

2025-08-21T19:34:41.200Z,1755804881.200 [DAT](INFO): DAT read: Tx time:19:34:40.3553

2025-08-21T19:34:41.200Z,1755804881.200 [DAT](INFO): Ping request sent.
2025-08-21T19:34:41.200Z,1755804881.200 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:41.200Z,1755804881.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:41.201Z,1755804881.201 [DAT](INFO): direction in FSK: [0.973083,0.112590,0.201078]
2025-08-21T19:34:41.202Z,1755804881.202 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:41.202Z,1755804881.202 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:41.221Z,1755804881.221 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:41.221Z,1755804881.221 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:41.545Z,1755804881.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 246.800003 m,
      deltaT: 4.031118 s,
      deltaX: -3.099991 m,
      approachRate: -0.769015 m/s,
      rangeRepo size: 4

2025-08-21T19:34:41.548Z,1755804881.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.336792 m,
      bearing: 268.914621 deg,
      lat: 36.779475 deg,
      lon: -121.859582 deg,
      deltaT: 4.031118 s,
      deltaX: -3.082779 m,
      approachRate: -0.764745 m/s,
      posRepo size: 4

2025-08-21T19:34:41.548Z,1755804881.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:41.551Z,1755804881.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 218.326218 m,
      bearing: 269.553755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021158 deg/s,
      cmd heading: 263.235846 deg,
      new cmd heading: 263.255511 deg.

2025-08-21T19:34:41.552Z,1755804881.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.594676 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:42.050Z,1755804882.050 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -113.68570.00,11.13
2025-08-21T19:34:42.100Z,1755804882.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:42.103Z,1755804882.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 217.885574 m,
      bearing: 269.563507 deg,
      approach rate: -0.801754 m/s,
      LOS rate: 0.017780 deg/s,
      cmd heading: 263.255517 deg,
      new cmd heading: 263.275061 deg.

2025-08-21T19:34:42.108Z,1755804882.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595016 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:42.425Z,1755804882.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:42.428Z,1755804882.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 217.589676 m,
      bearing: 269.570127 deg,
      approach rate: -0.893869 m/s,
      LOS rate: 0.020027 deg/s,
      cmd heading: 263.275051 deg,
      new cmd heading: 263.288310 deg.

2025-08-21T19:34:42.429Z,1755804882.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595248 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:42.908Z,1755804882.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:42.911Z,1755804882.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 217.195862 m,
      bearing: 269.578977 deg,
      approach rate: -0.815559 m/s,
      LOS rate: 0.018361 deg/s,
      cmd heading: 263.288302 deg,
      new cmd heading: 263.306034 deg.

2025-08-21T19:34:42.912Z,1755804882.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595557 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:43.280Z,1755804883.280 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:43.282Z,1755804883.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:43.302Z,1755804883.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 216.889862 m,
      bearing: 269.586034 deg,
      approach rate: -0.819364 m/s,
      LOS rate: 0.018923 deg/s,
      cmd heading: 263.306033 deg,
      new cmd heading: 263.320167 deg.

2025-08-21T19:34:43.312Z,1755804883.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595804 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:43.456Z,1755804883.456 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:43.456Z,1755804883.456 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:43.456Z,1755804883.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:43.655Z,1755804883.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:43.658Z,1755804883.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 216.560242 m,
      bearing: 269.593626 deg,
      approach rate: -0.882362 m/s,
      LOS rate: 0.020355 deg/s,
      cmd heading: 263.320158 deg,
      new cmd heading: 263.335365 deg.

2025-08-21T19:34:43.659Z,1755804883.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596069 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:43.709Z,1755804883.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509178
2025-08-21T19:34:43.962Z,1755804883.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761913
2025-08-21T19:34:44.151Z,1755804884.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:44.156Z,1755804884.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 216.144577 m,
      bearing: 269.603141 deg,
      approach rate: -0.839530 m/s,
      LOS rate: 0.019254 deg/s,
      cmd heading: 263.335375 deg,
      new cmd heading: 263.354441 deg.

2025-08-21T19:34:44.157Z,1755804884.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596402 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:44.212Z,1755804884.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012169
2025-08-21T19:34:44.464Z,1755804884.464 [DAT](INFO): DAT read: Rx Time:19:34:43.0639

2025-08-21T19:34:44.465Z,1755804884.465 [DAT](INFO): Rx dataTimestamp_ set to:1755804884.464428
2025-08-21T19:34:44.465Z,1755804884.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265154
2025-08-21T19:34:44.572Z,1755804884.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:44.574Z,1755804884.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 215.796677 m,
      bearing: 269.611173 deg,
      approach rate: -0.833953 m/s,
      LOS rate: 0.019285 deg/s,
      cmd heading: 263.354445 deg,
      new cmd heading: 263.370535 deg.

2025-08-21T19:34:44.584Z,1755804884.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596683 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:44.615Z,1755804884.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:34:44.716Z,1755804884.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516096
2025-08-21T19:34:44.964Z,1755804884.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.34 m.
2025-08-21T19:34:45.005Z,1755804885.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.336792 m,
      nav range: 215.455017 m,
      bearing: 269.619055 deg,
      approach rate: -0.861654 m/s,
      LOS rate: 0.019909 deg/s,
      cmd heading: 263.370537 deg,
      new cmd heading: 263.386326 deg.

2025-08-21T19:34:45.013Z,1755804885.013 [DAT](INFO): DAT read: 19:34:43.0639 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 186, 0.05,-2.826, 1.517,-2.946, 3.114, PHS= 0.445,-1.552, 0.179, RAW= 143.0,   9.9, CAL= 142.5,  10.8, ROT=   7.5, -10.8

2025-08-21T19:34:45.017Z,1755804885.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.596959 target range: 245.336792 and range: 246.80 m.
2025-08-21T19:34:45.026Z,1755804885.026 [DAT](INFO): got valid direction response:
 19:34:43.0639 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 186, 0.05,-2.826, 1.517,-2.946, 3.114, PHS= 0.445,-1.552, 0.179, RAW= 143.0,   9.9, CAL= 142.5,  10.8, ROT=   7.5, -10.8

2025-08-21T19:34:45.034Z,1755804885.034 [DAT](INFO): DAT read: Bearing  50.0,  12.3 (Local)

2025-08-21T19:34:45.044Z,1755804885.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.0,  12.3 (Local)

2025-08-21T19:34:45.056Z,1755804885.056 [DAT](INFO): DAT read: Range 11 to 50 : 228.3 m  (Round-trip  304.4 ms) speed  0.8 m/s

2025-08-21T19:34:45.057Z,1755804885.057 [DAT](INFO): DAT read: user:3965>

2025-08-21T19:34:45.058Z,1755804885.058 [DAT](INFO): DAT read: Tx time:19:34:44.1553

2025-08-21T19:34:45.058Z,1755804885.058 [DAT](INFO): Ping request sent.
2025-08-21T19:34:45.058Z,1755804885.058 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:45.058Z,1755804885.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:45.076Z,1755804885.076 [DAT](INFO): direction in FSK: [0.973884,0.128214,0.187381]
2025-08-21T19:34:45.076Z,1755804885.076 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:45.076Z,1755804885.076 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:45.096Z,1755804885.096 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:45.096Z,1755804885.096 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:45.566Z,1755804885.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 228.300003 m,
      deltaT: 3.781985 s,
      deltaX: -18.500000 m,
      approachRate: -4.891611 m/s,
      rangeRepo size: 4

2025-08-21T19:34:45.568Z,1755804885.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 226.944305 m,
      bearing: 269.780057 deg,
      lat: 36.779475 deg,
      lon: -121.859623 deg,
      deltaT: 3.781985 s,
      deltaX: -18.392487 m,
      approachRate: -4.863183 m/s,
      posRepo size: 4

2025-08-21T19:34:45.569Z,1755804885.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:45.572Z,1755804885.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 218.605927 m,
      bearing: 269.637309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019909 deg/s,
      cmd heading: 263.386329 deg,
      new cmd heading: 263.410264 deg.

2025-08-21T19:34:45.573Z,1755804885.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597376 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:45.620Z,1755804885.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:34:46.096Z,1755804886.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:46.100Z,1755804886.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:46.106Z,1755804886.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 218.160019 m,
      bearing: 269.648065 deg,
      approach rate: -0.835971 m/s,
      LOS rate: 0.020205 deg/s,
      cmd heading: 263.410261 deg,
      new cmd heading: 263.431816 deg.

2025-08-21T19:34:46.107Z,1755804886.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597753 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:46.228Z,1755804886.228 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:46.228Z,1755804886.228 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:46.229Z,1755804886.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:46.444Z,1755804886.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:46.446Z,1755804886.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 217.872360 m,
      bearing: 269.655055 deg,
      approach rate: -0.833663 m/s,
      LOS rate: 0.020287 deg/s,
      cmd heading: 263.431818 deg,
      new cmd heading: 263.445818 deg.

2025-08-21T19:34:46.448Z,1755804886.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597997 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:46.482Z,1755804886.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.424032
2025-08-21T19:34:46.732Z,1755804886.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.673888
2025-08-21T19:34:46.865Z,1755804886.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:46.867Z,1755804886.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 217.522171 m,
      bearing: 269.663566 deg,
      approach rate: -0.831784 m/s,
      LOS rate: 0.020248 deg/s,
      cmd heading: 263.445806 deg,
      new cmd heading: 263.462855 deg.

2025-08-21T19:34:46.868Z,1755804886.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598294 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:46.988Z,1755804886.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.929465
2025-08-21T19:34:47.236Z,1755804887.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.177846
2025-08-21T19:34:47.309Z,1755804887.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:47.312Z,1755804887.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 217.167877 m,
      bearing: 269.673959 deg,
      approach rate: -0.797567 m/s,
      LOS rate: 0.023433 deg/s,
      cmd heading: 263.462854 deg,
      new cmd heading: 263.483673 deg.

2025-08-21T19:34:47.313Z,1755804887.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598658 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:47.488Z,1755804887.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.429945
2025-08-21T19:34:47.663Z,1755804887.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:47.666Z,1755804887.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 216.869263 m,
      bearing: 269.682791 deg,
      approach rate: -0.843732 m/s,
      LOS rate: 0.024991 deg/s,
      cmd heading: 263.483672 deg,
      new cmd heading: 263.501362 deg.

2025-08-21T19:34:47.666Z,1755804887.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.598966 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:47.740Z,1755804887.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.682242
2025-08-21T19:34:47.992Z,1755804887.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.933962
2025-08-21T19:34:48.126Z,1755804888.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:48.145Z,1755804888.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:48.161Z,1755804888.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 216.494156 m,
      bearing: 269.691733 deg,
      approach rate: -0.777870 m/s,
      LOS rate: 0.018574 deg/s,
      cmd heading: 263.501349 deg,
      new cmd heading: 263.519262 deg.

2025-08-21T19:34:48.162Z,1755804888.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599279 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:48.245Z,1755804888.245 [DAT](INFO): DAT read: Rx Time:19:34:46.8597

2025-08-21T19:34:48.246Z,1755804888.246 [DAT](INFO): Rx dataTimestamp_ set to:1755804888.245403
2025-08-21T19:34:48.247Z,1755804888.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.188372
2025-08-21T19:34:48.481Z,1755804888.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 226.94 m.
2025-08-21T19:34:48.484Z,1755804888.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 226.944305 m,
      nav range: 216.209457 m,
      bearing: 269.698573 deg,
      approach rate: -0.846881 m/s,
      LOS rate: 0.020375 deg/s,
      cmd heading: 263.519271 deg,
      new cmd heading: 263.532971 deg.

2025-08-21T19:34:48.485Z,1755804888.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599518 target range: 226.944305 and range: 228.30 m.
2025-08-21T19:34:48.496Z,1755804888.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.438147
2025-08-21T19:34:48.758Z,1755804888.758 [DAT](INFO): DAT read: 19:34:46.8597 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 399, 0.19, 0.949,-0.941, 0.851, 0.650, PHS= 0.401,-1.545, 0.158, RAW= 143.4,  10.7, CAL= 142.9,  11.7, ROT=   7.1, -11.7

2025-08-21T19:34:48.759Z,1755804888.759 [DAT](INFO): got valid direction response:
 19:34:46.8597 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 399, 0.19, 0.949,-0.941, 0.851, 0.650, PHS= 0.401,-1.545, 0.158, RAW= 143.4,  10.7, CAL= 142.9,  11.7, ROT=   7.1, -11.7

2025-08-21T19:34:48.760Z,1755804888.760 [DAT](INFO): DAT read: Bearing  50.9,  12.1 (Local)

2025-08-21T19:34:48.760Z,1755804888.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,  12.1 (Local)

2025-08-21T19:34:48.762Z,1755804888.762 [DAT](INFO): DAT read: Range 11 to 50 : 225.1 m  (Round-trip  300.2 ms) speed  0.7 m/s

2025-08-21T19:34:48.763Z,1755804888.763 [DAT](INFO): DAT read: user:3966>

2025-08-21T19:34:48.763Z,1755804888.763 [DAT](INFO): DAT read: Tx time:19:34:47.9553

2025-08-21T19:34:48.764Z,1755804888.764 [DAT](INFO): Ping request sent.
2025-08-21T19:34:48.764Z,1755804888.764 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:48.764Z,1755804888.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:48.765Z,1755804888.765 [DAT](INFO): direction in FSK: [0.971714,0.121033,0.202787]
2025-08-21T19:34:48.765Z,1755804888.765 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:48.766Z,1755804888.766 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:48.791Z,1755804888.791 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:48.806Z,1755804888.806 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:48.937Z,1755804888.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 225.100006 m,
      deltaT: 3.781962 s,
      deltaX: -3.199997 m,
      approachRate: -0.846121 m/s,
      rangeRepo size: 4

2025-08-21T19:34:48.943Z,1755804888.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 223.759445 m,
      bearing: 269.233662 deg,
      lat: 36.779474 deg,
      lon: -121.859623 deg,
      deltaT: 3.781962 s,
      deltaX: -3.184860 m,
      approachRate: -0.842119 m/s,
      posRepo size: 4

2025-08-21T19:34:48.944Z,1755804888.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:48.947Z,1755804888.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 215.860657 m,
      bearing: 269.664921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020375 deg/s,
      cmd heading: 263.532959 deg,
      new cmd heading: 263.551517 deg.

2025-08-21T19:34:48.948Z,1755804888.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599842 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:49.344Z,1755804889.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:49.347Z,1755804889.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 215.522339 m,
      bearing: 269.672725 deg,
      approach rate: -0.829422 m/s,
      LOS rate: 0.019164 deg/s,
      cmd heading: 263.551510 deg,
      new cmd heading: 263.567143 deg.

2025-08-21T19:34:49.348Z,1755804889.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600114 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:49.684Z,1755804889.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:49.687Z,1755804889.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 215.254547 m,
      bearing: 269.678915 deg,
      approach rate: -0.787968 m/s,
      LOS rate: 0.018236 deg/s,
      cmd heading: 263.567137 deg,
      new cmd heading: 263.579532 deg.

2025-08-21T19:34:49.688Z,1755804889.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600331 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:50.180Z,1755804890.180 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:50.182Z,1755804890.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:50.217Z,1755804890.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 214.864563 m,
      bearing: 269.687842 deg,
      approach rate: -0.782956 m/s,
      LOS rate: 0.017955 deg/s,
      cmd heading: 263.579541 deg,
      new cmd heading: 263.597427 deg.

2025-08-21T19:34:50.218Z,1755804890.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600643 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:50.264Z,1755804890.264 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:50.264Z,1755804890.264 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:50.264Z,1755804890.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:50.489Z,1755804890.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:50.492Z,1755804890.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 214.618896 m,
      bearing: 269.693480 deg,
      approach rate: -0.801159 m/s,
      LOS rate: 0.018407 deg/s,
      cmd heading: 263.597436 deg,
      new cmd heading: 263.608724 deg.

2025-08-21T19:34:50.493Z,1755804890.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.600840 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:50.516Z,1755804890.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752273
2025-08-21T19:34:50.768Z,1755804890.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004404
2025-08-21T19:34:50.903Z,1755804890.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:50.910Z,1755804890.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 214.292130 m,
      bearing: 269.700955 deg,
      approach rate: -0.790105 m/s,
      LOS rate: 0.018103 deg/s,
      cmd heading: 263.608719 deg,
      new cmd heading: 263.623694 deg.

2025-08-21T19:34:50.912Z,1755804890.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601101 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:51.022Z,1755804891.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257736
2025-08-21T19:34:51.275Z,1755804891.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510285
2025-08-21T19:34:51.362Z,1755804891.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:51.365Z,1755804891.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 213.932816 m,
      bearing: 269.708502 deg,
      approach rate: -0.781853 m/s,
      LOS rate: 0.016449 deg/s,
      cmd heading: 263.623691 deg,
      new cmd heading: 263.638810 deg.

2025-08-21T19:34:51.366Z,1755804891.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601365 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:51.524Z,1755804891.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760326
2025-08-21T19:34:51.720Z,1755804891.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:51.723Z,1755804891.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 213.667740 m,
      bearing: 269.714111 deg,
      approach rate: -0.739846 m/s,
      LOS rate: 0.015674 deg/s,
      cmd heading: 263.638800 deg,
      new cmd heading: 263.650031 deg.

2025-08-21T19:34:51.724Z,1755804891.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601561 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:51.777Z,1755804891.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013574
2025-08-21T19:34:52.028Z,1755804892.028 [DAT](INFO): DAT read: Rx Time:19:34:50.6556

2025-08-21T19:34:52.029Z,1755804892.029 [DAT](INFO): Rx dataTimestamp_ set to:1755804892.028500
2025-08-21T19:34:52.029Z,1755804892.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265478
2025-08-21T19:34:52.208Z,1755804892.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:52.210Z,1755804892.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 223.76 m.
2025-08-21T19:34:52.215Z,1755804892.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 223.759445 m,
      nav range: 213.262299 m,
      bearing: 269.722106 deg,
      approach rate: -0.827987 m/s,
      LOS rate: 0.016359 deg/s,
      cmd heading: 263.650028 deg,
      new cmd heading: 263.666050 deg.

2025-08-21T19:34:52.216Z,1755804892.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601840 target range: 223.759445 and range: 225.10 m.
2025-08-21T19:34:52.282Z,1755804892.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517614
2025-08-21T19:34:52.538Z,1755804892.538 [DAT](INFO): DAT read: 19:34:50.6556 LVL= 25008, 32753, 30242, 32755, AGC= 67, IDX= 405, 0.30, 1.451,-0.446, 1.309, 1.096, PHS= 0.457,-1.497, 0.169, RAW= 142.2,   9.6, CAL= 141.7,  10.5, ROT=   8.3, -10.5

2025-08-21T19:34:52.539Z,1755804892.539 [DAT](INFO): got valid direction response:
 19:34:50.6556 LVL= 25008, 32753, 30242, 32755, AGC= 67, IDX= 405, 0.30, 1.451,-0.446, 1.309, 1.096, PHS= 0.457,-1.497, 0.169, RAW= 142.2,   9.6, CAL= 141.7,  10.5, ROT=   8.3, -10.5

2025-08-21T19:34:52.540Z,1755804892.540 [DAT](INFO): DAT read: Bearing  49.4,  14.0 (Local)

2025-08-21T19:34:52.540Z,1755804892.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.4,  14.0 (Local)

2025-08-21T19:34:52.542Z,1755804892.542 [DAT](INFO): DAT read: Range 11 to 50 : 222.0 m  (Round-trip  296.1 ms) speed  0.7 m/s

2025-08-21T19:34:52.543Z,1755804892.543 [DAT](INFO): DAT read: user:3967>

2025-08-21T19:34:52.552Z,1755804892.552 [DAT](INFO): DAT read: Tx time:19:34:51.7553

2025-08-21T19:34:52.552Z,1755804892.552 [DAT](INFO): Ping request sent.
2025-08-21T19:34:52.552Z,1755804892.552 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:52.552Z,1755804892.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:52.553Z,1755804892.553 [DAT](INFO): direction in FSK: [0.972956,0.141939,0.182236]
2025-08-21T19:34:52.554Z,1755804892.554 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:52.554Z,1755804892.554 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:52.565Z,1755804892.565 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:52.566Z,1755804892.566 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:52.576Z,1755804892.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 222.000000 m,
      deltaT: 3.780000 s,
      deltaX: -3.100006 m,
      approachRate: -0.820107 m/s,
      rangeRepo size: 4

2025-08-21T19:34:52.578Z,1755804892.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 220.676910 m,
      bearing: 270.528811 deg,
      lat: 36.779475 deg,
      lon: -121.859623 deg,
      deltaT: 3.780000 s,
      deltaX: -3.082535 m,
      approachRate: -0.815485 m/s,
      posRepo size: 4

2025-08-21T19:34:52.579Z,1755804892.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:52.634Z,1755804892.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 212.978348 m,
      bearing: 269.770380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016359 deg/s,
      cmd heading: 263.666038 deg,
      new cmd heading: 263.677983 deg.

2025-08-21T19:34:52.635Z,1755804892.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602049 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:53.060Z,1755804893.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:53.062Z,1755804893.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 212.588562 m,
      bearing: 269.777983 deg,
      approach rate: -0.804957 m/s,
      LOS rate: 0.015729 deg/s,
      cmd heading: 263.677978 deg,
      new cmd heading: 263.693210 deg.

2025-08-21T19:34:53.064Z,1755804893.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602315 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:53.509Z,1755804893.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:53.512Z,1755804893.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 212.223526 m,
      bearing: 269.786383 deg,
      approach rate: -0.811270 m/s,
      LOS rate: 0.018701 deg/s,
      cmd heading: 263.693223 deg,
      new cmd heading: 263.710052 deg.

2025-08-21T19:34:53.513Z,1755804893.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602609 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:53.987Z,1755804893.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:53.990Z,1755804893.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 211.840134 m,
      bearing: 269.795249 deg,
      approach rate: -0.803173 m/s,
      LOS rate: 0.018606 deg/s,
      cmd heading: 263.710052 deg,
      new cmd heading: 263.727816 deg.

2025-08-21T19:34:53.990Z,1755804893.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.602919 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:54.488Z,1755804894.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:54.490Z,1755804894.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:54.497Z,1755804894.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 211.445541 m,
      bearing: 269.804322 deg,
      approach rate: -0.783879 m/s,
      LOS rate: 0.018058 deg/s,
      cmd heading: 263.727811 deg,
      new cmd heading: 263.745991 deg.

2025-08-21T19:34:54.498Z,1755804894.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603236 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:54.549Z,1755804894.549 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:54.549Z,1755804894.549 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:54.550Z,1755804894.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:54.800Z,1755804894.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248059
2025-08-21T19:34:54.867Z,1755804894.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:54.870Z,1755804894.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 211.126938 m,
      bearing: 269.811673 deg,
      approach rate: -0.845831 m/s,
      LOS rate: 0.019545 deg/s,
      cmd heading: 263.745979 deg,
      new cmd heading: 263.760703 deg.

2025-08-21T19:34:54.871Z,1755804894.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603493 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:55.053Z,1755804895.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500621
2025-08-21T19:34:55.271Z,1755804895.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:55.296Z,1755804895.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 210.804016 m,
      bearing: 269.821055 deg,
      approach rate: -0.799379 m/s,
      LOS rate: 0.023260 deg/s,
      cmd heading: 263.760705 deg,
      new cmd heading: 263.779498 deg.

2025-08-21T19:34:55.297Z,1755804895.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603821 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:55.304Z,1755804895.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752198
2025-08-21T19:34:55.557Z,1755804895.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005152
2025-08-21T19:34:55.665Z,1755804895.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:55.668Z,1755804895.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 210.479584 m,
      bearing: 269.830540 deg,
      approach rate: -0.823173 m/s,
      LOS rate: 0.024103 deg/s,
      cmd heading: 263.779502 deg,
      new cmd heading: 263.798501 deg.

2025-08-21T19:34:55.669Z,1755804895.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604152 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:55.808Z,1755804895.808 [DAT](INFO): DAT read: Rx Time:19:34:54.4515

2025-08-21T19:34:55.809Z,1755804895.809 [DAT](INFO): Rx dataTimestamp_ set to:1755804895.808442
2025-08-21T19:34:55.809Z,1755804895.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257185
2025-08-21T19:34:56.052Z,1755804896.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.68 m.
2025-08-21T19:34:56.055Z,1755804896.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 220.676910 m,
      nav range: 210.165146 m,
      bearing: 269.839800 deg,
      approach rate: -0.813131 m/s,
      LOS rate: 0.023982 deg/s,
      cmd heading: 263.798489 deg,
      new cmd heading: 263.817037 deg.

2025-08-21T19:34:56.060Z,1755804896.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508283
2025-08-21T19:34:56.076Z,1755804896.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604476 target range: 220.676910 and range: 222.00 m.
2025-08-21T19:34:56.318Z,1755804896.318 [DAT](INFO): DAT read: 19:34:54.4515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 395,-0.23,-1.550, 2.827,-1.696,-1.903, PHS= 0.454,-1.508, 0.163, RAW= 142.1,   9.7, CAL= 141.6,  10.6, ROT=   8.4, -10.6

2025-08-21T19:34:56.328Z,1755804896.328 [DAT](INFO): got valid direction response:
 19:34:54.4515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 395,-0.23,-1.550, 2.827,-1.696,-1.903, PHS= 0.454,-1.508, 0.163, RAW= 142.1,   9.7, CAL= 141.6,  10.6, ROT=   8.4, -10.6

2025-08-21T19:34:56.329Z,1755804896.329 [DAT](INFO): DAT read: Bearing  49.6,  15.0 (Local)

2025-08-21T19:34:56.330Z,1755804896.330 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.6,  15.0 (Local)

2025-08-21T19:34:56.332Z,1755804896.332 [DAT](INFO): DAT read: Range 11 to 50 : 219.0 m  (Round-trip  292.0 ms) speed  0.6 m/s

2025-08-21T19:34:56.332Z,1755804896.332 [DAT](INFO): DAT read: user:3968>

2025-08-21T19:34:56.333Z,1755804896.333 [DAT](INFO): DAT read: Tx time:19:34:55.5553

2025-08-21T19:34:56.333Z,1755804896.333 [DAT](INFO): Ping request sent.
2025-08-21T19:34:56.334Z,1755804896.334 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:34:56.334Z,1755804896.334 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:34:56.335Z,1755804896.335 [DAT](INFO): direction in FSK: [0.972391,0.143590,0.183951]
2025-08-21T19:34:56.335Z,1755804896.335 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:56.336Z,1755804896.336 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:56.339Z,1755804896.339 [DAT](INFO): publishing transmit ping time
2025-08-21T19:34:56.339Z,1755804896.339 [DAT](INFO): publishing direction and range info
2025-08-21T19:34:56.571Z,1755804896.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 219.000000 m,
      deltaT: 3.779973 s,
      deltaX: -3.000000 m,
      approachRate: -0.793656 m/s,
      rangeRepo size: 4

2025-08-21T19:34:56.573Z,1755804896.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.692963 m,
      bearing: 270.746708 deg,
      lat: 36.779501 deg,
      lon: -121.859615 deg,
      deltaT: 3.779973 s,
      deltaX: -2.983948 m,
      approachRate: -0.789410 m/s,
      posRepo size: 4

2025-08-21T19:34:56.574Z,1755804896.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:56.581Z,1755804896.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 209.052551 m,
      bearing: 270.621768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023982 deg/s,
      cmd heading: 263.817040 deg,
      new cmd heading: 263.841739 deg.

2025-08-21T19:34:56.582Z,1755804896.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604907 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:56.903Z,1755804896.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:56.905Z,1755804896.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:56.908Z,1755804896.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 208.759903 m,
      bearing: 270.630680 deg,
      approach rate: -0.864486 m/s,
      LOS rate: 0.026365 deg/s,
      cmd heading: 263.841738 deg,
      new cmd heading: 263.859588 deg.

2025-08-21T19:34:56.909Z,1755804896.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605218 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:57.068Z,1755804897.068 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:34:57.068Z,1755804897.068 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:34:57.068Z,1755804897.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:34:57.320Z,1755804897.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986840
2025-08-21T19:34:57.377Z,1755804897.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:57.383Z,1755804897.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 208.382812 m,
      bearing: 270.642897 deg,
      approach rate: -0.799656 m/s,
      LOS rate: 0.025954 deg/s,
      cmd heading: 263.859579 deg,
      new cmd heading: 263.884057 deg.

2025-08-21T19:34:57.387Z,1755804897.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.605646 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:57.572Z,1755804897.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238686
2025-08-21T19:34:57.792Z,1755804897.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:57.794Z,1755804897.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 208.040588 m,
      bearing: 270.654055 deg,
      approach rate: -0.824982 m/s,
      LOS rate: 0.026941 deg/s,
      cmd heading: 263.884058 deg,
      new cmd heading: 263.906410 deg.

2025-08-21T19:34:57.795Z,1755804897.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606036 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:57.824Z,1755804897.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490610
2025-08-21T19:34:58.076Z,1755804898.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742677
2025-08-21T19:34:58.174Z,1755804898.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:58.200Z,1755804898.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 207.743759 m,
      bearing: 270.663752 deg,
      approach rate: -0.777954 m/s,
      LOS rate: 0.025453 deg/s,
      cmd heading: 263.906406 deg,
      new cmd heading: 263.925830 deg.

2025-08-21T19:34:58.208Z,1755804898.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606375 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:58.328Z,1755804898.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994847
2025-08-21T19:34:58.580Z,1755804898.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246685
2025-08-21T19:34:58.681Z,1755804898.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:58.683Z,1755804898.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 207.306534 m,
      bearing: 270.676482 deg,
      approach rate: -0.861350 m/s,
      LOS rate: 0.025131 deg/s,
      cmd heading: 263.925831 deg,
      new cmd heading: 263.951344 deg.

2025-08-21T19:34:58.684Z,1755804898.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606820 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:58.833Z,1755804898.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498951
2025-08-21T19:34:59.054Z,1755804899.054 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:34:59.056Z,1755804899.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:59.059Z,1755804899.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 206.997314 m,
      bearing: 270.685497 deg,
      approach rate: -0.823088 m/s,
      LOS rate: 0.024031 deg/s,
      cmd heading: 263.951349 deg,
      new cmd heading: 263.969405 deg.

2025-08-21T19:34:59.060Z,1755804899.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607135 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:59.084Z,1755804899.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750874
2025-08-21T19:34:59.336Z,1755804899.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002731
2025-08-21T19:34:59.573Z,1755804899.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:34:59.576Z,1755804899.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 206.565414 m,
      bearing: 270.698018 deg,
      approach rate: -0.835337 m/s,
      LOS rate: 0.024268 deg/s,
      cmd heading: 263.969408 deg,
      new cmd heading: 263.994503 deg.

2025-08-21T19:34:59.577Z,1755804899.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607574 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:34:59.579Z,1755804899.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 58.105721 m.
2025-08-21T19:34:59.596Z,1755804899.596 [DAT](INFO): DAT read: Rx Time:19:34:58.2472

2025-08-21T19:34:59.597Z,1755804899.597 [DAT](INFO): Rx dataTimestamp_ set to:1755804899.596500
2025-08-21T19:34:59.597Z,1755804899.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263786
2025-08-21T19:34:59.848Z,1755804899.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514776
2025-08-21T19:35:00.010Z,1755804900.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.69 m.
2025-08-21T19:35:00.017Z,1755804900.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.692963 m,
      nav range: 206.240402 m,
      bearing: 270.707454 deg,
      approach rate: -0.743585 m/s,
      LOS rate: 0.021623 deg/s,
      cmd heading: 263.994516 deg,
      new cmd heading: 264.013418 deg.

2025-08-21T19:35:00.018Z,1755804900.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607903 target range: 217.692963 and range: 219.00 m.
2025-08-21T19:35:00.109Z,1755804900.109 [DAT](INFO): DAT read: 19:34:58.2472 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 399, 0.10,-1.921, 2.519,-2.053,-2.270, PHS= 0.451,-1.449, 0.173, RAW= 142.2,   9.3, CAL= 141.8,  10.2, ROT=   8.2, -10.2

2025-08-21T19:35:00.111Z,1755804900.111 [DAT](INFO): got valid direction response:
 19:34:58.2472 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 399, 0.10,-1.921, 2.519,-2.053,-2.270, PHS= 0.451,-1.449, 0.173, RAW= 142.2,   9.3, CAL= 141.8,  10.2, ROT=   8.2, -10.2

2025-08-21T19:35:00.113Z,1755804900.113 [DAT](INFO): DAT read: Bearing  49.1,  16.1 (Local)

2025-08-21T19:35:00.114Z,1755804900.114 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.1,  16.1 (Local)

2025-08-21T19:35:00.140Z,1755804900.140 [DAT](INFO): DAT read: Range 11 to 50 : 215.7 m  (Round-trip  287.7 ms) speed  0.6 m/s

2025-08-21T19:35:00.141Z,1755804900.141 [DAT](INFO): DAT read: user:3969>

2025-08-21T19:35:00.142Z,1755804900.142 [DAT](INFO): DAT read: Tx time:19:34:59.3553

2025-08-21T19:35:00.143Z,1755804900.143 [DAT](INFO): Ping request sent.
2025-08-21T19:35:00.148Z,1755804900.148 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:00.148Z,1755804900.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:00.150Z,1755804900.150 [DAT](INFO): direction in FSK: [0.974133,0.140375,0.177085]
2025-08-21T19:35:00.150Z,1755804900.150 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:00.151Z,1755804900.151 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:00.188Z,1755804900.188 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:00.188Z,1755804900.188 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:00.460Z,1755804900.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.699997 m,
      deltaT: 3.788519 s,
      deltaX: -3.300003 m,
      approachRate: -0.871054 m/s,
      rangeRepo size: 4

2025-08-21T19:35:00.462Z,1755804900.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.406433 m,
      bearing: 270.645497 deg,
      lat: 36.779501 deg,
      lon: -121.859606 deg,
      deltaT: 3.788519 s,
      deltaX: -3.286530 m,
      approachRate: -0.867497 m/s,
      posRepo size: 4

2025-08-21T19:35:00.462Z,1755804900.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:00.473Z,1755804900.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 205.112839 m,
      bearing: 270.721840 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021623 deg/s,
      cmd heading: 264.013422 deg,
      new cmd heading: 264.032642 deg.

2025-08-21T19:35:00.474Z,1755804900.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608239 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:00.817Z,1755804900.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:00.836Z,1755804900.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 204.803406 m,
      bearing: 270.731318 deg,
      approach rate: -0.854306 m/s,
      LOS rate: 0.026209 deg/s,
      cmd heading: 264.032656 deg,
      new cmd heading: 264.051642 deg.

2025-08-21T19:35:00.837Z,1755804900.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608571 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:01.247Z,1755804901.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:01.257Z,1755804901.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:01.292Z,1755804901.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 204.462860 m,
      bearing: 270.741720 deg,
      approach rate: -0.778643 m/s,
      LOS rate: 0.023823 deg/s,
      cmd heading: 264.051644 deg,
      new cmd heading: 264.072482 deg.

2025-08-21T19:35:01.293Z,1755804901.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.608934 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:01.361Z,1755804901.361 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:01.361Z,1755804901.361 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:01.361Z,1755804901.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:01.612Z,1755804901.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469302
2025-08-21T19:35:01.656Z,1755804901.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:01.659Z,1755804901.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 204.119598 m,
      bearing: 270.751160 deg,
      approach rate: -0.853592 m/s,
      LOS rate: 0.023513 deg/s,
      cmd heading: 264.072489 deg,
      new cmd heading: 264.091400 deg.

2025-08-21T19:35:01.660Z,1755804901.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609264 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:01.864Z,1755804901.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721305
2025-08-21T19:35:02.118Z,1755804902.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.974618
2025-08-21T19:35:02.196Z,1755804902.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:02.215Z,1755804902.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 203.685440 m,
      bearing: 270.763058 deg,
      approach rate: -0.804131 m/s,
      LOS rate: 0.022084 deg/s,
      cmd heading: 264.091395 deg,
      new cmd heading: 264.115242 deg.

2025-08-21T19:35:02.216Z,1755804902.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609681 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:02.370Z,1755804902.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226795
2025-08-21T19:35:02.621Z,1755804902.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477554
2025-08-21T19:35:02.686Z,1755804902.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:02.693Z,1755804902.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 203.297623 m,
      bearing: 270.774000 deg,
      approach rate: -0.792009 m/s,
      LOS rate: 0.022388 deg/s,
      cmd heading: 264.115246 deg,
      new cmd heading: 264.137172 deg.

2025-08-21T19:35:02.694Z,1755804902.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610064 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:02.872Z,1755804902.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729303
2025-08-21T19:35:03.116Z,1755804903.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:03.121Z,1755804903.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 202.958572 m,
      bearing: 270.783517 deg,
      approach rate: -0.790373 m/s,
      LOS rate: 0.022222 deg/s,
      cmd heading: 264.137185 deg,
      new cmd heading: 264.156250 deg.

2025-08-21T19:35:03.122Z,1755804903.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610396 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:03.124Z,1755804903.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981337
2025-08-21T19:35:03.376Z,1755804903.376 [DAT](INFO): DAT read: Rx Time:19:35:02.0430

2025-08-21T19:35:03.377Z,1755804903.377 [DAT](INFO): Rx dataTimestamp_ set to:1755804903.376400
2025-08-21T19:35:03.377Z,1755804903.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234288
2025-08-21T19:35:03.605Z,1755804903.605 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:03.607Z,1755804903.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.41 m.
2025-08-21T19:35:03.610Z,1755804903.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.406433 m,
      nav range: 202.559952 m,
      bearing: 270.793118 deg,
      approach rate: -0.809857 m/s,
      LOS rate: 0.019545 deg/s,
      cmd heading: 264.156255 deg,
      new cmd heading: 264.175495 deg.

2025-08-21T19:35:03.611Z,1755804903.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.610732 target range: 214.406433 and range: 215.70 m.
2025-08-21T19:35:03.628Z,1755804903.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485362
2025-08-21T19:35:03.888Z,1755804903.888 [DAT](INFO): DAT read: 19:35:02.0430 LVL= 27200, 32753, 28370, 32755, AGC= 65, IDX= 404,-0.20, 1.968, 0.077, 1.852, 1.598, PHS= 0.472,-1.476, 0.210, RAW= 142.9,   8.7, CAL= 142.4,   9.5, ROT=   7.6,  -9.5

2025-08-21T19:35:03.889Z,1755804903.889 [DAT](INFO): got valid direction response:
 19:35:02.0430 LVL= 27200, 32753, 28370, 32755, AGC= 65, IDX= 404,-0.20, 1.968, 0.077, 1.852, 1.598, PHS= 0.472,-1.476, 0.210, RAW= 142.9,   8.7, CAL= 142.4,   9.5, ROT=   7.6,  -9.5

2025-08-21T19:35:03.890Z,1755804903.890 [DAT](INFO): DAT read: Bearing  49.0,  16.7 (Local)

2025-08-21T19:35:03.891Z,1755804903.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.0,  16.7 (Local)

2025-08-21T19:35:03.892Z,1755804903.892 [DAT](INFO): DAT read: Range 11 to 50 : 212.6 m  (Round-trip  283.5 ms) speed  0.6 m/s

2025-08-21T19:35:03.893Z,1755804903.893 [DAT](INFO): DAT read: user:3970>

2025-08-21T19:35:03.894Z,1755804903.894 [DAT](INFO): DAT read: Tx time:19:35:03.1569

2025-08-21T19:35:03.894Z,1755804903.894 [DAT](INFO): Ping request sent.
2025-08-21T19:35:03.894Z,1755804903.894 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:03.894Z,1755804903.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:03.896Z,1755804903.896 [DAT](INFO): direction in FSK: [0.977622,0.130443,0.165048]
2025-08-21T19:35:03.897Z,1755804903.897 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:03.897Z,1755804903.897 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:03.922Z,1755804903.922 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:03.922Z,1755804903.922 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:04.035Z,1755804904.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 212.600006 m,
      deltaT: 3.780137 s,
      deltaX: -3.099991 m,
      approachRate: -0.820074 m/s,
      rangeRepo size: 4

2025-08-21T19:35:04.059Z,1755804904.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 211.299042 m,
      bearing: 270.531254 deg,
      lat: 36.779501 deg,
      lon: -121.859604 deg,
      deltaT: 3.780137 s,
      deltaX: -3.107391 m,
      approachRate: -0.822031 m/s,
      posRepo size: 4

2025-08-21T19:35:04.062Z,1755804904.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:04.069Z,1755804904.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 202.046936 m,
      bearing: 270.801287 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019545 deg/s,
      cmd heading: 264.175489 deg,
      new cmd heading: 264.192166 deg.

2025-08-21T19:35:04.070Z,1755804904.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611023 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:04.543Z,1755804904.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:04.546Z,1755804904.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 201.633987 m,
      bearing: 270.813273 deg,
      approach rate: -0.817333 m/s,
      LOS rate: 0.023771 deg/s,
      cmd heading: 264.192154 deg,
      new cmd heading: 264.216174 deg.

2025-08-21T19:35:04.551Z,1755804904.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611442 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:04.909Z,1755804904.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:04.912Z,1755804904.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 201.327515 m,
      bearing: 270.822087 deg,
      approach rate: -0.828175 m/s,
      LOS rate: 0.023853 deg/s,
      cmd heading: 264.216169 deg,
      new cmd heading: 264.233823 deg.

2025-08-21T19:35:04.913Z,1755804904.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611750 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:05.376Z,1755804905.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:05.379Z,1755804905.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 200.956818 m,
      bearing: 270.832539 deg,
      approach rate: -0.794075 m/s,
      LOS rate: 0.022431 deg/s,
      cmd heading: 264.233818 deg,
      new cmd heading: 264.254762 deg.

2025-08-21T19:35:05.380Z,1755804905.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612116 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:05.778Z,1755804905.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:05.785Z,1755804905.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:05.792Z,1755804905.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 200.658539 m,
      bearing: 270.841838 deg,
      approach rate: -0.729813 m/s,
      LOS rate: 0.022787 deg/s,
      cmd heading: 264.254773 deg,
      new cmd heading: 264.273400 deg.

2025-08-21T19:35:05.793Z,1755804905.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612441 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:05.897Z,1755804905.897 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:05.897Z,1755804905.897 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:05.897Z,1755804905.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:06.149Z,1755804906.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254691
2025-08-21T19:35:06.153Z,1755804906.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:06.157Z,1755804906.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 200.368637 m,
      bearing: 270.850822 deg,
      approach rate: -0.788014 m/s,
      LOS rate: 0.024455 deg/s,
      cmd heading: 264.273406 deg,
      new cmd heading: 264.291400 deg.

2025-08-21T19:35:06.159Z,1755804906.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612755 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:06.400Z,1755804906.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506399
2025-08-21T19:35:06.565Z,1755804906.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:06.568Z,1755804906.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 200.022797 m,
      bearing: 270.861920 deg,
      approach rate: -0.838326 m/s,
      LOS rate: 0.026949 deg/s,
      cmd heading: 264.291411 deg,
      new cmd heading: 264.313645 deg.

2025-08-21T19:35:06.569Z,1755804906.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613143 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:06.653Z,1755804906.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759139
2025-08-21T19:35:06.904Z,1755804906.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010308
2025-08-21T19:35:06.952Z,1755804906.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:06.957Z,1755804906.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 199.733795 m,
      bearing: 270.871096 deg,
      approach rate: -0.756040 m/s,
      LOS rate: 0.024039 deg/s,
      cmd heading: 264.313650 deg,
      new cmd heading: 264.332028 deg.

2025-08-21T19:35:06.958Z,1755804906.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613464 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:07.157Z,1755804907.157 [DAT](INFO): DAT read: Rx Time:19:35:05.8405

2025-08-21T19:35:07.157Z,1755804907.157 [DAT](INFO): Rx dataTimestamp_ set to:1755804907.156935
2025-08-21T19:35:07.158Z,1755804907.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264091
2025-08-21T19:35:07.420Z,1755804907.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526282
2025-08-21T19:35:07.449Z,1755804907.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.30 m.
2025-08-21T19:35:07.456Z,1755804907.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 211.299042 m,
      nav range: 199.333115 m,
      bearing: 270.884408 deg,
      approach rate: -0.799012 m/s,
      LOS rate: 0.026600 deg/s,
      cmd heading: 264.332037 deg,
      new cmd heading: 264.358714 deg.

2025-08-21T19:35:07.457Z,1755804907.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.613930 target range: 211.299042 and range: 212.60 m.
2025-08-21T19:35:07.682Z,1755804907.682 [DAT](INFO): DAT read: 19:35:05.8405 LVL= 28272, 31985, 28738, 32755, AGC= 67, IDX= 394, 0.24,-2.371, 2.116,-2.430,-2.703, PHS= 0.434,-1.419, 0.229, RAW= 144.2,   8.6, CAL= 143.8,   9.4, ROT=   6.2,  -9.4

2025-08-21T19:35:07.684Z,1755804907.684 [DAT](INFO): got valid direction response:
 19:35:05.8405 LVL= 28272, 31985, 28738, 32755, AGC= 67, IDX= 394, 0.24,-2.371, 2.116,-2.430,-2.703, PHS= 0.434,-1.419, 0.229, RAW= 144.2,   8.6, CAL= 143.8,   9.4, ROT=   6.2,  -9.4

2025-08-21T19:35:07.685Z,1755804907.685 [DAT](INFO): DAT read: Bearing  49.2,  13.8 (Local)

2025-08-21T19:35:07.685Z,1755804907.685 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.2,  13.8 (Local)

2025-08-21T19:35:07.687Z,1755804907.687 [DAT](INFO): DAT read: Range 11 to 50 : 209.5 m  (Round-trip  279.4 ms) speed  0.7 m/s

2025-08-21T19:35:07.688Z,1755804907.688 [DAT](INFO): DAT read: user:3971>

2025-08-21T19:35:07.688Z,1755804907.688 [DAT](INFO): DAT read: Tx time:19:35:06.9553

2025-08-21T19:35:07.689Z,1755804907.689 [DAT](INFO): Ping request sent.
2025-08-21T19:35:07.689Z,1755804907.689 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:07.689Z,1755804907.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:07.690Z,1755804907.690 [DAT](INFO): direction in FSK: [0.980802,0.106549,0.163326]
2025-08-21T19:35:07.690Z,1755804907.690 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:07.691Z,1755804907.691 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:07.694Z,1755804907.694 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:07.694Z,1755804907.694 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:07.862Z,1755804907.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 209.500000 m,
      deltaT: 3.791710 s,
      deltaX: -3.100006 m,
      approachRate: -0.817575 m/s,
      rangeRepo size: 4

2025-08-21T19:35:07.873Z,1755804907.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 208.192963 m,
      bearing: 269.633509 deg,
      lat: 36.779498 deg,
      lon: -121.859604 deg,
      deltaT: 3.791710 s,
      deltaX: -3.106079 m,
      approachRate: -0.819176 m/s,
      posRepo size: 4

2025-08-21T19:35:07.873Z,1755804907.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:07.880Z,1755804907.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 199.009598 m,
      bearing: 270.812551 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026600 deg/s,
      cmd heading: 264.358702 deg,
      new cmd heading: 264.380637 deg.

2025-08-21T19:35:07.881Z,1755804907.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614313 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:08.214Z,1755804908.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:08.216Z,1755804908.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:08.219Z,1755804908.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 198.716690 m,
      bearing: 270.821829 deg,
      approach rate: -0.824628 m/s,
      LOS rate: 0.026158 deg/s,
      cmd heading: 264.380640 deg,
      new cmd heading: 264.399223 deg.

2025-08-21T19:35:08.220Z,1755804908.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614637 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:08.428Z,1755804908.428 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:08.428Z,1755804908.428 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:08.428Z,1755804908.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:08.642Z,1755804908.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:08.645Z,1755804908.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 198.372711 m,
      bearing: 270.831925 deg,
      approach rate: -0.807747 m/s,
      LOS rate: 0.023750 deg/s,
      cmd heading: 264.399218 deg,
      new cmd heading: 264.419446 deg.

2025-08-21T19:35:08.646Z,1755804908.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614990 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:08.681Z,1755804908.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991866
2025-08-21T19:35:08.932Z,1755804908.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243534
2025-08-21T19:35:09.010Z,1755804909.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:09.013Z,1755804909.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 198.076416 m,
      bearing: 270.840602 deg,
      approach rate: -0.806654 m/s,
      LOS rate: 0.023656 deg/s,
      cmd heading: 264.419436 deg,
      new cmd heading: 264.436814 deg.

2025-08-21T19:35:09.013Z,1755804909.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615293 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:09.184Z,1755804909.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495478
2025-08-21T19:35:09.437Z,1755804909.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747860
2025-08-21T19:35:09.494Z,1755804909.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:09.501Z,1755804909.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 197.683548 m,
      bearing: 270.852316 deg,
      approach rate: -0.811615 m/s,
      LOS rate: 0.024248 deg/s,
      cmd heading: 264.436812 deg,
      new cmd heading: 264.460287 deg.

2025-08-21T19:35:09.502Z,1755804909.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615703 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:09.688Z,1755804909.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999393
2025-08-21T19:35:09.836Z,1755804909.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:09.840Z,1755804909.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 197.394913 m,
      bearing: 270.860911 deg,
      approach rate: -0.844686 m/s,
      LOS rate: 0.025191 deg/s,
      cmd heading: 264.460280 deg,
      new cmd heading: 264.477496 deg.

2025-08-21T19:35:09.841Z,1755804909.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616003 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:09.940Z,1755804909.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251431
2025-08-21T19:35:10.192Z,1755804910.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503386
2025-08-21T19:35:10.274Z,1755804910.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:10.276Z,1755804910.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:10.279Z,1755804910.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 197.033478 m,
      bearing: 270.871711 deg,
      approach rate: -0.819738 m/s,
      LOS rate: 0.024538 deg/s,
      cmd heading: 264.477492 deg,
      new cmd heading: 264.499130 deg.

2025-08-21T19:35:10.280Z,1755804910.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616381 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:10.444Z,1755804910.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755484
2025-08-21T19:35:10.670Z,1755804910.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:10.673Z,1755804910.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 196.704758 m,
      bearing: 270.880949 deg,
      approach rate: -0.835585 m/s,
      LOS rate: 0.023523 deg/s,
      cmd heading: 264.499130 deg,
      new cmd heading: 264.517638 deg.

2025-08-21T19:35:10.674Z,1755804910.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616704 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:10.709Z,1755804910.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020350
2025-08-21T19:35:10.960Z,1755804910.960 [DAT](INFO): DAT read: Rx Time:19:35:09.6347

2025-08-21T19:35:10.961Z,1755804910.961 [DAT](INFO): Rx dataTimestamp_ set to:1755804910.960444
2025-08-21T19:35:10.961Z,1755804910.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272420
2025-08-21T19:35:11.052Z,1755804911.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 208.19 m.
2025-08-21T19:35:11.055Z,1755804911.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 208.192963 m,
      nav range: 196.386261 m,
      bearing: 270.889955 deg,
      approach rate: -0.832440 m/s,
      LOS rate: 0.023577 deg/s,
      cmd heading: 264.517626 deg,
      new cmd heading: 264.535668 deg.

2025-08-21T19:35:11.056Z,1755804911.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617018 target range: 208.192963 and range: 209.50 m.
2025-08-21T19:35:11.212Z,1755804911.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523396
2025-08-21T19:35:11.470Z,1755804911.470 [DAT](INFO): DAT read: 19:35:09.6347 LVL= 28336, 32753, 32626, 32755, AGC= 68, IDX= 399, 0.50,-2.825, 1.635,-2.885,-3.128, PHS= 0.405,-1.475, 0.199, RAW= 144.3,   9.8, CAL= 143.8,  10.7, ROT=   6.2, -10.7

2025-08-21T19:35:11.471Z,1755804911.471 [DAT](INFO): got valid direction response:
 19:35:09.6347 LVL= 28336, 32753, 32626, 32755, AGC= 68, IDX= 399, 0.50,-2.825, 1.635,-2.885,-3.128, PHS= 0.405,-1.475, 0.199, RAW= 144.3,   9.8, CAL= 143.8,  10.7, ROT=   6.2, -10.7

2025-08-21T19:35:11.472Z,1755804911.472 [DAT](INFO): DAT read: Bearing  50.6,  11.0 (Local)

2025-08-21T19:35:11.473Z,1755804911.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.6,  11.0 (Local)

2025-08-21T19:35:11.474Z,1755804911.474 [DAT](INFO): DAT read: Range 11 to 50 : 206.4 m  (Round-trip  275.2 ms) speed  0.5 m/s

2025-08-21T19:35:11.475Z,1755804911.475 [DAT](INFO): DAT read: user:3972>

2025-08-21T19:35:11.476Z,1755804911.476 [DAT](INFO): DAT read: Tx time:19:35:10.7553

2025-08-21T19:35:11.476Z,1755804911.476 [DAT](INFO): Ping request sent.
2025-08-21T19:35:11.476Z,1755804911.476 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:11.476Z,1755804911.476 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:11.477Z,1755804911.477 [DAT](INFO): direction in FSK: [0.976865,0.106122,0.185667]
2025-08-21T19:35:11.478Z,1755804911.478 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:11.478Z,1755804911.478 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:11.481Z,1755804911.481 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:11.481Z,1755804911.481 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:11.705Z,1755804911.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 206.399994 m,
      deltaT: 3.791681 s,
      deltaX: -3.100006 m,
      approachRate: -0.817581 m/s,
      rangeRepo size: 4

2025-08-21T19:35:11.707Z,1755804911.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 205.111038 m,
      bearing: 269.741400 deg,
      lat: 36.779492 deg,
      lon: -121.859604 deg,
      deltaT: 3.791681 s,
      deltaX: -3.081924 m,
      approachRate: -0.812812 m/s,
      posRepo size: 4

2025-08-21T19:35:11.712Z,1755804911.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:11.714Z,1755804911.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 195.845840 m,
      bearing: 270.706979 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.023577 deg/s,
      cmd heading: 264.535658 deg,
      new cmd heading: 264.566391 deg.

2025-08-21T19:35:11.720Z,1755804911.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617555 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:12.095Z,1755804912.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:12.102Z,1755804912.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 195.513931 m,
      bearing: 270.716149 deg,
      approach rate: -0.849464 m/s,
      LOS rate: 0.023509 deg/s,
      cmd heading: 264.566394 deg,
      new cmd heading: 264.584765 deg.

2025-08-21T19:35:12.103Z,1755804912.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617875 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:12.538Z,1755804912.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:12.540Z,1755804912.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:12.543Z,1755804912.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 195.131180 m,
      bearing: 270.728411 deg,
      approach rate: -0.859588 m/s,
      LOS rate: 0.027594 deg/s,
      cmd heading: 264.584754 deg,
      new cmd heading: 264.609327 deg.

2025-08-21T19:35:12.545Z,1755804912.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618304 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:12.724Z,1755804912.724 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:12.724Z,1755804912.724 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:12.724Z,1755804912.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:12.908Z,1755804912.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:12.910Z,1755804912.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 194.818909 m,
      bearing: 270.738437 deg,
      approach rate: -0.850180 m/s,
      LOS rate: 0.027340 deg/s,
      cmd heading: 264.609315 deg,
      new cmd heading: 264.629399 deg.

2025-08-21T19:35:12.911Z,1755804912.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618654 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:12.977Z,1755804912.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500989
2025-08-21T19:35:13.228Z,1755804913.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752079
2025-08-21T19:35:13.293Z,1755804913.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:13.296Z,1755804913.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 194.493607 m,
      bearing: 270.748880 deg,
      approach rate: -0.843980 m/s,
      LOS rate: 0.027139 deg/s,
      cmd heading: 264.629396 deg,
      new cmd heading: 264.650316 deg.

2025-08-21T19:35:13.297Z,1755804913.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619020 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:13.480Z,1755804913.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004135
2025-08-21T19:35:13.717Z,1755804913.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:13.720Z,1755804913.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 194.138260 m,
      bearing: 270.760243 deg,
      approach rate: -0.837462 m/s,
      LOS rate: 0.026829 deg/s,
      cmd heading: 264.650323 deg,
      new cmd heading: 264.673091 deg.

2025-08-21T19:35:13.721Z,1755804913.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619417 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:13.741Z,1755804913.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264865
2025-08-21T19:35:13.993Z,1755804913.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516873
2025-08-21T19:35:14.096Z,1755804914.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:14.099Z,1755804914.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 193.821396 m,
      bearing: 270.770351 deg,
      approach rate: -0.835969 m/s,
      LOS rate: 0.026712 deg/s,
      cmd heading: 264.673082 deg,
      new cmd heading: 264.693331 deg.

2025-08-21T19:35:14.124Z,1755804914.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619770 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:14.245Z,1755804914.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769211
2025-08-21T19:35:14.496Z,1755804914.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020101
2025-08-21T19:35:14.558Z,1755804914.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:14.564Z,1755804914.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:14.567Z,1755804914.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 193.442902 m,
      bearing: 270.781674 deg,
      approach rate: -0.808951 m/s,
      LOS rate: 0.024246 deg/s,
      cmd heading: 264.693326 deg,
      new cmd heading: 264.716015 deg.

2025-08-21T19:35:14.576Z,1755804914.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620166 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:14.749Z,1755804914.749 [DAT](INFO): DAT read: Rx Time:19:35:13.4303

2025-08-21T19:35:14.751Z,1755804914.751 [DAT](INFO): Rx dataTimestamp_ set to:1755804914.749914
2025-08-21T19:35:14.753Z,1755804914.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274912
2025-08-21T19:35:14.913Z,1755804914.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 205.11 m.
2025-08-21T19:35:14.915Z,1755804914.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 205.111038 m,
      nav range: 193.156296 m,
      bearing: 270.790243 deg,
      approach rate: -0.822254 m/s,
      LOS rate: 0.024622 deg/s,
      cmd heading: 264.716002 deg,
      new cmd heading: 264.733167 deg.

2025-08-21T19:35:14.916Z,1755804914.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620465 target range: 205.111038 and range: 206.40 m.
2025-08-21T19:35:15.001Z,1755804915.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524857
2025-08-21T19:35:15.262Z,1755804915.262 [DAT](INFO): DAT read: 19:35:13.4303 LVL= 24304, 32753, 27298, 32755, AGC= 68, IDX= 402, 0.19,-1.937, 2.538,-2.040,-2.253, PHS= 0.418,-1.447, 0.170, RAW= 142.9,   9.8, CAL= 142.5,  10.7, ROT=   7.5, -10.7

2025-08-21T19:35:15.263Z,1755804915.263 [DAT](INFO): got valid direction response:
 19:35:13.4303 LVL= 24304, 32753, 27298, 32755, AGC= 68, IDX= 402, 0.19,-1.937, 2.538,-2.040,-2.253, PHS= 0.418,-1.447, 0.170, RAW= 142.9,   9.8, CAL= 142.5,  10.7, ROT=   7.5, -10.7

2025-08-21T19:35:15.264Z,1755804915.264 [DAT](INFO): DAT read: Bearing  50.7,   9.9 (Local)

2025-08-21T19:35:15.264Z,1755804915.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,   9.9 (Local)

2025-08-21T19:35:15.266Z,1755804915.266 [DAT](INFO): DAT read: Range 11 to 50 : 203.1 m  (Round-trip  270.8 ms) speed  1.1 m/s

2025-08-21T19:35:15.267Z,1755804915.267 [DAT](INFO): DAT read: user:3973>

2025-08-21T19:35:15.272Z,1755804915.272 [DAT](INFO): DAT read: Tx time:19:35:14.5553

2025-08-21T19:35:15.273Z,1755804915.273 [DAT](INFO): Ping request sent.
2025-08-21T19:35:15.273Z,1755804915.273 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:15.273Z,1755804915.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:15.274Z,1755804915.274 [DAT](INFO): direction in FSK: [0.974206,0.128257,0.185667]
2025-08-21T19:35:15.274Z,1755804915.274 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:15.274Z,1755804915.274 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:15.278Z,1755804915.278 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:15.278Z,1755804915.278 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:15.534Z,1755804915.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.100006 m,
      deltaT: 3.788615 s,
      deltaX: -3.299988 m,
      approachRate: -0.871027 m/s,
      rangeRepo size: 4

2025-08-21T19:35:15.540Z,1755804915.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.830963 m,
      bearing: 271.137076 deg,
      lat: 36.779492 deg,
      lon: -121.859620 deg,
      deltaT: 3.788615 s,
      deltaX: -3.280075 m,
      approachRate: -0.865772 m/s,
      posRepo size: 4

2025-08-21T19:35:15.541Z,1755804915.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:15.548Z,1755804915.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 194.039169 m,
      bearing: 270.799920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024622 deg/s,
      cmd heading: 264.733160 deg,
      new cmd heading: 264.763724 deg.

2025-08-21T19:35:15.552Z,1755804915.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.620999 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:15.758Z,1755804915.758 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:35:15.813Z,1755804915.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:15.820Z,1755804915.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 193.803650 m,
      bearing: 270.807232 deg,
      approach rate: -0.840861 m/s,
      LOS rate: 0.026136 deg/s,
      cmd heading: 264.763732 deg,
      new cmd heading: 264.778373 deg.

2025-08-21T19:35:15.821Z,1755804915.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621254 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:16.158Z,1755804916.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:16.163Z,1755804916.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 193.514618 m,
      bearing: 270.816163 deg,
      approach rate: -0.838425 m/s,
      LOS rate: 0.025945 deg/s,
      cmd heading: 264.778376 deg,
      new cmd heading: 264.796264 deg.

2025-08-21T19:35:16.165Z,1755804916.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621567 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:16.588Z,1755804916.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:16.590Z,1755804916.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:16.593Z,1755804916.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 193.161819 m,
      bearing: 270.825806 deg,
      approach rate: -0.815947 m/s,
      LOS rate: 0.022343 deg/s,
      cmd heading: 264.796271 deg,
      new cmd heading: 264.815592 deg.

2025-08-21T19:35:16.594Z,1755804916.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621904 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:16.760Z,1755804916.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:35:16.765Z,1755804916.765 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:16.766Z,1755804916.766 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:16.766Z,1755804916.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:16.938Z,1755804916.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:16.941Z,1755804916.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 192.884186 m,
      bearing: 270.833360 deg,
      approach rate: -0.806969 m/s,
      LOS rate: 0.021990 deg/s,
      cmd heading: 264.815587 deg,
      new cmd heading: 264.830718 deg.

2025-08-21T19:35:16.942Z,1755804916.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622168 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:17.017Z,1755804917.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744427
2025-08-21T19:35:17.268Z,1755804917.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995542
2025-08-21T19:35:17.345Z,1755804917.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:17.348Z,1755804917.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 192.554916 m,
      bearing: 270.842275 deg,
      approach rate: -0.801522 m/s,
      LOS rate: 0.021737 deg/s,
      cmd heading: 264.830722 deg,
      new cmd heading: 264.848582 deg.

2025-08-21T19:35:17.349Z,1755804917.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622480 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:17.523Z,1755804917.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250107
2025-08-21T19:35:17.773Z,1755804917.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499883
2025-08-21T19:35:17.799Z,1755804917.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:17.806Z,1755804917.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 192.192184 m,
      bearing: 270.850822 deg,
      approach rate: -0.799975 m/s,
      LOS rate: 0.018886 deg/s,
      cmd heading: 264.848590 deg,
      new cmd heading: 264.865717 deg.

2025-08-21T19:35:17.807Z,1755804917.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622779 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:18.025Z,1755804918.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752180
2025-08-21T19:35:18.185Z,1755804918.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:18.188Z,1755804918.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 191.880844 m,
      bearing: 270.858118 deg,
      approach rate: -0.806740 m/s,
      LOS rate: 0.018936 deg/s,
      cmd heading: 264.865720 deg,
      new cmd heading: 264.880336 deg.

2025-08-21T19:35:18.189Z,1755804918.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623034 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:18.277Z,1755804918.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004266
2025-08-21T19:35:18.530Z,1755804918.530 [DAT](INFO): DAT read: Rx Time:19:35:17.2263

2025-08-21T19:35:18.530Z,1755804918.530 [DAT](INFO): Rx dataTimestamp_ set to:1755804918.530020
2025-08-21T19:35:18.531Z,1755804918.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258140
2025-08-21T19:35:18.628Z,1755804918.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:18.630Z,1755804918.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:18.633Z,1755804918.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 191.500793 m,
      bearing: 270.866694 deg,
      approach rate: -0.853007 m/s,
      LOS rate: 0.019286 deg/s,
      cmd heading: 264.880337 deg,
      new cmd heading: 264.897522 deg.

2025-08-21T19:35:18.634Z,1755804918.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623334 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:18.780Z,1755804918.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507534
2025-08-21T19:35:19.013Z,1755804919.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.83 m.
2025-08-21T19:35:19.016Z,1755804919.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.830963 m,
      nav range: 191.184174 m,
      bearing: 270.873799 deg,
      approach rate: -0.826679 m/s,
      LOS rate: 0.018582 deg/s,
      cmd heading: 264.897522 deg,
      new cmd heading: 264.911756 deg.

2025-08-21T19:35:19.017Z,1755804919.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623582 target range: 201.830963 and range: 203.10 m.
2025-08-21T19:35:19.038Z,1755804919.038 [DAT](INFO): DAT read: 19:35:17.2263 LVL= 30784, 32753, 29058, 32755, AGC= 66, IDX= 393, 0.04, 1.149,-0.818, 0.940, 0.842, PHS= 0.409,-1.615, 0.054, RAW= 140.6,  12.3, CAL= 139.9,  13.3, ROT=  10.1, -13.3

2025-08-21T19:35:19.039Z,1755804919.039 [DAT](INFO): got valid direction response:
 19:35:17.2263 LVL= 30784, 32753, 29058, 32755, AGC= 66, IDX= 393, 0.04, 1.149,-0.818, 0.940, 0.842, PHS= 0.409,-1.615, 0.054, RAW= 140.6,  12.3, CAL= 139.9,  13.3, ROT=  10.1, -13.3

2025-08-21T19:35:19.040Z,1755804919.040 [DAT](INFO): DAT read: Bearing  53.5,  10.1 (Local)

2025-08-21T19:35:19.041Z,1755804919.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.5,  10.1 (Local)

2025-08-21T19:35:19.042Z,1755804919.042 [DAT](INFO): DAT read: Range 11 to 50 : 200.1 m  (Round-trip  266.8 ms) speed  0.4 m/s

2025-08-21T19:35:19.043Z,1755804919.043 [DAT](INFO): DAT read: user:3974>

2025-08-21T19:35:19.048Z,1755804919.048 [DAT](INFO): DAT read: Tx time:19:35:18.3553

2025-08-21T19:35:19.048Z,1755804919.048 [DAT](INFO): Ping request sent.
2025-08-21T19:35:19.048Z,1755804919.048 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:19.048Z,1755804919.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:19.049Z,1755804919.049 [DAT](INFO): direction in FSK: [0.958098,0.170663,0.230050]
2025-08-21T19:35:19.050Z,1755804919.050 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:19.050Z,1755804919.050 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:19.058Z,1755804919.058 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:19.059Z,1755804919.059 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:19.395Z,1755804919.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.100006 m,
      deltaT: 3.779407 s,
      deltaX: -3.000000 m,
      approachRate: -0.793775 m/s,
      rangeRepo size: 4

2025-08-21T19:35:19.397Z,1755804919.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.846970 m,
      bearing: 273.927080 deg,
      lat: 36.779492 deg,
      lon: -121.859635 deg,
      deltaT: 3.779407 s,
      deltaX: -2.983994 m,
      approachRate: -0.789540 m/s,
      posRepo size: 4

2025-08-21T19:35:19.398Z,1755804919.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:19.401Z,1755804919.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 192.236679 m,
      bearing: 270.874561 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018582 deg/s,
      cmd heading: 264.911756 deg,
      new cmd heading: 264.925925 deg.

2025-08-21T19:35:19.402Z,1755804919.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623830 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:19.832Z,1755804919.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:19.835Z,1755804919.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 191.894974 m,
      bearing: 270.882543 deg,
      approach rate: -0.780944 m/s,
      LOS rate: 0.018274 deg/s,
      cmd heading: 264.925935 deg,
      new cmd heading: 264.941927 deg.

2025-08-21T19:35:19.840Z,1755804919.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624109 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:20.220Z,1755804920.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:20.227Z,1755804920.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 191.578125 m,
      bearing: 270.889932 deg,
      approach rate: -0.819374 m/s,
      LOS rate: 0.019140 deg/s,
      cmd heading: 264.941918 deg,
      new cmd heading: 264.956720 deg.

2025-08-21T19:35:20.228Z,1755804920.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624367 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:20.640Z,1755804920.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:20.642Z,1755804920.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:20.645Z,1755804920.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 191.225571 m,
      bearing: 270.897386 deg,
      approach rate: -0.832336 m/s,
      LOS rate: 0.017632 deg/s,
      cmd heading: 264.956726 deg,
      new cmd heading: 264.971663 deg.

2025-08-21T19:35:20.646Z,1755804920.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624628 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:20.796Z,1755804920.796 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:20.796Z,1755804920.796 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:20.796Z,1755804920.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:21.007Z,1755804921.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:21.010Z,1755804921.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 190.935806 m,
      bearing: 270.903354 deg,
      approach rate: -0.793871 m/s,
      LOS rate: 0.016374 deg/s,
      cmd heading: 264.971670 deg,
      new cmd heading: 264.983623 deg.

2025-08-21T19:35:21.027Z,1755804921.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624836 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:21.048Z,1755804921.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000275
2025-08-21T19:35:21.300Z,1755804921.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252018
2025-08-21T19:35:21.424Z,1755804921.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:21.434Z,1755804921.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 190.611481 m,
      bearing: 270.909929 deg,
      approach rate: -0.777422 m/s,
      LOS rate: 0.015788 deg/s,
      cmd heading: 264.983609 deg,
      new cmd heading: 264.996782 deg.

2025-08-21T19:35:21.435Z,1755804921.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625066 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:21.555Z,1755804921.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506338
2025-08-21T19:35:21.804Z,1755804921.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756185
2025-08-21T19:35:21.854Z,1755804921.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:21.857Z,1755804921.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 190.259216 m,
      bearing: 270.919469 deg,
      approach rate: -0.820534 m/s,
      LOS rate: 0.022262 deg/s,
      cmd heading: 264.996778 deg,
      new cmd heading: 265.015893 deg.

2025-08-21T19:35:21.858Z,1755804921.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625400 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:22.061Z,1755804922.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012804
2025-08-21T19:35:22.242Z,1755804922.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:22.262Z,1755804922.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 189.958023 m,
      bearing: 270.927570 deg,
      approach rate: -0.776175 m/s,
      LOS rate: 0.020910 deg/s,
      cmd heading: 265.015902 deg,
      new cmd heading: 265.032131 deg.

2025-08-21T19:35:22.263Z,1755804922.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625683 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:22.308Z,1755804922.308 [DAT](INFO): DAT read: Rx Time:19:35:21.0222

2025-08-21T19:35:22.309Z,1755804922.309 [DAT](INFO): Rx dataTimestamp_ set to:1755804922.308513
2025-08-21T19:35:22.309Z,1755804922.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261203
2025-08-21T19:35:22.566Z,1755804922.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514443
2025-08-21T19:35:22.663Z,1755804922.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:22.665Z,1755804922.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.85 m.
2025-08-21T19:35:22.668Z,1755804922.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.846970 m,
      nav range: 189.614960 m,
      bearing: 270.935882 deg,
      approach rate: -0.810844 m/s,
      LOS rate: 0.019681 deg/s,
      cmd heading: 265.032131 deg,
      new cmd heading: 265.048785 deg.

2025-08-21T19:35:22.669Z,1755804922.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625974 target range: 198.846970 and range: 200.10 m.
2025-08-21T19:35:22.818Z,1755804922.818 [DAT](INFO): DAT read: 19:35:21.0222 LVL= 26848, 32753, 29106, 32755, AGC= 70, IDX= 399, 0.31, 2.999, 0.970, 2.747, 2.645, PHS= 0.456,-1.630, 0.058, RAW= 139.6,  11.6, CAL= 139.0,  12.6, ROT=  11.0, -12.6

2025-08-21T19:35:22.819Z,1755804922.819 [DAT](INFO): got valid direction response:
 19:35:21.0222 LVL= 26848, 32753, 29106, 32755, AGC= 70, IDX= 399, 0.31, 2.999, 0.970, 2.747, 2.645, PHS= 0.456,-1.630, 0.058, RAW= 139.6,  11.6, CAL= 139.0,  12.6, ROT=  11.0, -12.6

2025-08-21T19:35:22.820Z,1755804922.820 [DAT](INFO): DAT read: Bearing  53.0,   9.0 (Local)

2025-08-21T19:35:22.821Z,1755804922.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,   9.0 (Local)

2025-08-21T19:35:22.822Z,1755804922.822 [DAT](INFO): DAT read: Range 11 to 50 : 197.0 m  (Round-trip  262.7 ms) speed  0.8 m/s

2025-08-21T19:35:22.823Z,1755804922.823 [DAT](INFO): DAT read: user:3975>

2025-08-21T19:35:22.824Z,1755804922.824 [DAT](INFO): DAT read: Tx time:19:35:22.1053

2025-08-21T19:35:22.824Z,1755804922.824 [DAT](INFO): Ping request sent.
2025-08-21T19:35:22.824Z,1755804922.824 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:22.824Z,1755804922.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:22.825Z,1755804922.825 [DAT](INFO): direction in FSK: [0.957986,0.186214,0.218143]
2025-08-21T19:35:22.826Z,1755804922.826 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:22.826Z,1755804922.826 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:22.834Z,1755804922.834 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:22.834Z,1755804922.834 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:23.066Z,1755804923.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 197.000000 m,
      deltaT: 3.780052 s,
      deltaX: -3.100006 m,
      approachRate: -0.820096 m/s,
      rangeRepo size: 4

2025-08-21T19:35:23.073Z,1755804923.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.766724 m,
      bearing: 275.262685 deg,
      lat: 36.779503 deg,
      lon: -121.859653 deg,
      deltaT: 3.780052 s,
      deltaX: -3.080246 m,
      approachRate: -0.814869 m/s,
      posRepo size: 4

2025-08-21T19:35:23.073Z,1755804923.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:23.080Z,1755804923.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 190.917786 m,
      bearing: 271.297637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019681 deg/s,
      cmd heading: 265.048797 deg,
      new cmd heading: 265.064572 deg.

2025-08-21T19:35:23.081Z,1755804923.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626249 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:23.430Z,1755804923.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:23.433Z,1755804923.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 190.603363 m,
      bearing: 271.305497 deg,
      approach rate: -0.862098 m/s,
      LOS rate: 0.021587 deg/s,
      cmd heading: 265.064561 deg,
      new cmd heading: 265.080307 deg.

2025-08-21T19:35:23.434Z,1755804923.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626524 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:23.850Z,1755804923.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:23.881Z,1755804923.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 190.264511 m,
      bearing: 271.314898 deg,
      approach rate: -0.806577 m/s,
      LOS rate: 0.022418 deg/s,
      cmd heading: 265.080297 deg,
      new cmd heading: 265.099133 deg.

2025-08-21T19:35:23.882Z,1755804923.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626853 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:24.252Z,1755804924.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:24.254Z,1755804924.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 189.942245 m,
      bearing: 271.323716 deg,
      approach rate: -0.803809 m/s,
      LOS rate: 0.022031 deg/s,
      cmd heading: 265.099121 deg,
      new cmd heading: 265.116787 deg.

2025-08-21T19:35:24.256Z,1755804924.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627161 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:24.681Z,1755804924.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:24.684Z,1755804924.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:24.687Z,1755804924.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 189.600250 m,
      bearing: 271.332878 deg,
      approach rate: -0.791874 m/s,
      LOS rate: 0.021252 deg/s,
      cmd heading: 265.116798 deg,
      new cmd heading: 265.135154 deg.

2025-08-21T19:35:24.688Z,1755804924.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627481 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:24.828Z,1755804924.828 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:24.828Z,1755804924.828 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:24.828Z,1755804924.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:25.080Z,1755804925.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256188
2025-08-21T19:35:25.108Z,1755804925.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:25.111Z,1755804925.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 189.264343 m,
      bearing: 271.341815 deg,
      approach rate: -0.790781 m/s,
      LOS rate: 0.021077 deg/s,
      cmd heading: 265.135157 deg,
      new cmd heading: 265.153063 deg.

2025-08-21T19:35:25.112Z,1755804925.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627794 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:25.332Z,1755804925.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508106
2025-08-21T19:35:25.450Z,1755804925.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:25.453Z,1755804925.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 188.993912 m,
      bearing: 271.349002 deg,
      approach rate: -0.789710 m/s,
      LOS rate: 0.021019 deg/s,
      cmd heading: 265.153053 deg,
      new cmd heading: 265.167448 deg.

2025-08-21T19:35:25.454Z,1755804925.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628045 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:25.587Z,1755804925.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762618
2025-08-21T19:35:25.836Z,1755804925.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012185
2025-08-21T19:35:25.904Z,1755804925.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:25.906Z,1755804925.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 188.624527 m,
      bearing: 271.360205 deg,
      approach rate: -0.814831 m/s,
      LOS rate: 0.024760 deg/s,
      cmd heading: 265.167451 deg,
      new cmd heading: 265.189899 deg.

2025-08-21T19:35:25.908Z,1755804925.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628437 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:26.088Z,1755804926.088 [DAT](INFO): DAT read: Rx Time:19:35:24.7682

2025-08-21T19:35:26.089Z,1755804926.089 [DAT](INFO): Rx dataTimestamp_ set to:1755804926.088326
2025-08-21T19:35:26.089Z,1755804926.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265113
2025-08-21T19:35:26.308Z,1755804926.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.77 m.
2025-08-21T19:35:26.310Z,1755804926.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.766724 m,
      nav range: 188.305222 m,
      bearing: 271.369924 deg,
      approach rate: -0.791159 m/s,
      LOS rate: 0.024122 deg/s,
      cmd heading: 265.189908 deg,
      new cmd heading: 265.209379 deg.

2025-08-21T19:35:26.312Z,1755804926.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628777 target range: 195.766724 and range: 197.00 m.
2025-08-21T19:35:26.341Z,1755804926.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516692
2025-08-21T19:35:26.613Z,1755804926.613 [DAT](INFO): DAT read: 19:35:24.7682 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.09,-1.871, 2.422,-2.249,-2.237, PHS= 0.468,-1.579,-0.056, RAW= 135.7,  12.6, CAL= 135.1,  13.7, ROT=  14.9, -13.7

2025-08-21T19:35:26.619Z,1755804926.619 [DAT](INFO): got valid direction response:
 19:35:24.7682 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.09,-1.871, 2.422,-2.249,-2.237, PHS= 0.468,-1.579,-0.056, RAW= 135.7,  12.6, CAL= 135.1,  13.7, ROT=  14.9, -13.7

2025-08-21T19:35:26.622Z,1755804926.622 [DAT](INFO): DAT read: Bearing  54.2,  11.2 (Local)

2025-08-21T19:35:26.624Z,1755804926.624 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.2,  11.2 (Local)

2025-08-21T19:35:26.629Z,1755804926.629 [DAT](INFO): DAT read: Range 11 to 50 : 194.0 m  (Round-trip  258.7 ms) speed  0.4 m/s

2025-08-21T19:35:26.632Z,1755804926.632 [DAT](INFO): DAT read: user:3976>

2025-08-21T19:35:26.637Z,1755804926.637 [DAT](INFO): DAT read: Tx time:19:35:25.8553

2025-08-21T19:35:26.638Z,1755804926.638 [DAT](INFO): Ping request sent.
2025-08-21T19:35:26.639Z,1755804926.639 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:26.644Z,1755804926.644 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:26.648Z,1755804926.648 [DAT](INFO): direction in FSK: [0.938882,0.249817,0.236838]
2025-08-21T19:35:26.649Z,1755804926.649 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:26.649Z,1755804926.649 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:26.653Z,1755804926.653 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:26.654Z,1755804926.654 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:26.853Z,1755804926.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 194.000000 m,
      deltaT: 3.781149 s,
      deltaX: -3.000000 m,
      approachRate: -0.793410 m/s,
      rangeRepo size: 4

2025-08-21T19:35:26.855Z,1755804926.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 192.789078 m,
      bearing: 279.381565 deg,
      lat: 36.779585 deg,
      lon: -121.859653 deg,
      deltaT: 3.781149 s,
      deltaX: -2.977646 m,
      approachRate: -0.787498 m/s,
      posRepo size: 4

2025-08-21T19:35:26.860Z,1755804926.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:26.862Z,1755804926.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 188.311981 m,
      bearing: 274.171078 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024122 deg/s,
      cmd heading: 265.209388 deg,
      new cmd heading: 265.235661 deg.

2025-08-21T19:35:26.872Z,1755804926.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629236 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:27.333Z,1755804927.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:27.335Z,1755804927.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:27.338Z,1755804927.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 187.902267 m,
      bearing: 274.189337 deg,
      approach rate: -0.848826 m/s,
      LOS rate: 0.037909 deg/s,
      cmd heading: 265.235671 deg,
      new cmd heading: 265.272267 deg.

2025-08-21T19:35:27.339Z,1755804927.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629874 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:27.350Z,1755804927.350 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:27.350Z,1755804927.350 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:27.350Z,1755804927.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:27.602Z,1755804927.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963559
2025-08-21T19:35:27.835Z,1755804927.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:27.852Z,1755804927.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.214262
2025-08-21T19:35:27.860Z,1755804927.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 187.495148 m,
      bearing: 274.207182 deg,
      approach rate: -0.814010 m/s,
      LOS rate: 0.035759 deg/s,
      cmd heading: 265.272253 deg,
      new cmd heading: 265.308022 deg.

2025-08-21T19:35:27.861Z,1755804927.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630498 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:28.104Z,1755804928.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466178
2025-08-21T19:35:28.287Z,1755804928.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:28.290Z,1755804928.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 187.126511 m,
      bearing: 274.223436 deg,
      approach rate: -0.815073 m/s,
      LOS rate: 0.036009 deg/s,
      cmd heading: 265.308016 deg,
      new cmd heading: 265.340587 deg.

2025-08-21T19:35:28.291Z,1755804928.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631067 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:28.356Z,1755804928.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.718381
2025-08-21T19:35:28.608Z,1755804928.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970325
2025-08-21T19:35:28.756Z,1755804928.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:28.759Z,1755804928.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 186.740417 m,
      bearing: 274.241308 deg,
      approach rate: -0.823439 m/s,
      LOS rate: 0.038195 deg/s,
      cmd heading: 265.340582 deg,
      new cmd heading: 265.376400 deg.

2025-08-21T19:35:28.760Z,1755804928.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631692 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:28.860Z,1755804928.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222354
2025-08-21T19:35:29.083Z,1755804929.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:29.086Z,1755804929.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 186.471054 m,
      bearing: 274.253836 deg,
      approach rate: -0.823037 m/s,
      LOS rate: 0.038334 deg/s,
      cmd heading: 265.376400 deg,
      new cmd heading: 265.401491 deg.

2025-08-21T19:35:29.087Z,1755804929.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632130 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:29.112Z,1755804929.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474263
2025-08-21T19:35:29.364Z,1755804929.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726246
2025-08-21T19:35:29.505Z,1755804929.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:29.511Z,1755804929.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:29.514Z,1755804929.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 186.138916 m,
      bearing: 274.269323 deg,
      approach rate: -0.783346 m/s,
      LOS rate: 0.036592 deg/s,
      cmd heading: 265.401480 deg,
      new cmd heading: 265.432510 deg.

2025-08-21T19:35:29.527Z,1755804929.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632671 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:29.616Z,1755804929.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978234
2025-08-21T19:35:29.869Z,1755804929.869 [DAT](INFO): DAT read: Rx Time:19:35:28.5137

2025-08-21T19:35:29.869Z,1755804929.869 [DAT](INFO): Rx dataTimestamp_ set to:1755804929.868782
2025-08-21T19:35:29.870Z,1755804929.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231605
2025-08-21T19:35:29.923Z,1755804929.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:29.926Z,1755804929.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 185.784988 m,
      bearing: 274.285743 deg,
      approach rate: -0.851719 m/s,
      LOS rate: 0.039589 deg/s,
      cmd heading: 265.432517 deg,
      new cmd heading: 265.465419 deg.

2025-08-21T19:35:29.927Z,1755804929.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633245 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:30.120Z,1755804930.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482253
2025-08-21T19:35:30.296Z,1755804930.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.79 m.
2025-08-21T19:35:30.299Z,1755804930.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 192.789078 m,
      nav range: 185.481567 m,
      bearing: 274.299809 deg,
      approach rate: -0.812377 m/s,
      LOS rate: 0.037721 deg/s,
      cmd heading: 265.465411 deg,
      new cmd heading: 265.493588 deg.

2025-08-21T19:35:30.300Z,1755804930.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633737 target range: 192.789078 and range: 194.00 m.
2025-08-21T19:35:30.380Z,1755804930.380 [DAT](INFO): DAT read: 19:35:28.5137 LVL= 28816, 32753, 29810, 32755, AGC= 66, IDX= 393, 0.35,-2.132, 2.182,-2.520,-2.455, PHS= 0.425,-1.602,-0.110, RAW= 135.3,  14.0, CAL= 134.4,  15.1, ROT=  15.6, -15.1

2025-08-21T19:35:30.381Z,1755804930.381 [DAT](INFO): got valid direction response:
 19:35:28.5137 LVL= 28816, 32753, 29810, 32755, AGC= 66, IDX= 393, 0.35,-2.132, 2.182,-2.520,-2.455, PHS= 0.425,-1.602,-0.110, RAW= 135.3,  14.0, CAL= 134.4,  15.1, ROT=  15.6, -15.1

2025-08-21T19:35:30.382Z,1755804930.382 [DAT](INFO): DAT read: Bearing  56.0,  10.5 (Local)

2025-08-21T19:35:30.383Z,1755804930.383 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,  10.5 (Local)

2025-08-21T19:35:30.385Z,1755804930.385 [DAT](INFO): DAT read: Range 11 to 50 : 190.7 m  (Round-trip  254.3 ms) speed  0.4 m/s

2025-08-21T19:35:30.386Z,1755804930.386 [DAT](INFO): DAT read: user:3977>

2025-08-21T19:35:30.386Z,1755804930.386 [DAT](INFO): DAT read: Tx time:19:35:29.6052

2025-08-21T19:35:30.387Z,1755804930.387 [DAT](INFO): Ping request sent.
2025-08-21T19:35:30.387Z,1755804930.387 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:30.387Z,1755804930.387 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:30.388Z,1755804930.388 [DAT](INFO): direction in FSK: [0.929907,0.259635,0.260505]
2025-08-21T19:35:30.388Z,1755804930.388 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:30.389Z,1755804930.389 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:30.399Z,1755804930.399 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:30.399Z,1755804930.399 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:30.765Z,1755804930.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.699997 m,
      deltaT: 3.779274 s,
      deltaX: -3.300003 m,
      approachRate: -0.873184 m/s,
      rangeRepo size: 4

2025-08-21T19:35:30.767Z,1755804930.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.509888 m,
      bearing: 279.943642 deg,
      lat: 36.779623 deg,
      lon: -121.859653 deg,
      deltaT: 3.779274 s,
      deltaX: -3.279190 m,
      approachRate: -0.867677 m/s,
      posRepo size: 4

2025-08-21T19:35:30.768Z,1755804930.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:30.771Z,1755804930.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 185.469971 m,
      bearing: 275.609416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037721 deg/s,
      cmd heading: 265.493578 deg,
      new cmd heading: 265.528897 deg.

2025-08-21T19:35:30.772Z,1755804930.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634354 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:31.190Z,1755804931.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:31.193Z,1755804931.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 185.124374 m,
      bearing: 275.626411 deg,
      approach rate: -0.812432 m/s,
      LOS rate: 0.040026 deg/s,
      cmd heading: 265.528904 deg,
      new cmd heading: 265.562957 deg.

2025-08-21T19:35:31.194Z,1755804931.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634948 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:31.580Z,1755804931.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:31.582Z,1755804931.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:31.589Z,1755804931.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 184.808716 m,
      bearing: 275.641933 deg,
      approach rate: -0.804025 m/s,
      LOS rate: 0.039605 deg/s,
      cmd heading: 265.562946 deg,
      new cmd heading: 265.594043 deg.

2025-08-21T19:35:31.590Z,1755804931.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635490 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:31.632Z,1755804931.632 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:31.632Z,1755804931.632 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:31.633Z,1755804931.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:31.884Z,1755804931.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497267
2025-08-21T19:35:32.043Z,1755804932.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:32.049Z,1755804932.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 184.479492 m,
      bearing: 275.659658 deg,
      approach rate: -0.715511 m/s,
      LOS rate: 0.038592 deg/s,
      cmd heading: 265.594037 deg,
      new cmd heading: 265.629551 deg.

2025-08-21T19:35:32.050Z,1755804932.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636110 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:32.138Z,1755804932.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750696
2025-08-21T19:35:32.388Z,1755804932.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001444
2025-08-21T19:35:32.393Z,1755804932.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:32.396Z,1755804932.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 184.168350 m,
      bearing: 275.676399 deg,
      approach rate: -0.888130 m/s,
      LOS rate: 0.047866 deg/s,
      cmd heading: 265.629554 deg,
      new cmd heading: 265.663092 deg.

2025-08-21T19:35:32.397Z,1755804932.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636696 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:32.640Z,1755804932.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253561
2025-08-21T19:35:32.825Z,1755804932.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:32.827Z,1755804932.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 183.827850 m,
      bearing: 275.690885 deg,
      approach rate: -0.788817 m/s,
      LOS rate: 0.033621 deg/s,
      cmd heading: 265.663104 deg,
      new cmd heading: 265.692129 deg.

2025-08-21T19:35:32.828Z,1755804932.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637202 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:32.892Z,1755804932.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505522
2025-08-21T19:35:33.145Z,1755804933.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758076
2025-08-21T19:35:33.215Z,1755804933.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:33.220Z,1755804933.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 183.528244 m,
      bearing: 275.703619 deg,
      approach rate: -0.769753 m/s,
      LOS rate: 0.032770 deg/s,
      cmd heading: 265.692118 deg,
      new cmd heading: 265.717628 deg.

2025-08-21T19:35:33.222Z,1755804933.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.637648 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:33.396Z,1755804933.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009285
2025-08-21T19:35:33.594Z,1755804933.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:33.596Z,1755804933.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:33.599Z,1755804933.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 183.220535 m,
      bearing: 275.716693 deg,
      approach rate: -0.804932 m/s,
      LOS rate: 0.034257 deg/s,
      cmd heading: 265.717636 deg,
      new cmd heading: 265.743828 deg.

2025-08-21T19:35:33.612Z,1755804933.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638105 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:33.649Z,1755804933.649 [DAT](INFO): DAT read: Rx Time:19:35:32.2599

2025-08-21T19:35:33.649Z,1755804933.649 [DAT](INFO): Rx dataTimestamp_ set to:1755804933.648832
2025-08-21T19:35:33.650Z,1755804933.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262763
2025-08-21T19:35:33.900Z,1755804933.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513336
2025-08-21T19:35:34.073Z,1755804934.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.51 m.
2025-08-21T19:35:34.076Z,1755804934.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.509888 m,
      nav range: 182.842697 m,
      bearing: 275.733127 deg,
      approach rate: -0.792517 m/s,
      LOS rate: 0.034541 deg/s,
      cmd heading: 265.743837 deg,
      new cmd heading: 265.776772 deg.

2025-08-21T19:35:34.077Z,1755804934.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638680 target range: 189.509888 and range: 190.70 m.
2025-08-21T19:35:34.165Z,1755804934.165 [DAT](INFO): DAT read: 19:35:32.2599 LVL= 29104, 32753, 26002, 32755, AGC= 67, IDX= 402, 0.09, 1.260,-0.805, 0.873, 0.917, PHS= 0.445,-1.677,-0.088, RAW= 136.0,  13.7, CAL= 135.2,  14.8, ROT=  14.8, -14.8

2025-08-21T19:35:34.167Z,1755804934.167 [DAT](INFO): got valid direction response:
 19:35:32.2599 LVL= 29104, 32753, 26002, 32755, AGC= 67, IDX= 402, 0.09, 1.260,-0.805, 0.873, 0.917, PHS= 0.445,-1.677,-0.088, RAW= 136.0,  13.7, CAL= 135.2,  14.8, ROT=  14.8, -14.8

2025-08-21T19:35:34.169Z,1755804934.169 [DAT](INFO): DAT read: Bearing  55.7,   9.1 (Local)

2025-08-21T19:35:34.169Z,1755804934.169 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.7,   9.1 (Local)

2025-08-21T19:35:34.172Z,1755804934.172 [DAT](INFO): DAT read: Range 11 to 50 : 187.8 m  (Round-trip  250.5 ms) speed  0.7 m/s

2025-08-21T19:35:34.173Z,1755804934.173 [DAT](INFO): DAT read: user:3978>

2025-08-21T19:35:34.174Z,1755804934.174 [DAT](INFO): DAT read: Tx time:19:35:33.3552

2025-08-21T19:35:34.174Z,1755804934.174 [DAT](INFO): Ping request sent.
2025-08-21T19:35:34.175Z,1755804934.175 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:34.175Z,1755804934.175 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:34.176Z,1755804934.176 [DAT](INFO): direction in FSK: [0.934747,0.246971,0.255446]
2025-08-21T19:35:34.177Z,1755804934.177 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:34.177Z,1755804934.177 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:34.204Z,1755804934.204 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:34.204Z,1755804934.204 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:34.420Z,1755804934.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 187.800003 m,
      deltaT: 3.782125 s,
      deltaX: -2.899994 m,
      approachRate: -0.766763 m/s,
      rangeRepo size: 4

2025-08-21T19:35:34.422Z,1755804934.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.629288 m,
      bearing: 279.355160 deg,
      lat: 36.779728 deg,
      lon: -121.859653 deg,
      deltaT: 3.782125 s,
      deltaX: -2.880600 m,
      approachRate: -0.761635 m/s,
      posRepo size: 4

2025-08-21T19:35:34.423Z,1755804934.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:34.426Z,1755804934.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 184.103775 m,
      bearing: 279.358239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034541 deg/s,
      cmd heading: 265.776758 deg,
      new cmd heading: 265.800709 deg.

2025-08-21T19:35:34.427Z,1755804934.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639098 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:34.849Z,1755804934.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:34.852Z,1755804934.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 183.763641 m,
      bearing: 279.378736 deg,
      approach rate: -0.791795 m/s,
      LOS rate: 0.047804 deg/s,
      cmd heading: 265.800718 deg,
      new cmd heading: 265.841789 deg.

2025-08-21T19:35:34.853Z,1755804934.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639814 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:35.232Z,1755804935.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:35.234Z,1755804935.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 183.465622 m,
      bearing: 279.396735 deg,
      approach rate: -0.779287 m/s,
      LOS rate: 0.047142 deg/s,
      cmd heading: 265.841782 deg,
      new cmd heading: 265.877838 deg.

2025-08-21T19:35:35.236Z,1755804935.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640444 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:35.614Z,1755804935.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:35.617Z,1755804935.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:35.632Z,1755804935.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 183.161301 m,
      bearing: 279.415126 deg,
      approach rate: -0.789950 m/s,
      LOS rate: 0.047816 deg/s,
      cmd heading: 265.877845 deg,
      new cmd heading: 265.914686 deg.

2025-08-21T19:35:35.633Z,1755804935.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641087 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:35.664Z,1755804935.664 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:35.664Z,1755804935.664 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:35.664Z,1755804935.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:35.917Z,1755804935.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742016
2025-08-21T19:35:36.118Z,1755804936.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:36.122Z,1755804936.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 182.770447 m,
      bearing: 279.440039 deg,
      approach rate: -0.779323 m/s,
      LOS rate: 0.049780 deg/s,
      cmd heading: 265.914673 deg,
      new cmd heading: 265.964605 deg.

2025-08-21T19:35:36.123Z,1755804936.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.641958 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:36.171Z,1755804936.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996334
2025-08-21T19:35:36.420Z,1755804936.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245751
2025-08-21T19:35:36.487Z,1755804936.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:36.490Z,1755804936.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 182.483078 m,
      bearing: 279.458221 deg,
      approach rate: -0.778948 m/s,
      LOS rate: 0.049364 deg/s,
      cmd heading: 265.964616 deg,
      new cmd heading: 266.001038 deg.

2025-08-21T19:35:36.491Z,1755804936.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642594 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:36.672Z,1755804936.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497609
2025-08-21T19:35:36.924Z,1755804936.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749848
2025-08-21T19:35:36.962Z,1755804936.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:36.965Z,1755804936.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 182.121857 m,
      bearing: 279.481388 deg,
      approach rate: -0.760266 m/s,
      LOS rate: 0.048856 deg/s,
      cmd heading: 266.001034 deg,
      new cmd heading: 266.047460 deg.

2025-08-21T19:35:36.966Z,1755804936.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643404 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:37.181Z,1755804937.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006564
2025-08-21T19:35:37.328Z,1755804937.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:37.330Z,1755804937.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 181.836670 m,
      bearing: 279.499692 deg,
      approach rate: -0.781135 m/s,
      LOS rate: 0.050214 deg/s,
      cmd heading: 266.047452 deg,
      new cmd heading: 266.084117 deg.

2025-08-21T19:35:37.347Z,1755804937.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644044 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:37.430Z,1755804937.430 [DAT](INFO): DAT read: Rx Time:19:35:36.0059

2025-08-21T19:35:37.430Z,1755804937.430 [DAT](INFO): Rx dataTimestamp_ set to:1755804937.429986
2025-08-21T19:35:37.431Z,1755804937.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256299
2025-08-21T19:35:37.680Z,1755804937.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505708
2025-08-21T19:35:37.851Z,1755804937.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:37.853Z,1755804937.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.63 m.
2025-08-21T19:35:37.856Z,1755804937.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.629288 m,
      nav range: 181.438828 m,
      bearing: 279.525272 deg,
      approach rate: -0.756642 m/s,
      LOS rate: 0.048756 deg/s,
      cmd heading: 266.084117 deg,
      new cmd heading: 266.135389 deg.

2025-08-21T19:35:37.857Z,1755804937.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644939 target range: 186.629288 and range: 187.80 m.
2025-08-21T19:35:37.941Z,1755804937.941 [DAT](INFO): DAT read: 19:35:36.0059 LVL= 29680, 32753, 28290, 32755, AGC= 65, IDX= 394,-0.34,-2.593, 1.690,-3.041,-3.021, PHS= 0.530,-1.528,-0.064, RAW= 133.7,  11.6, CAL= 133.2,  12.7, ROT=  16.8, -12.7

2025-08-21T19:35:37.942Z,1755804937.942 [DAT](INFO): got valid direction response:
 19:35:36.0059 LVL= 29680, 32753, 28290, 32755, AGC= 65, IDX= 394,-0.34,-2.593, 1.690,-3.041,-3.021, PHS= 0.530,-1.528,-0.064, RAW= 133.7,  11.6, CAL= 133.2,  12.7, ROT=  16.8, -12.7

2025-08-21T19:35:37.944Z,1755804937.944 [DAT](INFO): DAT read: Bearing  53.6,  11.0 (Local)

2025-08-21T19:35:37.944Z,1755804937.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.6,  11.0 (Local)

2025-08-21T19:35:37.946Z,1755804937.946 [DAT](INFO): DAT read: Range 11 to 50 : 184.8 m  (Round-trip  246.5 ms) speed  0.4 m/s

2025-08-21T19:35:37.946Z,1755804937.946 [DAT](INFO): DAT read: user:3979>

2025-08-21T19:35:37.947Z,1755804937.947 [DAT](INFO): DAT read: Tx time:19:35:37.1052

2025-08-21T19:35:37.947Z,1755804937.947 [DAT](INFO): Ping request sent.
2025-08-21T19:35:37.947Z,1755804937.947 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:37.948Z,1755804937.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:37.949Z,1755804937.949 [DAT](INFO): direction in FSK: [0.933898,0.281960,0.219846]
2025-08-21T19:35:37.949Z,1755804937.949 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:37.949Z,1755804937.949 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:37.953Z,1755804937.953 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:37.954Z,1755804937.954 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:38.311Z,1755804938.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 184.800003 m,
      deltaT: 3.777817 s,
      deltaX: -3.000000 m,
      approachRate: -0.794109 m/s,
      rangeRepo size: 4

2025-08-21T19:35:38.314Z,1755804938.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 183.659668 m,
      bearing: 281.888511 deg,
      lat: 36.779740 deg,
      lon: -121.859649 deg,
      deltaT: 3.777817 s,
      deltaX: -2.969620 m,
      approachRate: -0.786068 m/s,
      posRepo size: 4

2025-08-21T19:35:38.314Z,1755804938.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:38.317Z,1755804938.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 180.946213 m,
      bearing: 280.010208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.048756 deg/s,
      cmd heading: 266.135398 deg,
      new cmd heading: 266.179994 deg.

2025-08-21T19:35:38.318Z,1755804938.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645717 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:38.652Z,1755804938.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:38.671Z,1755804938.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 180.678772 m,
      bearing: 280.028879 deg,
      approach rate: -0.782499 m/s,
      LOS rate: 0.054710 deg/s,
      cmd heading: 266.179985 deg,
      new cmd heading: 266.217383 deg.

2025-08-21T19:35:38.672Z,1755804938.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646370 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:39.086Z,1755804939.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:39.089Z,1755804939.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 180.331253 m,
      bearing: 280.053298 deg,
      approach rate: -0.801644 m/s,
      LOS rate: 0.056438 deg/s,
      cmd heading: 266.217387 deg,
      new cmd heading: 266.266320 deg.

2025-08-21T19:35:39.090Z,1755804939.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647224 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:39.469Z,1755804939.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:39.472Z,1755804939.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 180.026810 m,
      bearing: 280.074773 deg,
      approach rate: -0.795404 m/s,
      LOS rate: 0.056202 deg/s,
      cmd heading: 266.266319 deg,
      new cmd heading: 266.309341 deg.

2025-08-21T19:35:39.473Z,1755804939.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647975 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:39.907Z,1755804939.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:39.909Z,1755804939.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:39.912Z,1755804939.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 179.677795 m,
      bearing: 280.100138 deg,
      approach rate: -0.792758 m/s,
      LOS rate: 0.057726 deg/s,
      cmd heading: 266.309349 deg,
      new cmd heading: 266.360177 deg.

2025-08-21T19:35:39.913Z,1755804939.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648862 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:39.948Z,1755804939.948 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:39.948Z,1755804939.948 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:39.949Z,1755804939.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:40.201Z,1755804940.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253440
2025-08-21T19:35:40.273Z,1755804940.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:40.276Z,1755804940.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 179.383087 m,
      bearing: 280.121634 deg,
      approach rate: -0.809976 m/s,
      LOS rate: 0.059176 deg/s,
      cmd heading: 266.360166 deg,
      new cmd heading: 266.403228 deg.

2025-08-21T19:35:40.277Z,1755804940.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649613 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:40.452Z,1755804940.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504723
2025-08-21T19:35:40.686Z,1755804940.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:40.700Z,1755804940.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 179.059875 m,
      bearing: 280.145376 deg,
      approach rate: -0.783304 m/s,
      LOS rate: 0.057644 deg/s,
      cmd heading: 266.403223 deg,
      new cmd heading: 266.450794 deg.

2025-08-21T19:35:40.702Z,1755804940.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650444 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:40.706Z,1755804940.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758334
2025-08-21T19:35:40.957Z,1755804940.957 [DAT](INFO): DAT read: Rx Time:19:35:39.7518

2025-08-21T19:35:40.958Z,1755804940.958 [DAT](INFO): Rx dataTimestamp_ set to:1755804940.956900
2025-08-21T19:35:40.958Z,1755804940.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010655
2025-08-21T19:35:41.210Z,1755804941.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262350
2025-08-21T19:35:41.304Z,1755804941.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.66 m.
2025-08-21T19:35:41.307Z,1755804941.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 183.659668 m,
      nav range: 178.557800 m,
      bearing: 280.183827 deg,
      approach rate: -0.810998 m/s,
      LOS rate: 0.062284 deg/s,
      cmd heading: 266.450789 deg,
      new cmd heading: 266.527906 deg.

2025-08-21T19:35:41.308Z,1755804941.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651790 target range: 183.659668 and range: 184.80 m.
2025-08-21T19:35:41.463Z,1755804941.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514779
2025-08-21T19:35:41.724Z,1755804941.724 [DAT](INFO): DAT read: 19:35:39.7518 LVL= 28944, 32753, 27426, 32755, AGC= 64, IDX= 399, 0.20, 2.113, 0.133, 1.723, 1.662, PHS= 0.554,-1.484, 0.017, RAW= 135.3,  10.0, CAL= 134.9,  11.1, ROT=  15.1, -11.1

2025-08-21T19:35:41.725Z,1755804941.725 [DAT](INFO): got valid direction response:
 19:35:39.7518 LVL= 28944, 32753, 27426, 32755, AGC= 64, IDX= 399, 0.20, 2.113, 0.133, 1.723, 1.662, PHS= 0.554,-1.484, 0.017, RAW= 135.3,  10.0, CAL= 134.9,  11.1, ROT=  15.1, -11.1

2025-08-21T19:35:41.726Z,1755804941.726 [DAT](INFO): DAT read: Bearing  51.7,  10.2 (Local)

2025-08-21T19:35:41.726Z,1755804941.726 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.7,  10.2 (Local)

2025-08-21T19:35:41.728Z,1755804941.728 [DAT](INFO): DAT read: Range 11 to 50 : 181.8 m  (Round-trip  242.4 ms) speed  0.6 m/s

2025-08-21T19:35:41.729Z,1755804941.729 [DAT](INFO): DAT read: user:3980>

2025-08-21T19:35:41.729Z,1755804941.729 [DAT](INFO): DAT read: Tx time:19:35:40.8552

2025-08-21T19:35:41.730Z,1755804941.730 [DAT](INFO): Ping request sent.
2025-08-21T19:35:41.730Z,1755804941.730 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:41.730Z,1755804941.730 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:41.731Z,1755804941.731 [DAT](INFO): direction in FSK: [0.947411,0.255631,0.192522]
2025-08-21T19:35:41.763Z,1755804941.763 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:41.767Z,1755804941.767 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:41.770Z,1755804941.770 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:41.771Z,1755804941.771 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:41.928Z,1755804941.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.800003 m,
      deltaT: 3.779609 s,
      deltaX: -3.000000 m,
      approachRate: -0.793733 m/s,
      rangeRepo size: 4

2025-08-21T19:35:41.930Z,1755804941.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.707291 m,
      bearing: 280.335461 deg,
      lat: 36.779746 deg,
      lon: -121.859649 deg,
      deltaT: 3.779609 s,
      deltaX: -2.952377 m,
      approachRate: -0.781133 m/s,
      posRepo size: 4

2025-08-21T19:35:41.935Z,1755804941.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:41.938Z,1755804941.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 178.236282 m,
      bearing: 280.409031 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.062284 deg/s,
      cmd heading: 266.527915 deg,
      new cmd heading: 266.604532 deg.

2025-08-21T19:35:41.944Z,1755804941.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653127 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:42.421Z,1755804942.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:42.423Z,1755804942.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:42.426Z,1755804942.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 177.778397 m,
      bearing: 280.444002 deg,
      approach rate: -0.909586 m/s,
      LOS rate: 0.069649 deg/s,
      cmd heading: 266.604522 deg,
      new cmd heading: 266.674645 deg.

2025-08-21T19:35:42.427Z,1755804942.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654351 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:42.469Z,1755804942.469 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:42.469Z,1755804942.469 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:42.469Z,1755804942.469 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:42.720Z,1755804942.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990667
2025-08-21T19:35:42.813Z,1755804942.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:42.816Z,1755804942.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 177.473450 m,
      bearing: 280.467438 deg,
      approach rate: -0.782186 m/s,
      LOS rate: 0.060217 deg/s,
      cmd heading: 266.674655 deg,
      new cmd heading: 266.721608 deg.

2025-08-21T19:35:42.817Z,1755804942.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655170 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:42.973Z,1755804942.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243041
2025-08-21T19:35:43.224Z,1755804943.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494575
2025-08-21T19:35:43.258Z,1755804943.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:43.268Z,1755804943.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 177.105972 m,
      bearing: 280.497600 deg,
      approach rate: -0.826108 m/s,
      LOS rate: 0.067946 deg/s,
      cmd heading: 266.721619 deg,
      new cmd heading: 266.782068 deg.

2025-08-21T19:35:43.269Z,1755804943.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656226 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:43.478Z,1755804943.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747484
2025-08-21T19:35:43.617Z,1755804943.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:43.624Z,1755804943.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 176.827942 m,
      bearing: 280.520505 deg,
      approach rate: -0.773783 m/s,
      LOS rate: 0.063848 deg/s,
      cmd heading: 266.782080 deg,
      new cmd heading: 266.827963 deg.

2025-08-21T19:35:43.625Z,1755804943.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657026 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:43.729Z,1755804943.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998941
2025-08-21T19:35:43.980Z,1755804943.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250456
2025-08-21T19:35:44.030Z,1755804944.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:44.033Z,1755804944.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 176.482086 m,
      bearing: 280.547306 deg,
      approach rate: -0.837299 m/s,
      LOS rate: 0.065010 deg/s,
      cmd heading: 266.827952 deg,
      new cmd heading: 266.881658 deg.

2025-08-21T19:35:44.034Z,1755804944.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657964 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:44.235Z,1755804944.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505661
2025-08-21T19:35:44.407Z,1755804944.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:44.409Z,1755804944.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 176.180847 m,
      bearing: 280.570671 deg,
      approach rate: -0.799800 m/s,
      LOS rate: 0.062141 deg/s,
      cmd heading: 266.881664 deg,
      new cmd heading: 266.928474 deg.

2025-08-21T19:35:44.410Z,1755804944.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658781 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:44.485Z,1755804944.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755383
2025-08-21T19:35:44.736Z,1755804944.736 [DAT](INFO): DAT read: Rx Time:19:35:43.4975

2025-08-21T19:35:44.737Z,1755804944.737 [DAT](INFO): Rx dataTimestamp_ set to:1755804944.736424
2025-08-21T19:35:44.737Z,1755804944.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007566
2025-08-21T19:35:44.815Z,1755804944.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:44.817Z,1755804944.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.71 m.
2025-08-21T19:35:44.821Z,1755804944.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.707291 m,
      nav range: 175.852203 m,
      bearing: 280.596170 deg,
      approach rate: -0.799822 m/s,
      LOS rate: 0.062175 deg/s,
      cmd heading: 266.928465 deg,
      new cmd heading: 266.979559 deg.

2025-08-21T19:35:44.822Z,1755804944.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659672 target range: 180.707291 and range: 181.80 m.
2025-08-21T19:35:44.988Z,1755804944.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258775
2025-08-21T19:35:45.264Z,1755804945.264 [DAT](INFO): DAT read: 19:35:43.4975 LVL= 31952, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.30,-2.407, 1.972,-2.711,-2.809, PHS= 0.504,-1.457, 0.054, RAW= 137.3,  10.1, CAL= 136.9,  11.1, ROT=  13.1, -11.1

2025-08-21T19:35:45.265Z,1755804945.265 [DAT](INFO): got valid direction response:
 19:35:43.4975 LVL= 31952, 32753, 32754, 32755, AGC= 65, IDX= 403, 0.30,-2.407, 1.972,-2.711,-2.809, PHS= 0.504,-1.457, 0.054, RAW= 137.3,  10.1, CAL= 136.9,  11.1, ROT=  13.1, -11.1

2025-08-21T19:35:45.266Z,1755804945.266 [DAT](INFO): DAT read: Bearing  50.8,   9.4 (Local)

2025-08-21T19:35:45.266Z,1755804945.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8,   9.4 (Local)

2025-08-21T19:35:45.288Z,1755804945.288 [DAT](INFO): DAT read: Range 11 to 50 : 178.5 m  (Round-trip  238.1 ms) speed  0.4 m/s

2025-08-21T19:35:45.289Z,1755804945.289 [DAT](INFO): DAT read: user:3981>

2025-08-21T19:35:45.289Z,1755804945.289 [DAT](INFO): DAT read: Tx time:19:35:44.6052

2025-08-21T19:35:45.290Z,1755804945.290 [DAT](INFO): Ping request sent.
2025-08-21T19:35:45.290Z,1755804945.290 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:45.290Z,1755804945.290 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:45.299Z,1755804945.299 [DAT](INFO): direction in FSK: [0.955755,0.222411,0.192522]
2025-08-21T19:35:45.300Z,1755804945.300 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:45.300Z,1755804945.300 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:45.303Z,1755804945.303 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:45.311Z,1755804945.311 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:45.405Z,1755804945.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.500000 m,
      deltaT: 3.530042 s,
      deltaX: -3.300003 m,
      approachRate: -0.934834 m/s,
      rangeRepo size: 4

2025-08-21T19:35:45.412Z,1755804945.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 177.432770 m,
      bearing: 278.375062 deg,
      lat: 36.779746 deg,
      lon: -121.859654 deg,
      deltaT: 3.530042 s,
      deltaX: -3.274521 m,
      approachRate: -0.927615 m/s,
      posRepo size: 4

2025-08-21T19:35:45.412Z,1755804945.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:45.419Z,1755804945.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 175.817413 m,
      bearing: 280.607429 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.062175 deg/s,
      cmd heading: 266.979554 deg,
      new cmd heading: 267.052560 deg.

2025-08-21T19:35:45.420Z,1755804945.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660946 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:45.744Z,1755804945.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:45.747Z,1755804945.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 175.534378 m,
      bearing: 280.630321 deg,
      approach rate: -0.835857 m/s,
      LOS rate: 0.067714 deg/s,
      cmd heading: 267.052555 deg,
      new cmd heading: 267.098413 deg.

2025-08-21T19:35:45.748Z,1755804945.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661747 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:46.228Z,1755804946.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:46.231Z,1755804946.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 175.171005 m,
      bearing: 280.657846 deg,
      approach rate: -0.749482 m/s,
      LOS rate: 0.056889 deg/s,
      cmd heading: 267.098427 deg,
      new cmd heading: 267.153590 deg.

2025-08-21T19:35:46.236Z,1755804946.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662710 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:46.541Z,1755804946.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:46.544Z,1755804946.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 174.894562 m,
      bearing: 280.678670 deg,
      approach rate: -0.883294 m/s,
      LOS rate: 0.066642 deg/s,
      cmd heading: 267.153588 deg,
      new cmd heading: 267.195301 deg.

2025-08-21T19:35:46.545Z,1755804946.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663438 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:46.880Z,1755804946.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:35:47.010Z,1755804947.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:47.012Z,1755804947.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:47.015Z,1755804947.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 174.522049 m,
      bearing: 280.706776 deg,
      approach rate: -0.790453 m/s,
      LOS rate: 0.059768 deg/s,
      cmd heading: 267.195306 deg,
      new cmd heading: 267.251640 deg.

2025-08-21T19:35:47.016Z,1755804947.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664421 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:47.256Z,1755804947.256 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:47.257Z,1755804947.257 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:47.257Z,1755804947.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:47.458Z,1755804947.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:47.461Z,1755804947.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 174.167068 m,
      bearing: 280.733524 deg,
      approach rate: -0.796535 m/s,
      LOS rate: 0.060141 deg/s,
      cmd heading: 267.251642 deg,
      new cmd heading: 267.305246 deg.

2025-08-21T19:35:47.462Z,1755804947.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665357 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:47.509Z,1755804947.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218935
2025-08-21T19:35:47.761Z,1755804947.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470904
2025-08-21T19:35:47.866Z,1755804947.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:47.869Z,1755804947.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 173.843262 m,
      bearing: 280.757922 deg,
      approach rate: -0.793430 m/s,
      LOS rate: 0.059894 deg/s,
      cmd heading: 267.305245 deg,
      new cmd heading: 267.354132 deg.

2025-08-21T19:35:47.870Z,1755804947.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666210 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:47.884Z,1755804947.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:35:48.017Z,1755804948.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727253
2025-08-21T19:35:48.264Z,1755804948.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974290
2025-08-21T19:35:48.350Z,1755804948.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:48.357Z,1755804948.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 173.472824 m,
      bearing: 280.784675 deg,
      approach rate: -0.765900 m/s,
      LOS rate: 0.055433 deg/s,
      cmd heading: 267.354122 deg,
      new cmd heading: 267.407743 deg.

2025-08-21T19:35:48.358Z,1755804948.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667146 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:48.516Z,1755804948.516 [DAT](INFO): DAT read: Rx Time:19:35:47.2435

2025-08-21T19:35:48.517Z,1755804948.517 [DAT](INFO): Rx dataTimestamp_ set to:1755804948.516369
2025-08-21T19:35:48.517Z,1755804948.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227313
2025-08-21T19:35:48.768Z,1755804948.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.478350
2025-08-21T19:35:48.841Z,1755804948.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.43 m.
2025-08-21T19:35:48.848Z,1755804948.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 177.432770 m,
      nav range: 173.088745 m,
      bearing: 280.812432 deg,
      approach rate: -0.781245 m/s,
      LOS rate: 0.056586 deg/s,
      cmd heading: 267.407753 deg,
      new cmd heading: 267.463391 deg.

2025-08-21T19:35:48.849Z,1755804948.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668117 target range: 177.432770 and range: 178.50 m.
2025-08-21T19:35:48.988Z,1755804948.988 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-21T19:35:48.988Z,1755804948.988 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-21T19:35:48.989Z,1755804948.989 [DockingStepper] Communications Fault, FailCount= 1
2025-08-21T19:35:48.989Z,1755804948.989 [DockingStepper](ERROR): Communications Fault
2025-08-21T19:35:49.026Z,1755804949.026 [DAT](INFO): DAT read: 19:35:47.2435 LVL= 27872, 32753, 27346, 32755, AGC= 68, IDX= 394, 0.38, 2.318, 0.293, 2.088, 1.916, PHS= 0.504,-1.577, 0.128, RAW= 140.2,   9.9, CAL= 139.8,  10.8, ROT=  10.2, -10.8

2025-08-21T19:35:49.027Z,1755804949.027 [DAT](INFO): got valid direction response:
 19:35:47.2435 LVL= 27872, 32753, 27346, 32755, AGC= 68, IDX= 394, 0.38, 2.318, 0.293, 2.088, 1.916, PHS= 0.504,-1.577, 0.128, RAW= 140.2,   9.9, CAL= 139.8,  10.8, ROT=  10.2, -10.8

2025-08-21T19:35:49.028Z,1755804949.028 [DAT](INFO): DAT read: Bearing  50.4,   8.0 (Local)

2025-08-21T19:35:49.029Z,1755804949.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.4,   8.0 (Local)

2025-08-21T19:35:49.030Z,1755804949.030 [DAT](INFO): DAT read: Range 11 to 50 : 175.5 m  (Round-trip  234.1 ms) speed  0.8 m/s

2025-08-21T19:35:49.031Z,1755804949.031 [DAT](INFO): DAT read: user:3982>

2025-08-21T19:35:49.032Z,1755804949.032 [DAT](INFO): DAT read: Tx time:19:35:48.3568

2025-08-21T19:35:49.032Z,1755804949.032 [DAT](INFO): Ping request sent.
2025-08-21T19:35:49.032Z,1755804949.032 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:35:49.032Z,1755804949.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:35:49.033Z,1755804949.033 [DAT](INFO): direction in FSK: [0.966763,0.173948,0.187381]
2025-08-21T19:35:49.034Z,1755804949.034 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:49.034Z,1755804949.034 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:49.037Z,1755804949.037 [DAT](INFO): publishing transmit ping time
2025-08-21T19:35:49.037Z,1755804949.037 [DAT](INFO): publishing direction and range info
2025-08-21T19:35:49.223Z,1755804949.223 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-21T19:35:49.324Z,1755804949.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.500000 m,
      deltaT: 3.778231 s,
      deltaX: -3.000000 m,
      approachRate: -0.794022 m/s,
      rangeRepo size: 4

2025-08-21T19:35:49.326Z,1755804949.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.452271 m,
      bearing: 275.907029 deg,
      lat: 36.779728 deg,
      lon: -121.859663 deg,
      deltaT: 3.778231 s,
      deltaX: -2.980499 m,
      approachRate: -0.788861 m/s,
      posRepo size: 4

2025-08-21T19:35:49.328Z,1755804949.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:49.330Z,1755804949.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 173.181168 m,
      bearing: 280.130932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056586 deg/s,
      cmd heading: 267.463378 deg,
      new cmd heading: 267.516056 deg.

2025-08-21T19:35:49.331Z,1755804949.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669036 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:49.361Z,1755804949.361 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-21T19:35:49.361Z,1755804949.361 [DockingStepper](INFO): Powering down
2025-08-21T19:35:49.698Z,1755804949.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:49.702Z,1755804949.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:49.728Z,1755804949.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 172.875458 m,
      bearing: 280.152061 deg,
      approach rate: -0.773976 m/s,
      LOS rate: 0.053585 deg/s,
      cmd heading: 267.516052 deg,
      new cmd heading: 267.558383 deg.

2025-08-21T19:35:49.729Z,1755804949.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669775 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:49.776Z,1755804949.776 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:35:49.776Z,1755804949.776 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:35:49.777Z,1755804949.777 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:50.028Z,1755804950.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996111
2025-08-21T19:35:50.095Z,1755804950.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:50.098Z,1755804950.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 172.563629 m,
      bearing: 280.173496 deg,
      approach rate: -0.793049 m/s,
      LOS rate: 0.054613 deg/s,
      cmd heading: 267.558372 deg,
      new cmd heading: 267.601320 deg.

2025-08-21T19:35:50.099Z,1755804950.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670524 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:50.281Z,1755804950.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249108
2025-08-21T19:35:50.475Z,1755804950.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:50.478Z,1755804950.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 172.268265 m,
      bearing: 280.193861 deg,
      approach rate: -0.777694 m/s,
      LOS rate: 0.053714 deg/s,
      cmd heading: 267.601320 deg,
      new cmd heading: 267.642121 deg.

2025-08-21T19:35:50.479Z,1755804950.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671236 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:50.533Z,1755804950.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500505
2025-08-21T19:35:50.784Z,1755804950.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752124
2025-08-21T19:35:50.873Z,1755804950.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:50.875Z,1755804950.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 171.959061 m,
      bearing: 280.215223 deg,
      approach rate: -0.777354 m/s,
      LOS rate: 0.053801 deg/s,
      cmd heading: 267.642110 deg,
      new cmd heading: 267.684910 deg.

2025-08-21T19:35:50.876Z,1755804950.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671983 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:51.036Z,1755804951.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004182
2025-08-21T19:35:51.288Z,1755804951.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256222
2025-08-21T19:35:51.338Z,1755804951.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:51.345Z,1755804951.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 171.610260 m,
      bearing: 280.239797 deg,
      approach rate: -0.748887 m/s,
      LOS rate: 0.052870 deg/s,
      cmd heading: 267.684922 deg,
      new cmd heading: 267.734171 deg.

2025-08-21T19:35:51.346Z,1755804951.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672843 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:51.540Z,1755804951.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508142
2025-08-21T19:35:51.749Z,1755804951.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:51.756Z,1755804951.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:51.759Z,1755804951.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 171.277740 m,
      bearing: 280.263283 deg,
      approach rate: -0.805263 m/s,
      LOS rate: 0.056984 deg/s,
      cmd heading: 267.734181 deg,
      new cmd heading: 267.781242 deg.

2025-08-21T19:35:51.760Z,1755804951.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673665 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:51.792Z,1755804951.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760255
2025-08-21T19:35:52.045Z,1755804952.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012523
2025-08-21T19:35:52.180Z,1755804952.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:52.189Z,1755804952.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 170.965424 m,
      bearing: 280.286633 deg,
      approach rate: -0.750543 m/s,
      LOS rate: 0.056218 deg/s,
      cmd heading: 267.781255 deg,
      new cmd heading: 267.828042 deg.

2025-08-21T19:35:52.190Z,1755804952.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674481 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:52.296Z,1755804952.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264112
2025-08-21T19:35:52.515Z,1755804952.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:52.518Z,1755804952.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 170.679733 m,
      bearing: 280.308070 deg,
      approach rate: -0.821906 m/s,
      LOS rate: 0.061773 deg/s,
      cmd heading: 267.828055 deg,
      new cmd heading: 267.870999 deg.

2025-08-21T19:35:52.519Z,1755804952.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675231 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:52.548Z,1755804952.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516360
2025-08-21T19:35:52.800Z,1755804952.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768249
2025-08-21T19:35:52.917Z,1755804952.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:52.920Z,1755804952.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 170.364944 m,
      bearing: 280.331695 deg,
      approach rate: -0.782531 m/s,
      LOS rate: 0.058840 deg/s,
      cmd heading: 267.871003 deg,
      new cmd heading: 267.918343 deg.

2025-08-21T19:35:52.921Z,1755804952.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676057 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:53.053Z,1755804953.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.020583
2025-08-21T19:35:53.304Z,1755804953.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.272177
2025-08-21T19:35:53.349Z,1755804953.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:53.352Z,1755804953.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 170.033310 m,
      bearing: 280.357845 deg,
      approach rate: -0.768754 m/s,
      LOS rate: 0.060734 deg/s,
      cmd heading: 267.918350 deg,
      new cmd heading: 267.970751 deg.

2025-08-21T19:35:53.353Z,1755804953.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676972 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:53.557Z,1755804953.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525229
2025-08-21T19:35:53.715Z,1755804953.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:53.718Z,1755804953.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 169.751373 m,
      bearing: 280.380062 deg,
      approach rate: -0.769408 m/s,
      LOS rate: 0.060731 deg/s,
      cmd heading: 267.970751 deg,
      new cmd heading: 268.015259 deg.

2025-08-21T19:35:53.719Z,1755804953.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677749 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:53.808Z,1755804953.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776181
2025-08-21T19:35:54.066Z,1755804954.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.030895
2025-08-21T19:35:54.197Z,1755804954.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:54.203Z,1755804954.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:54.206Z,1755804954.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 169.386063 m,
      bearing: 280.407801 deg,
      approach rate: -0.754866 m/s,
      LOS rate: 0.057442 deg/s,
      cmd heading: 268.015257 deg,
      new cmd heading: 268.070855 deg.

2025-08-21T19:35:54.207Z,1755804954.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678719 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:54.312Z,1755804954.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.280117
2025-08-21T19:35:54.564Z,1755804954.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532102
2025-08-21T19:35:54.622Z,1755804954.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:54.625Z,1755804954.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 169.022995 m,
      bearing: 280.435428 deg,
      approach rate: -0.858026 m/s,
      LOS rate: 0.065432 deg/s,
      cmd heading: 268.070855 deg,
      new cmd heading: 268.126229 deg.

2025-08-21T19:35:54.626Z,1755804954.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679686 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:54.816Z,1755804954.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784010
2025-08-21T19:35:55.069Z,1755804955.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.037333
2025-08-21T19:35:55.133Z,1755804955.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:55.136Z,1755804955.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 168.613937 m,
      bearing: 280.466973 deg,
      approach rate: -0.800551 m/s,
      LOS rate: 0.061885 deg/s,
      cmd heading: 268.126234 deg,
      new cmd heading: 268.189477 deg.

2025-08-21T19:35:55.137Z,1755804955.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680789 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:55.320Z,1755804955.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.288157
2025-08-21T19:35:55.572Z,1755804955.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540272
2025-08-21T19:35:55.581Z,1755804955.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:55.584Z,1755804955.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 168.244598 m,
      bearing: 280.495528 deg,
      approach rate: -0.824865 m/s,
      LOS rate: 0.063912 deg/s,
      cmd heading: 268.189481 deg,
      new cmd heading: 268.246715 deg.

2025-08-21T19:35:55.585Z,1755804955.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681788 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:55.824Z,1755804955.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.792207
2025-08-21T19:35:55.988Z,1755804955.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:55.990Z,1755804955.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 167.912369 m,
      bearing: 280.521243 deg,
      approach rate: -0.817054 m/s,
      LOS rate: 0.063366 deg/s,
      cmd heading: 268.246718 deg,
      new cmd heading: 268.298250 deg.

2025-08-21T19:35:55.991Z,1755804955.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682688 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:56.080Z,1755804956.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.046983
2025-08-21T19:35:56.328Z,1755804956.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.296377
2025-08-21T19:35:56.391Z,1755804956.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:56.393Z,1755804956.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:56.396Z,1755804956.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 167.575195 m,
      bearing: 280.548036 deg,
      approach rate: -0.830493 m/s,
      LOS rate: 0.066128 deg/s,
      cmd heading: 268.298245 deg,
      new cmd heading: 268.351940 deg.

2025-08-21T19:35:56.397Z,1755804956.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683625 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:56.584Z,1755804956.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.552297
2025-08-21T19:35:56.773Z,1755804956.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:56.776Z,1755804956.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 167.259796 m,
      bearing: 280.573144 deg,
      approach rate: -0.831630 m/s,
      LOS rate: 0.066328 deg/s,
      cmd heading: 268.351931 deg,
      new cmd heading: 268.402241 deg.

2025-08-21T19:35:56.777Z,1755804956.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684503 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:56.833Z,1755804956.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.801008
2025-08-21T19:35:57.088Z,1755804957.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055767
2025-08-21T19:35:57.202Z,1755804957.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:57.205Z,1755804957.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 166.902084 m,
      bearing: 280.601640 deg,
      approach rate: -0.832407 m/s,
      LOS rate: 0.066453 deg/s,
      cmd heading: 268.402228 deg,
      new cmd heading: 268.459343 deg.

2025-08-21T19:35:57.206Z,1755804957.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685500 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:57.336Z,1755804957.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.304197
2025-08-21T19:35:57.580Z,1755804957.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:57.583Z,1755804957.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 166.587692 m,
      bearing: 280.626715 deg,
      approach rate: -0.831952 m/s,
      LOS rate: 0.066479 deg/s,
      cmd heading: 268.459356 deg,
      new cmd heading: 268.509600 deg.

2025-08-21T19:35:57.584Z,1755804957.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686377 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:57.588Z,1755804957.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.556229
2025-08-21T19:35:57.840Z,1755804957.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808116
2025-08-21T19:35:57.996Z,1755804957.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:57.998Z,1755804957.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 166.242493 m,
      bearing: 280.654277 deg,
      approach rate: -0.831786 m/s,
      LOS rate: 0.066551 deg/s,
      cmd heading: 268.509599 deg,
      new cmd heading: 268.564837 deg.

2025-08-21T19:35:57.999Z,1755804957.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687341 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:58.096Z,1755804958.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.062519
2025-08-21T19:35:58.344Z,1755804958.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.312091
2025-08-21T19:35:58.418Z,1755804958.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:35:58.420Z,1755804958.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:58.423Z,1755804958.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 165.894928 m,
      bearing: 280.683521 deg,
      approach rate: -0.818404 m/s,
      LOS rate: 0.069004 deg/s,
      cmd heading: 268.564841 deg,
      new cmd heading: 268.623452 deg.

2025-08-21T19:35:58.424Z,1755804958.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688364 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:58.596Z,1755804958.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564149
2025-08-21T19:35:58.800Z,1755804958.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:58.802Z,1755804958.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 165.582733 m,
      bearing: 280.709835 deg,
      approach rate: -0.822687 m/s,
      LOS rate: 0.069473 deg/s,
      cmd heading: 268.623444 deg,
      new cmd heading: 268.676172 deg.

2025-08-21T19:35:58.804Z,1755804958.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689284 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:58.848Z,1755804958.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.816238
2025-08-21T19:35:59.102Z,1755804959.102 [DAT](INFO): Reached modem response timeout
2025-08-21T19:35:59.103Z,1755804959.103 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:35:59.103Z,1755804959.103 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:59.225Z,1755804959.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:59.228Z,1755804959.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 165.237228 m,
      bearing: 280.739067 deg,
      approach rate: -0.811149 m/s,
      LOS rate: 0.068771 deg/s,
      cmd heading: 268.676173 deg,
      new cmd heading: 268.734759 deg.

2025-08-21T19:35:59.229Z,1755804959.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690306 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:59.352Z,1755804959.352 [DAT](INFO): Reached modem response timeout
2025-08-21T19:35:59.352Z,1755804959.352 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:35:59.353Z,1755804959.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:59.600Z,1755804959.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:35:59.604Z,1755804959.604 [DAT](INFO): Reached modem response timeout
2025-08-21T19:35:59.604Z,1755804959.604 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:35:59.605Z,1755804959.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:35:59.606Z,1755804959.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 164.933197 m,
      bearing: 280.764822 deg,
      approach rate: -0.810900 m/s,
      LOS rate: 0.068819 deg/s,
      cmd heading: 268.734749 deg,
      new cmd heading: 268.786354 deg.

2025-08-21T19:35:59.608Z,1755804959.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691207 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:35:59.856Z,1755804959.856 [DAT](INFO): Reached modem response timeout
2025-08-21T19:35:59.857Z,1755804959.857 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:35:59.857Z,1755804959.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:00.006Z,1755804960.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:00.009Z,1755804960.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 164.604034 m,
      bearing: 280.792759 deg,
      approach rate: -0.812250 m/s,
      LOS rate: 0.069076 deg/s,
      cmd heading: 268.786358 deg,
      new cmd heading: 268.842344 deg.

2025-08-21T19:36:00.010Z,1755804960.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692184 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:00.127Z,1755804960.127 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:00.127Z,1755804960.127 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:00.128Z,1755804960.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:00.376Z,1755804960.376 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:00.376Z,1755804960.376 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:00.376Z,1755804960.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:00.464Z,1755804960.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:00.466Z,1755804960.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:00.473Z,1755804960.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 164.243073 m,
      bearing: 280.821183 deg,
      approach rate: -0.784115 m/s,
      LOS rate: 0.061881 deg/s,
      cmd heading: 268.842338 deg,
      new cmd heading: 268.899311 deg.

2025-08-21T19:36:00.474Z,1755804960.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693178 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:00.628Z,1755804960.628 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:00.628Z,1755804960.628 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:00.628Z,1755804960.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:00.819Z,1755804960.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:00.822Z,1755804960.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 163.954071 m,
      bearing: 280.843979 deg,
      approach rate: -0.818226 m/s,
      LOS rate: 0.064655 deg/s,
      cmd heading: 268.899302 deg,
      new cmd heading: 268.944975 deg.

2025-08-21T19:36:00.828Z,1755804960.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693975 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:00.880Z,1755804960.880 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:00.880Z,1755804960.880 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:00.881Z,1755804960.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:01.134Z,1755804961.134 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:01.135Z,1755804961.135 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:01.136Z,1755804961.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:01.245Z,1755804961.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:01.248Z,1755804961.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 163.613739 m,
      bearing: 280.871176 deg,
      approach rate: -0.799331 m/s,
      LOS rate: 0.064010 deg/s,
      cmd heading: 268.944982 deg,
      new cmd heading: 268.999489 deg.

2025-08-21T19:36:01.249Z,1755804961.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694927 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:01.387Z,1755804961.387 [DAT](INFO): Reached modem response timeout
2025-08-21T19:36:01.388Z,1755804961.388 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:36:01.388Z,1755804961.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:01.620Z,1755804961.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:01.623Z,1755804961.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 163.312607 m,
      bearing: 280.895267 deg,
      approach rate: -0.802480 m/s,
      LOS rate: 0.064318 deg/s,
      cmd heading: 268.999487 deg,
      new cmd heading: 269.047758 deg.

2025-08-21T19:36:01.624Z,1755804961.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695769 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:01.636Z,1755804961.636 [DAT](INFO): DAT read: Response Not Received

2025-08-21T19:36:01.637Z,1755804961.637 [DAT](INFO): response not received
2025-08-21T19:36:01.637Z,1755804961.637 [DAT](INFO): DAT read: user:3983>

2025-08-21T19:36:01.638Z,1755804961.638 [DAT](INFO): DAT read: Tx time:19:36:00.8052

2025-08-21T19:36:01.638Z,1755804961.638 [DAT](INFO): Ping request sent.
2025-08-21T19:36:01.638Z,1755804961.638 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:01.638Z,1755804961.638 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:01.640Z,1755804961.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-21T19:36:01.888Z,1755804961.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249993
2025-08-21T19:36:02.025Z,1755804962.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:02.028Z,1755804962.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 162.988220 m,
      bearing: 280.921256 deg,
      approach rate: -0.800692 m/s,
      LOS rate: 0.064277 deg/s,
      cmd heading: 269.047763 deg,
      new cmd heading: 269.099845 deg.

2025-08-21T19:36:02.029Z,1755804962.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696678 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:02.144Z,1755804962.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504629
2025-08-21T19:36:02.392Z,1755804962.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754037
2025-08-21T19:36:02.476Z,1755804962.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:02.478Z,1755804962.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:02.481Z,1755804962.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 162.631271 m,
      bearing: 280.948852 deg,
      approach rate: -0.788083 m/s,
      LOS rate: 0.061061 deg/s,
      cmd heading: 269.099836 deg,
      new cmd heading: 269.155150 deg.

2025-08-21T19:36:02.482Z,1755804962.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697644 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:02.646Z,1755804962.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007432
2025-08-21T19:36:02.847Z,1755804962.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:02.850Z,1755804962.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 162.343246 m,
      bearing: 280.971141 deg,
      approach rate: -0.780875 m/s,
      LOS rate: 0.060537 deg/s,
      cmd heading: 269.155161 deg,
      new cmd heading: 269.199819 deg.

2025-08-21T19:36:02.851Z,1755804962.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698423 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:02.896Z,1755804962.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258091
2025-08-21T19:36:03.154Z,1755804963.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514725
2025-08-21T19:36:03.265Z,1755804963.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:03.267Z,1755804963.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 162.012238 m,
      bearing: 280.996526 deg,
      approach rate: -0.792940 m/s,
      LOS rate: 0.060934 deg/s,
      cmd heading: 269.199830 deg,
      new cmd heading: 269.250704 deg.

2025-08-21T19:36:03.268Z,1755804963.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699311 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:03.401Z,1755804963.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762689
2025-08-21T19:36:03.642Z,1755804963.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:03.649Z,1755804963.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 161.716156 m,
      bearing: 281.019297 deg,
      approach rate: -0.784168 m/s,
      LOS rate: 0.060420 deg/s,
      cmd heading: 269.250702 deg,
      new cmd heading: 269.296327 deg.

2025-08-21T19:36:03.653Z,1755804963.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014628
2025-08-21T19:36:03.662Z,1755804963.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700108 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:03.904Z,1755804963.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266061
2025-08-21T19:36:04.070Z,1755804964.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:04.073Z,1755804964.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 161.394791 m,
      bearing: 281.044079 deg,
      approach rate: -0.750529 m/s,
      LOS rate: 0.057991 deg/s,
      cmd heading: 269.296327 deg,
      new cmd heading: 269.345989 deg.

2025-08-21T19:36:04.074Z,1755804964.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700974 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:04.160Z,1755804964.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520519
2025-08-21T19:36:04.408Z,1755804964.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769959
2025-08-21T19:36:04.481Z,1755804964.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:04.483Z,1755804964.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:04.486Z,1755804964.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 161.056885 m,
      bearing: 281.069849 deg,
      approach rate: -0.818410 m/s,
      LOS rate: 0.062547 deg/s,
      cmd heading: 269.345996 deg,
      new cmd heading: 269.397645 deg.

2025-08-21T19:36:04.487Z,1755804964.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701876 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:04.661Z,1755804964.661 [DAT](INFO): DAT read: Rx Time:19:36:03.4257

2025-08-21T19:36:04.662Z,1755804964.662 [DAT](INFO): Rx dataTimestamp_ set to:1755804964.661708
2025-08-21T19:36:04.664Z,1755804964.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025472
2025-08-21T19:36:04.863Z,1755804964.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.45 m.
2025-08-21T19:36:04.866Z,1755804964.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.452271 m,
      nav range: 160.762512 m,
      bearing: 281.092359 deg,
      approach rate: -0.775126 m/s,
      LOS rate: 0.059381 deg/s,
      cmd heading: 269.397633 deg,
      new cmd heading: 269.442735 deg.

2025-08-21T19:36:04.867Z,1755804964.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702663 target range: 174.452271 and range: 175.50 m.
2025-08-21T19:36:04.912Z,1755804964.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274134
2025-08-21T19:36:05.188Z,1755804965.188 [DAT](INFO): DAT read: 19:36:03.4257 LVL= 26160, 32017, 24418, 32755, AGC= 64, IDX= 228,-0.17, 3.062, 1.196, 3.105, 2.807, PHS= 0.357,-1.566, 0.254, RAW= 147.3,  10.2, CAL= 146.9,  11.1, ROT=   3.1, -11.1

2025-08-21T19:36:05.192Z,1755804965.192 [DAT](INFO): got valid direction response:
 19:36:03.4257 LVL= 26160, 32017, 24418, 32755, AGC= 64, IDX= 228,-0.17, 3.062, 1.196, 3.105, 2.807, PHS= 0.357,-1.566, 0.254, RAW= 147.3,  10.2, CAL= 146.9,  11.1, ROT=   3.1, -11.1

2025-08-21T19:36:05.196Z,1755804965.196 [DAT](INFO): DAT read: Bearing  52.8,   9.9 (Local)

2025-08-21T19:36:05.197Z,1755804965.197 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.8,   9.9 (Local)

2025-08-21T19:36:05.205Z,1755804965.205 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed  0.6 m/s

2025-08-21T19:36:05.247Z,1755804965.247 [DAT](INFO): DAT read: user:3984>

2025-08-21T19:36:05.248Z,1755804965.248 [DAT](INFO): DAT read: Tx time:19:36:04.5552

2025-08-21T19:36:05.248Z,1755804965.248 [DAT](INFO): Ping request sent.
2025-08-21T19:36:05.249Z,1755804965.249 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:05.249Z,1755804965.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:05.250Z,1755804965.250 [DAT](INFO): direction in FSK: [0.979857,0.053067,0.192522]
2025-08-21T19:36:05.250Z,1755804965.250 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:05.250Z,1755804965.250 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:05.268Z,1755804965.268 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:05.269Z,1755804965.269 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:05.472Z,1755804965.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.300003 m,
      deltaT: 16.145886 s,
      deltaX: -13.199997 m,
      approachRate: -0.817546 m/s,
      rangeRepo size: 4

2025-08-21T19:36:05.475Z,1755804965.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.330643 m,
      bearing: 269.919066 deg,
      lat: 36.779685 deg,
      lon: -121.859663 deg,
      deltaT: 16.145886 s,
      deltaX: -13.121628 m,
      approachRate: -0.812692 m/s,
      posRepo size: 4

2025-08-21T19:36:05.475Z,1755804965.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:05.478Z,1755804965.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 159.446274 m,
      bearing: 279.459554 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059381 deg/s,
      cmd heading: 269.442739 deg,
      new cmd heading: 269.515000 deg.

2025-08-21T19:36:05.495Z,1755804965.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703924 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:05.799Z,1755804965.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:05.802Z,1755804965.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 159.192459 m,
      bearing: 279.477392 deg,
      approach rate: -0.775295 m/s,
      LOS rate: 0.054573 deg/s,
      cmd heading: 269.515003 deg,
      new cmd heading: 269.550735 deg.

2025-08-21T19:36:05.803Z,1755804965.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704548 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:06.275Z,1755804966.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:06.278Z,1755804966.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 158.828430 m,
      bearing: 279.502984 deg,
      approach rate: -0.770748 m/s,
      LOS rate: 0.054310 deg/s,
      cmd heading: 269.550738 deg,
      new cmd heading: 269.602040 deg.

2025-08-21T19:36:06.279Z,1755804966.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705443 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:06.635Z,1755804966.635 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:06.638Z,1755804966.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:06.645Z,1755804966.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 158.536591 m,
      bearing: 279.523483 deg,
      approach rate: -0.795971 m/s,
      LOS rate: 0.056012 deg/s,
      cmd heading: 269.602047 deg,
      new cmd heading: 269.643120 deg.

2025-08-21T19:36:06.648Z,1755804966.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706160 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:06.680Z,1755804966.680 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:06.680Z,1755804966.680 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:06.680Z,1755804966.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:06.932Z,1755804966.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683563
2025-08-21T19:36:07.017Z,1755804967.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:07.020Z,1755804967.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 158.240005 m,
      bearing: 279.544394 deg,
      approach rate: -0.782823 m/s,
      LOS rate: 0.055296 deg/s,
      cmd heading: 269.643110 deg,
      new cmd heading: 269.685010 deg.

2025-08-21T19:36:07.021Z,1755804967.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706892 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:07.187Z,1755804967.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937667
2025-08-21T19:36:07.436Z,1755804967.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187662
2025-08-21T19:36:07.446Z,1755804967.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:07.449Z,1755804967.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 157.898819 m,
      bearing: 279.569337 deg,
      approach rate: -0.794575 m/s,
      LOS rate: 0.058215 deg/s,
      cmd heading: 269.685020 deg,
      new cmd heading: 269.735014 deg.

2025-08-21T19:36:07.450Z,1755804967.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707764 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:07.688Z,1755804967.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439712
2025-08-21T19:36:07.856Z,1755804967.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:07.859Z,1755804967.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 157.572830 m,
      bearing: 279.592914 deg,
      approach rate: -0.794596 m/s,
      LOS rate: 0.057588 deg/s,
      cmd heading: 269.735017 deg,
      new cmd heading: 269.782268 deg.

2025-08-21T19:36:07.860Z,1755804967.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708589 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:07.940Z,1755804967.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691687
2025-08-21T19:36:08.195Z,1755804968.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946341
2025-08-21T19:36:08.294Z,1755804968.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:08.301Z,1755804968.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 157.242325 m,
      bearing: 279.616797 deg,
      approach rate: -0.754753 m/s,
      LOS rate: 0.054655 deg/s,
      cmd heading: 269.782282 deg,
      new cmd heading: 269.830149 deg.

2025-08-21T19:36:08.302Z,1755804968.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709424 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:08.444Z,1755804968.444 [DAT](INFO): DAT read: Rx Time:19:36:07.1716

2025-08-21T19:36:08.445Z,1755804968.445 [DAT](INFO): Rx dataTimestamp_ set to:1755804968.444437
2025-08-21T19:36:08.445Z,1755804968.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196639
2025-08-21T19:36:08.660Z,1755804968.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:08.664Z,1755804968.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.33 m.
2025-08-21T19:36:08.669Z,1755804968.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.330643 m,
      nav range: 156.935532 m,
      bearing: 279.639322 deg,
      approach rate: -0.830855 m/s,
      LOS rate: 0.061121 deg/s,
      cmd heading: 269.830148 deg,
      new cmd heading: 269.875286 deg.

2025-08-21T19:36:08.669Z,1755804968.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710212 target range: 161.330643 and range: 162.30 m.
2025-08-21T19:36:08.696Z,1755804968.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447757
2025-08-21T19:36:08.954Z,1755804968.954 [DAT](INFO): DAT read: 19:36:07.1716 LVL= 29216, 32753, 27362, 32755, AGC= 65, IDX= 394,-0.24, 1.260,-0.618, 1.354, 0.998, PHS= 0.363,-1.571, 0.312, RAW= 148.7,   9.4, CAL= 148.3,  10.2, ROT=   1.7, -10.2

2025-08-21T19:36:08.963Z,1755804968.963 [DAT](INFO): got valid direction response:
 19:36:07.1716 LVL= 29216, 32753, 27362, 32755, AGC= 65, IDX= 394,-0.24, 1.260,-0.618, 1.354, 0.998, PHS= 0.363,-1.571, 0.312, RAW= 148.7,   9.4, CAL= 148.3,  10.2, ROT=   1.7, -10.2

2025-08-21T19:36:08.964Z,1755804968.964 [DAT](INFO): DAT read: Bearing  53.0,  10.2 (Local)

2025-08-21T19:36:08.965Z,1755804968.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,  10.2 (Local)

2025-08-21T19:36:08.966Z,1755804968.966 [DAT](INFO): DAT read: Range 11 to 50 : 159.2 m  (Round-trip  212.3 ms) speed  0.8 m/s

2025-08-21T19:36:08.967Z,1755804968.967 [DAT](INFO): DAT read: user:3985>

2025-08-21T19:36:08.980Z,1755804968.980 [DAT](INFO): DAT read: Tx time:19:36:08.2552

2025-08-21T19:36:08.980Z,1755804968.980 [DAT](INFO): Ping request sent.
2025-08-21T19:36:08.980Z,1755804968.980 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:08.980Z,1755804968.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:08.981Z,1755804968.981 [DAT](INFO): direction in FSK: [0.983762,0.029197,0.177085]
2025-08-21T19:36:08.982Z,1755804968.982 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:08.982Z,1755804968.982 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:08.985Z,1755804968.985 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:08.985Z,1755804968.985 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:09.121Z,1755804969.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.199997 m,
      deltaT: 3.781746 s,
      deltaX: -3.100006 m,
      approachRate: -0.819729 m/s,
      rangeRepo size: 4

2025-08-21T19:36:09.123Z,1755804969.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.243759 m,
      bearing: 269.247288 deg,
      lat: 36.779614 deg,
      lon: -121.859663 deg,
      deltaT: 3.781746 s,
      deltaX: -3.086884 m,
      approachRate: -0.816259 m/s,
      posRepo size: 4

2025-08-21T19:36:09.128Z,1755804969.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:09.131Z,1755804969.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 155.440811 m,
      bearing: 276.768828 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.061121 deg/s,
      cmd heading: 269.875281 deg,
      new cmd heading: 269.931100 deg.

2025-08-21T19:36:09.141Z,1755804969.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711186 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:09.490Z,1755804969.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:09.493Z,1755804969.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 155.122665 m,
      bearing: 276.787142 deg,
      approach rate: -0.860751 m/s,
      LOS rate: 0.049652 deg/s,
      cmd heading: 269.931098 deg,
      new cmd heading: 269.967802 deg.

2025-08-21T19:36:09.494Z,1755804969.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711827 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:09.854Z,1755804969.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:09.858Z,1755804969.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 154.838531 m,
      bearing: 276.803274 deg,
      approach rate: -0.779310 m/s,
      LOS rate: 0.044327 deg/s,
      cmd heading: 269.967790 deg,
      new cmd heading: 270.000113 deg.

2025-08-21T19:36:09.859Z,1755804969.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712391 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:10.103Z,1755804970.103 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-21T19:36:10.103Z,1755804970.103 [DockingStepper] No Fault, FailCount= 1
2025-08-21T19:36:10.289Z,1755804970.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:10.311Z,1755804970.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 154.503784 m,
      bearing: 276.822024 deg,
      approach rate: -0.771700 m/s,
      LOS rate: 0.043317 deg/s,
      cmd heading: 270.000110 deg,
      new cmd heading: 270.037690 deg.

2025-08-21T19:36:10.312Z,1755804970.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713047 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:10.338Z,1755804970.338 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:36:10.456Z,1755804970.456 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:36:10.728Z,1755804970.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:10.730Z,1755804970.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:10.733Z,1755804970.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 154.120270 m,
      bearing: 276.843316 deg,
      approach rate: -0.868312 m/s,
      LOS rate: 0.048328 deg/s,
      cmd heading: 270.037703 deg,
      new cmd heading: 270.080394 deg.

2025-08-21T19:36:10.734Z,1755804970.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713792 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:10.965Z,1755804970.965 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:10.965Z,1755804970.965 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:10.965Z,1755804970.965 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:11.102Z,1755804971.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:11.105Z,1755804971.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 153.821747 m,
      bearing: 276.859701 deg,
      approach rate: -0.801669 m/s,
      LOS rate: 0.044087 deg/s,
      cmd heading: 270.080406 deg,
      new cmd heading: 270.113240 deg.

2025-08-21T19:36:11.106Z,1755804971.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714365 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:11.216Z,1755804971.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236071
2025-08-21T19:36:11.468Z,1755804971.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488071
2025-08-21T19:36:11.543Z,1755804971.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:11.550Z,1755804971.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 153.472488 m,
      bearing: 276.878081 deg,
      approach rate: -0.792377 m/s,
      LOS rate: 0.041793 deg/s,
      cmd heading: 270.113245 deg,
      new cmd heading: 270.150088 deg.

2025-08-21T19:36:11.551Z,1755804971.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715009 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:11.725Z,1755804971.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744542
2025-08-21T19:36:11.914Z,1755804971.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:11.917Z,1755804971.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 153.166473 m,
      bearing: 276.894052 deg,
      approach rate: -0.824396 m/s,
      LOS rate: 0.043113 deg/s,
      cmd heading: 270.150101 deg,
      new cmd heading: 270.182108 deg.

2025-08-21T19:36:11.918Z,1755804971.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715568 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:11.977Z,1755804971.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996915
2025-08-21T19:36:12.228Z,1755804972.228 [DAT](INFO): DAT read: Rx Time:19:36:10.8674

2025-08-21T19:36:12.229Z,1755804972.229 [DAT](INFO): Rx dataTimestamp_ set to:1755804972.228430
2025-08-21T19:36:12.229Z,1755804972.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249128
2025-08-21T19:36:12.379Z,1755804972.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.24 m.
2025-08-21T19:36:12.382Z,1755804972.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.243759 m,
      nav range: 152.798248 m,
      bearing: 276.912502 deg,
      approach rate: -0.792480 m/s,
      LOS rate: 0.039803 deg/s,
      cmd heading: 270.182121 deg,
      new cmd heading: 270.219110 deg.

2025-08-21T19:36:12.383Z,1755804972.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716213 target range: 158.243759 and range: 159.20 m.
2025-08-21T19:36:12.480Z,1755804972.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500169
2025-08-21T19:36:12.738Z,1755804972.738 [DAT](INFO): DAT read: 19:36:10.8674 LVL= 28048, 28881, 23794, 32211, AGC= 63, IDX= 399, 0.46, 2.634, 0.827, 2.768, 2.366, PHS= 0.370,-1.495, 0.358, RAW= 149.7,   8.3, CAL= 149.2,   8.9, ROT=   0.8,  -8.9

2025-08-21T19:36:12.739Z,1755804972.739 [DAT](INFO): got valid direction response:
 19:36:10.8674 LVL= 28048, 28881, 23794, 32211, AGC= 63, IDX= 399, 0.46, 2.634, 0.827, 2.768, 2.366, PHS= 0.370,-1.495, 0.358, RAW= 149.7,   8.3, CAL= 149.2,   8.9, ROT=   0.8,  -8.9

2025-08-21T19:36:12.740Z,1755804972.740 [DAT](INFO): DAT read: Bearing  53.0,  10.5 (Local)

2025-08-21T19:36:12.741Z,1755804972.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.0,  10.5 (Local)

2025-08-21T19:36:12.742Z,1755804972.742 [DAT](INFO): DAT read: Range 11 to 50 : 156.0 m  (Round-trip  208.1 ms) speed  0.8 m/s

2025-08-21T19:36:12.743Z,1755804972.743 [DAT](INFO): DAT read: user:3986>

2025-08-21T19:36:12.744Z,1755804972.744 [DAT](INFO): DAT read: Tx time:19:36:11.9552

2025-08-21T19:36:12.744Z,1755804972.744 [DAT](INFO): Ping request sent.
2025-08-21T19:36:12.744Z,1755804972.744 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:12.744Z,1755804972.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:12.745Z,1755804972.745 [DAT](INFO): direction in FSK: [0.987864,0.013794,0.154710]
2025-08-21T19:36:12.745Z,1755804972.745 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:12.746Z,1755804972.746 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:12.749Z,1755804972.749 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:12.749Z,1755804972.749 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:12.781Z,1755804972.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.000000 m,
      deltaT: 3.784050 s,
      deltaX: -3.199997 m,
      approachRate: -0.845654 m/s,
      rangeRepo size: 4

2025-08-21T19:36:12.783Z,1755804972.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.040131 m,
      bearing: 269.653245 deg,
      lat: 36.779448 deg,
      lon: -121.859632 deg,
      deltaT: 3.784050 s,
      deltaX: -3.203629 m,
      approachRate: -0.846614 m/s,
      posRepo size: 4

2025-08-21T19:36:12.788Z,1755804972.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:12.790Z,1755804972.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 148.682938 m,
      bearing: 269.975694 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039803 deg/s,
      cmd heading: 270.219113 deg,
      new cmd heading: 270.251048 deg.

2025-08-21T19:36:12.795Z,1755804972.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716771 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:13.150Z,1755804973.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:13.154Z,1755804973.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:13.160Z,1755804973.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 148.348404 m,
      bearing: 269.976471 deg,
      approach rate: -0.895601 m/s,
      LOS rate: 0.002083 deg/s,
      cmd heading: 270.251051 deg,
      new cmd heading: 270.252608 deg.

2025-08-21T19:36:13.161Z,1755804973.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716798 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:13.236Z,1755804973.236 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:13.236Z,1755804973.236 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:13.237Z,1755804973.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:13.488Z,1755804973.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744154
2025-08-21T19:36:13.556Z,1755804973.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:13.559Z,1755804973.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 148.020187 m,
      bearing: 269.977551 deg,
      approach rate: -0.815040 m/s,
      LOS rate: 0.002689 deg/s,
      cmd heading: 270.252608 deg,
      new cmd heading: 270.254774 deg.

2025-08-21T19:36:13.560Z,1755804973.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716835 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:13.741Z,1755804973.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996716
2025-08-21T19:36:13.932Z,1755804973.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:13.935Z,1755804973.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 147.720001 m,
      bearing: 269.978097 deg,
      approach rate: -0.797714 m/s,
      LOS rate: 0.001454 deg/s,
      cmd heading: 270.254767 deg,
      new cmd heading: 270.255861 deg.

2025-08-21T19:36:13.936Z,1755804973.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716855 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:13.989Z,1755804973.989 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:36:13.995Z,1755804973.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250887
2025-08-21T19:36:14.244Z,1755804974.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500167
2025-08-21T19:36:14.406Z,1755804974.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:14.409Z,1755804974.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 147.336090 m,
      bearing: 269.976780 deg,
      approach rate: -0.810983 m/s,
      LOS rate: -0.002789 deg/s,
      cmd heading: 270.255860 deg,
      new cmd heading: 270.253219 deg.

2025-08-21T19:36:14.410Z,1755804974.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716808 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:14.498Z,1755804974.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753634
2025-08-21T19:36:14.746Z,1755804974.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:14.748Z,1755804974.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004385
2025-08-21T19:36:14.764Z,1755804974.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 147.060593 m,
      bearing: 269.975440 deg,
      approach rate: -0.810957 m/s,
      LOS rate: -0.003952 deg/s,
      cmd heading: 270.253209 deg,
      new cmd heading: 270.250525 deg.

2025-08-21T19:36:14.765Z,1755804974.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716762 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:15.002Z,1755804975.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258435
2025-08-21T19:36:15.190Z,1755804975.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:15.192Z,1755804975.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:15.195Z,1755804975.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 146.716675 m,
      bearing: 269.973414 deg,
      approach rate: -0.769496 m/s,
      LOS rate: -0.004546 deg/s,
      cmd heading: 270.250532 deg,
      new cmd heading: 270.246469 deg.

2025-08-21T19:36:15.196Z,1755804975.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716691 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:15.254Z,1755804975.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509270
2025-08-21T19:36:15.504Z,1755804975.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760227
2025-08-21T19:36:15.574Z,1755804975.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:15.577Z,1755804975.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 146.396515 m,
      bearing: 269.971260 deg,
      approach rate: -0.839024 m/s,
      LOS rate: -0.005656 deg/s,
      cmd heading: 270.246461 deg,
      new cmd heading: 270.242145 deg.

2025-08-21T19:36:15.578Z,1755804975.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716615 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:15.756Z,1755804975.756 [DAT](INFO): DAT read: Rx Time:19:36:14.5634

2025-08-21T19:36:15.757Z,1755804975.757 [DAT](INFO): Rx dataTimestamp_ set to:1755804975.756418
2025-08-21T19:36:15.757Z,1755804975.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013238
2025-08-21T19:36:15.955Z,1755804975.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:15.958Z,1755804975.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 146.094910 m,
      bearing: 269.968998 deg,
      approach rate: -0.792368 m/s,
      LOS rate: -0.005955 deg/s,
      cmd heading: 270.242145 deg,
      new cmd heading: 270.237611 deg.

2025-08-21T19:36:15.959Z,1755804975.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716536 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:16.009Z,1755804976.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265005
2025-08-21T19:36:16.264Z,1755804976.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519024
2025-08-21T19:36:16.409Z,1755804976.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.04 m.
2025-08-21T19:36:16.428Z,1755804976.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.040131 m,
      nav range: 145.735001 m,
      bearing: 269.966139 deg,
      approach rate: -0.791851 m/s,
      LOS rate: -0.006307 deg/s,
      cmd heading: 270.237609 deg,
      new cmd heading: 270.231876 deg.

2025-08-21T19:36:16.429Z,1755804976.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716436 target range: 155.040131 and range: 156.00 m.
2025-08-21T19:36:16.518Z,1755804976.518 [DAT](INFO): DAT read: 19:36:14.5634 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12, 1.375,-0.373, 1.521, 1.109, PHS= 0.368,-1.437, 0.368, RAW= 150.0,   7.8, CAL= 149.5,   8.4, ROT=   0.5,  -8.4

2025-08-21T19:36:16.522Z,1755804976.522 [DAT](INFO): got valid direction response:
 19:36:14.5634 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 406,-0.12, 1.375,-0.373, 1.521, 1.109, PHS= 0.368,-1.437, 0.368, RAW= 150.0,   7.8, CAL= 149.5,   8.4, ROT=   0.5,  -8.4

2025-08-21T19:36:16.528Z,1755804976.528 [DAT](INFO): DAT read: Bearing  52.9,  11.4 (Local)

2025-08-21T19:36:16.528Z,1755804976.528 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.9,  11.4 (Local)

2025-08-21T19:36:16.530Z,1755804976.530 [DAT](INFO): DAT read: Range 11 to 50 : 153.0 m  (Round-trip  204.1 ms) speed  0.6 m/s

2025-08-21T19:36:16.531Z,1755804976.531 [DAT](INFO): DAT read: user:3987>

2025-08-21T19:36:16.532Z,1755804976.532 [DAT](INFO): DAT read: Tx time:19:36:15.6552

2025-08-21T19:36:16.532Z,1755804976.532 [DAT](INFO): Ping request sent.
2025-08-21T19:36:16.532Z,1755804976.532 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:16.532Z,1755804976.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:16.534Z,1755804976.534 [DAT](INFO): direction in FSK: [0.989235,0.008633,0.146083]
2025-08-21T19:36:16.534Z,1755804976.534 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:16.534Z,1755804976.534 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:16.547Z,1755804976.547 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:16.551Z,1755804976.551 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:16.824Z,1755804976.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: 3.780011 s,
      deltaX: -3.000000 m,
      approachRate: -0.793648 m/s,
      rangeRepo size: 4

2025-08-21T19:36:16.826Z,1755804976.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.048431 m,
      bearing: 270.879752 deg,
      lat: 36.779448 deg,
      lon: -121.859622 deg,
      deltaT: 3.780011 s,
      deltaX: -2.991699 m,
      approachRate: -0.791453 m/s,
      posRepo size: 4

2025-08-21T19:36:16.826Z,1755804976.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:16.833Z,1755804976.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 144.520325 m,
      bearing: 269.962662 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006307 deg/s,
      cmd heading: 270.231872 deg,
      new cmd heading: 270.226706 deg.

2025-08-21T19:36:16.834Z,1755804976.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716346 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:17.192Z,1755804977.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:17.195Z,1755804977.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 144.207443 m,
      bearing: 269.959298 deg,
      approach rate: -0.837820 m/s,
      LOS rate: -0.009027 deg/s,
      cmd heading: 270.226708 deg,
      new cmd heading: 270.219966 deg.

2025-08-21T19:36:17.196Z,1755804977.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716228 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:17.597Z,1755804977.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:17.600Z,1755804977.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:17.603Z,1755804977.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 143.881760 m,
      bearing: 269.956398 deg,
      approach rate: -0.800105 m/s,
      LOS rate: -0.007141 deg/s,
      cmd heading: 270.219960 deg,
      new cmd heading: 270.214147 deg.

2025-08-21T19:36:17.604Z,1755804977.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716126 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:17.776Z,1755804977.776 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:17.776Z,1755804977.776 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:17.778Z,1755804977.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:17.984Z,1755804977.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:17.991Z,1755804977.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 143.573441 m,
      bearing: 269.953694 deg,
      approach rate: -0.800498 m/s,
      LOS rate: -0.007035 deg/s,
      cmd heading: 270.214141 deg,
      new cmd heading: 270.208722 deg.

2025-08-21T19:36:17.992Z,1755804977.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716032 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:18.004Z,1755804978.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:36:18.025Z,1755804978.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493011
2025-08-21T19:36:18.277Z,1755804978.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744507
2025-08-21T19:36:18.528Z,1755804978.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996379
2025-08-21T19:36:18.532Z,1755804978.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:18.534Z,1755804978.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 143.161789 m,
      bearing: 269.949510 deg,
      approach rate: -0.757912 m/s,
      LOS rate: -0.007725 deg/s,
      cmd heading: 270.208731 deg,
      new cmd heading: 270.200340 deg.

2025-08-21T19:36:18.540Z,1755804978.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715886 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:18.780Z,1755804978.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248299
2025-08-21T19:36:18.813Z,1755804978.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:18.816Z,1755804978.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 142.921661 m,
      bearing: 269.947095 deg,
      approach rate: -0.842080 m/s,
      LOS rate: -0.008483 deg/s,
      cmd heading: 270.200344 deg,
      new cmd heading: 270.195506 deg.

2025-08-21T19:36:18.817Z,1755804978.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715801 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:19.008Z,1755804979.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:36:19.032Z,1755804979.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500486
2025-08-21T19:36:19.225Z,1755804979.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:19.227Z,1755804979.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 142.597778 m,
      bearing: 269.943876 deg,
      approach rate: -0.786319 m/s,
      LOS rate: -0.007835 deg/s,
      cmd heading: 270.195508 deg,
      new cmd heading: 270.189054 deg.

2025-08-21T19:36:19.228Z,1755804979.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715689 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:19.285Z,1755804979.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753239
2025-08-21T19:36:19.536Z,1755804979.536 [DAT](INFO): DAT read: Rx Time:19:36:18.2593

2025-08-21T19:36:19.537Z,1755804979.537 [DAT](INFO): Rx dataTimestamp_ set to:1755804979.536437
2025-08-21T19:36:19.537Z,1755804979.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005283
2025-08-21T19:36:19.672Z,1755804979.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:19.674Z,1755804979.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.05 m.
2025-08-21T19:36:19.677Z,1755804979.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.048431 m,
      nav range: 142.243958 m,
      bearing: 269.939660 deg,
      approach rate: -0.786992 m/s,
      LOS rate: -0.009399 deg/s,
      cmd heading: 270.189060 deg,
      new cmd heading: 270.180609 deg.

2025-08-21T19:36:19.678Z,1755804979.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715541 target range: 152.048431 and range: 153.00 m.
2025-08-21T19:36:19.789Z,1755804979.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256806
2025-08-21T19:36:20.046Z,1755804980.046 [DAT](INFO): DAT read: 19:36:18.2593 LVL= 25872, 28785, 22690, 30451, AGC= 62, IDX= 397,-0.16,-1.446, 3.112,-1.292,-1.683, PHS= 0.340,-1.443, 0.347, RAW= 150.2,   8.5, CAL= 149.8,   9.2, ROT=   0.2,  -9.2

2025-08-21T19:36:20.047Z,1755804980.047 [DAT](INFO): got valid direction response:
 19:36:18.2593 LVL= 25872, 28785, 22690, 30451, AGC= 62, IDX= 397,-0.16,-1.446, 3.112,-1.292,-1.683, PHS= 0.340,-1.443, 0.347, RAW= 150.2,   8.5, CAL= 149.8,   9.2, ROT=   0.2,  -9.2

2025-08-21T19:36:20.048Z,1755804980.048 [DAT](INFO): DAT read: Bearing  53.4,  12.0 (Local)

2025-08-21T19:36:20.049Z,1755804980.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.4,  12.0 (Local)

2025-08-21T19:36:20.050Z,1755804980.050 [DAT](INFO): DAT read: Range 11 to 50 : 150.0 m  (Round-trip  200.0 ms) speed  0.8 m/s

2025-08-21T19:36:20.051Z,1755804980.051 [DAT](INFO): DAT read: user:3988>

2025-08-21T19:36:20.052Z,1755804980.052 [DAT](INFO): DAT read: Tx time:19:36:19.3551

2025-08-21T19:36:20.053Z,1755804980.053 [DAT](INFO): Ping request sent.
2025-08-21T19:36:20.053Z,1755804980.053 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:20.053Z,1755804980.053 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:20.054Z,1755804980.054 [DAT](INFO): direction in FSK: [0.987130,0.003446,0.159881]
2025-08-21T19:36:20.054Z,1755804980.054 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:20.054Z,1755804980.054 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:20.066Z,1755804980.066 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:20.066Z,1755804980.066 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:20.176Z,1755804980.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.000000 m,
      deltaT: 3.528088 s,
      deltaX: -3.000000 m,
      approachRate: -0.850319 m/s,
      rangeRepo size: 4

2025-08-21T19:36:20.183Z,1755804980.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.067047 m,
      bearing: 270.485738 deg,
      lat: 36.779448 deg,
      lon: -121.859620 deg,
      deltaT: 3.528088 s,
      deltaX: -2.981384 m,
      approachRate: -0.845042 m/s,
      posRepo size: 4

2025-08-21T19:36:20.184Z,1755804980.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:20.187Z,1755804980.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 141.702911 m,
      bearing: 269.935376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009399 deg/s,
      cmd heading: 270.180618 deg,
      new cmd heading: 270.171292 deg.

2025-08-21T19:36:20.192Z,1755804980.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715379 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:20.585Z,1755804980.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:20.589Z,1755804980.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 141.350021 m,
      bearing: 269.933483 deg,
      approach rate: -0.851375 m/s,
      LOS rate: -0.004579 deg/s,
      cmd heading: 270.171302 deg,
      new cmd heading: 270.167506 deg.

2025-08-21T19:36:20.590Z,1755804980.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715312 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:20.957Z,1755804980.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:20.959Z,1755804980.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 141.040024 m,
      bearing: 269.931926 deg,
      approach rate: -0.833809 m/s,
      LOS rate: -0.004198 deg/s,
      cmd heading: 270.167504 deg,
      new cmd heading: 270.164383 deg.

2025-08-21T19:36:20.960Z,1755804980.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715258 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:21.485Z,1755804981.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:21.487Z,1755804981.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 140.627518 m,
      bearing: 269.929991 deg,
      approach rate: -0.781202 m/s,
      LOS rate: -0.003674 deg/s,
      cmd heading: 270.164390 deg,
      new cmd heading: 270.160510 deg.

2025-08-21T19:36:21.488Z,1755804981.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715190 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:21.833Z,1755804981.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:21.835Z,1755804981.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:21.838Z,1755804981.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 140.338776 m,
      bearing: 269.928775 deg,
      approach rate: -0.824031 m/s,
      LOS rate: -0.003478 deg/s,
      cmd heading: 270.160510 deg,
      new cmd heading: 270.158073 deg.

2025-08-21T19:36:21.839Z,1755804981.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715148 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:22.056Z,1755804982.056 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:22.056Z,1755804982.056 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:22.056Z,1755804982.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:22.234Z,1755804982.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:22.237Z,1755804982.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 140.019867 m,
      bearing: 269.927551 deg,
      approach rate: -0.799224 m/s,
      LOS rate: -0.003075 deg/s,
      cmd heading: 270.158079 deg,
      new cmd heading: 270.155625 deg.

2025-08-21T19:36:22.238Z,1755804982.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715105 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:22.310Z,1755804982.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257541
2025-08-21T19:36:22.564Z,1755804982.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511537
2025-08-21T19:36:22.664Z,1755804982.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:22.667Z,1755804982.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 139.677261 m,
      bearing: 269.926305 deg,
      approach rate: -0.797809 m/s,
      LOS rate: -0.002908 deg/s,
      cmd heading: 270.155620 deg,
      new cmd heading: 270.153122 deg.

2025-08-21T19:36:22.668Z,1755804982.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715062 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:22.817Z,1755804982.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764759
2025-08-21T19:36:23.021Z,1755804983.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:23.047Z,1755804983.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 139.391953 m,
      bearing: 269.925385 deg,
      approach rate: -0.797879 m/s,
      LOS rate: -0.002578 deg/s,
      cmd heading: 270.153134 deg,
      new cmd heading: 270.151290 deg.

2025-08-21T19:36:23.048Z,1755804983.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715030 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:23.071Z,1755804983.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018018
2025-08-21T19:36:23.320Z,1755804983.320 [DAT](INFO): DAT read: Rx Time:19:36:21.9553

2025-08-21T19:36:23.321Z,1755804983.321 [DAT](INFO): Rx dataTimestamp_ set to:1755804983.320360
2025-08-21T19:36:23.321Z,1755804983.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268540
2025-08-21T19:36:23.456Z,1755804983.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.07 m.
2025-08-21T19:36:23.473Z,1755804983.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.067047 m,
      nav range: 139.070084 m,
      bearing: 269.924444 deg,
      approach rate: -0.772670 m/s,
      LOS rate: -0.002266 deg/s,
      cmd heading: 270.151303 deg,
      new cmd heading: 270.149415 deg.

2025-08-21T19:36:23.481Z,1755804983.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714997 target range: 149.067047 and range: 150.00 m.
2025-08-21T19:36:23.572Z,1755804983.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519677
2025-08-21T19:36:23.830Z,1755804983.830 [DAT](INFO): DAT read: 19:36:21.9553 LVL= 29232, 32753, 31058, 32755, AGC= 63, IDX= 404,-0.07, 0.398,-1.294, 0.529, 0.117, PHS= 0.383,-1.366, 0.369, RAW= 149.6,   7.1, CAL= 149.0,   7.6, ROT=   1.0,  -7.6

2025-08-21T19:36:23.831Z,1755804983.831 [DAT](INFO): got valid direction response:
 19:36:21.9553 LVL= 29232, 32753, 31058, 32755, AGC= 63, IDX= 404,-0.07, 0.398,-1.294, 0.529, 0.117, PHS= 0.383,-1.366, 0.369, RAW= 149.6,   7.1, CAL= 149.0,   7.6, ROT=   1.0,  -7.6

2025-08-21T19:36:23.832Z,1755804983.832 [DAT](INFO): DAT read: Bearing  51.4,  13.3 (Local)

2025-08-21T19:36:23.832Z,1755804983.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.4,  13.3 (Local)

2025-08-21T19:36:23.834Z,1755804983.834 [DAT](INFO): DAT read: Range 11 to 50 : 147.0 m  (Round-trip  196.0 ms) speed  0.6 m/s

2025-08-21T19:36:23.834Z,1755804983.834 [DAT](INFO): DAT read: user:3989>

2025-08-21T19:36:23.835Z,1755804983.835 [DAT](INFO): DAT read: Tx time:19:36:23.0551

2025-08-21T19:36:23.835Z,1755804983.835 [DAT](INFO): Ping request sent.
2025-08-21T19:36:23.836Z,1755804983.836 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:23.836Z,1755804983.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:23.837Z,1755804983.837 [DAT](INFO): direction in FSK: [0.991065,0.017299,0.132256]
2025-08-21T19:36:23.837Z,1755804983.837 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:23.837Z,1755804983.837 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:23.840Z,1755804983.840 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:23.841Z,1755804983.841 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:23.974Z,1755804983.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.000000 m,
      deltaT: 3.783746 s,
      deltaX: -3.000000 m,
      approachRate: -0.792865 m/s,
      rangeRepo size: 4

2025-08-21T19:36:23.981Z,1755804983.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.084320 m,
      bearing: 271.026475 deg,
      lat: 36.779460 deg,
      lon: -121.859618 deg,
      deltaT: 3.783746 s,
      deltaX: -2.982727 m,
      approachRate: -0.788300 m/s,
      posRepo size: 4

2025-08-21T19:36:23.981Z,1755804983.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:23.988Z,1755804983.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 138.487106 m,
      bearing: 270.483350 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002266 deg/s,
      cmd heading: 270.149418 deg,
      new cmd heading: 270.146988 deg.

2025-08-21T19:36:23.989Z,1755804983.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714954 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:24.324Z,1755804984.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:24.326Z,1755804984.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:24.328Z,1755804984.328 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:24.328Z,1755804984.328 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:24.328Z,1755804984.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:24.333Z,1755804984.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 138.185715 m,
      bearing: 270.486013 deg,
      approach rate: -0.855065 m/s,
      LOS rate: 0.007573 deg/s,
      cmd heading: 270.146986 deg,
      new cmd heading: 270.152325 deg.

2025-08-21T19:36:24.334Z,1755804984.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715047 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:24.580Z,1755804984.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744641
2025-08-21T19:36:24.743Z,1755804984.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:24.746Z,1755804984.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 137.851562 m,
      bearing: 270.487648 deg,
      approach rate: -0.801740 m/s,
      LOS rate: 0.003933 deg/s,
      cmd heading: 270.152314 deg,
      new cmd heading: 270.155592 deg.

2025-08-21T19:36:24.747Z,1755804984.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715105 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:24.833Z,1755804984.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997619
2025-08-21T19:36:25.084Z,1755804985.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248696
2025-08-21T19:36:25.168Z,1755804985.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:25.172Z,1755804985.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 137.533218 m,
      bearing: 270.489204 deg,
      approach rate: -0.749846 m/s,
      LOS rate: 0.003672 deg/s,
      cmd heading: 270.155592 deg,
      new cmd heading: 270.158710 deg.

2025-08-21T19:36:25.174Z,1755804985.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715159 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:25.336Z,1755804985.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500719
2025-08-21T19:36:25.584Z,1755804985.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:25.587Z,1755804985.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 137.212540 m,
      bearing: 270.489253 deg,
      approach rate: -0.769745 m/s,
      LOS rate: 0.000119 deg/s,
      cmd heading: 270.158707 deg,
      new cmd heading: 270.158806 deg.

2025-08-21T19:36:25.588Z,1755804985.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752745
2025-08-21T19:36:25.591Z,1755804985.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715161 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:25.840Z,1755804985.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004613
2025-08-21T19:36:25.912Z,1755804985.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:25.914Z,1755804985.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 136.935028 m,
      bearing: 270.489272 deg,
      approach rate: -0.847537 m/s,
      LOS rate: 0.000059 deg/s,
      cmd heading: 270.158816 deg,
      new cmd heading: 270.158855 deg.

2025-08-21T19:36:25.916Z,1755804985.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715161 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:26.092Z,1755804986.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256672
2025-08-21T19:36:26.323Z,1755804986.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:26.326Z,1755804986.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 136.613098 m,
      bearing: 270.489265 deg,
      approach rate: -0.782099 m/s,
      LOS rate: -0.000016 deg/s,
      cmd heading: 270.158844 deg,
      new cmd heading: 270.158830 deg.

2025-08-21T19:36:26.327Z,1755804986.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715161 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:26.344Z,1755804986.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508491
2025-08-21T19:36:26.596Z,1755804986.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760892
2025-08-21T19:36:26.745Z,1755804986.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:26.747Z,1755804986.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:26.750Z,1755804986.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 136.284470 m,
      bearing: 270.488874 deg,
      approach rate: -0.775398 m/s,
      LOS rate: -0.000927 deg/s,
      cmd heading: 270.158844 deg,
      new cmd heading: 270.158058 deg.

2025-08-21T19:36:26.751Z,1755804986.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715147 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:26.849Z,1755804986.849 [DAT](INFO): DAT read: Rx Time:19:36:25.6512

2025-08-21T19:36:26.850Z,1755804986.850 [DAT](INFO): Rx dataTimestamp_ set to:1755804986.849299
2025-08-21T19:36:26.851Z,1755804986.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014897
2025-08-21T19:36:27.100Z,1755804987.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264618
2025-08-21T19:36:27.204Z,1755804987.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.08 m.
2025-08-21T19:36:27.207Z,1755804987.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.084320 m,
      nav range: 135.939941 m,
      bearing: 270.488497 deg,
      approach rate: -0.753372 m/s,
      LOS rate: -0.000826 deg/s,
      cmd heading: 270.158051 deg,
      new cmd heading: 270.157296 deg.

2025-08-21T19:36:27.212Z,1755804987.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715134 target range: 146.084320 and range: 147.00 m.
2025-08-21T19:36:27.356Z,1755804987.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519954
2025-08-21T19:36:27.615Z,1755804987.615 [DAT](INFO): DAT read: 19:36:25.6512 LVL= 30704, 32753, 30418, 32755, AGC= 61, IDX= 395,-0.30,-0.810,-2.504,-0.678,-1.153, PHS= 0.446,-1.306, 0.431, RAW= 149.6,   5.0, CAL= 148.8,   5.2, ROT=   1.2,  -5.2

2025-08-21T19:36:27.617Z,1755804987.617 [DAT](INFO): got valid direction response:
 19:36:25.6512 LVL= 30704, 32753, 30418, 32755, AGC= 61, IDX= 395,-0.30,-0.810,-2.504,-0.678,-1.153, PHS= 0.446,-1.306, 0.431, RAW= 149.6,   5.0, CAL= 148.8,   5.2, ROT=   1.2,  -5.2

2025-08-21T19:36:27.618Z,1755804987.618 [DAT](INFO): DAT read: Bearing  48.7,  14.0 (Local)

2025-08-21T19:36:27.619Z,1755804987.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.7,  14.0 (Local)

2025-08-21T19:36:27.621Z,1755804987.621 [DAT](INFO): DAT read: Range 11 to 50 : 143.9 m  (Round-trip  191.9 ms) speed  0.4 m/s

2025-08-21T19:36:27.622Z,1755804987.622 [DAT](INFO): DAT read: user:3990>

2025-08-21T19:36:27.624Z,1755804987.624 [DAT](INFO): DAT read: Tx time:19:36:26.7551

2025-08-21T19:36:27.625Z,1755804987.625 [DAT](INFO): Ping request sent.
2025-08-21T19:36:27.625Z,1755804987.625 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:27.625Z,1755804987.625 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:27.627Z,1755804987.627 [DAT](INFO): direction in FSK: [0.995666,0.020856,0.090633]
2025-08-21T19:36:27.628Z,1755804987.628 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:27.628Z,1755804987.628 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:27.645Z,1755804987.645 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:27.645Z,1755804987.645 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:27.648Z,1755804987.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.899994 m,
      deltaT: 3.780783 s,
      deltaX: -3.100006 m,
      approachRate: -0.819938 m/s,
      rangeRepo size: 4

2025-08-21T19:36:27.650Z,1755804987.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.002884 m,
      bearing: 271.195053 deg,
      lat: 36.779468 deg,
      lon: -121.859618 deg,
      deltaT: 3.780783 s,
      deltaX: -3.081436 m,
      approachRate: -0.815026 m/s,
      posRepo size: 4

2025-08-21T19:36:27.655Z,1755804987.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:27.658Z,1755804987.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 135.638107 m,
      bearing: 270.894956 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000826 deg/s,
      cmd heading: 270.157286 deg,
      new cmd heading: 270.156561 deg.

2025-08-21T19:36:27.659Z,1755804987.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715121 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:28.016Z,1755804988.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:28.019Z,1755804988.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 135.302353 m,
      bearing: 270.896253 deg,
      approach rate: -0.900779 m/s,
      LOS rate: 0.003488 deg/s,
      cmd heading: 270.156549 deg,
      new cmd heading: 270.159149 deg.

2025-08-21T19:36:28.020Z,1755804988.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715167 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:28.420Z,1755804988.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:28.423Z,1755804988.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 134.979111 m,
      bearing: 270.897623 deg,
      approach rate: -0.800005 m/s,
      LOS rate: 0.003400 deg/s,
      cmd heading: 270.159144 deg,
      new cmd heading: 270.161891 deg.

2025-08-21T19:36:28.424Z,1755804988.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715215 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:28.849Z,1755804988.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:28.852Z,1755804988.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:28.854Z,1755804988.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 134.635056 m,
      bearing: 270.897243 deg,
      approach rate: -0.797515 m/s,
      LOS rate: -0.000884 deg/s,
      cmd heading: 270.161903 deg,
      new cmd heading: 270.161141 deg.

2025-08-21T19:36:28.856Z,1755804988.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715201 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:28.864Z,1755804988.864 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:28.864Z,1755804988.864 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:28.864Z,1755804988.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:29.118Z,1755804989.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492987
2025-08-21T19:36:29.274Z,1755804989.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:29.276Z,1755804989.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 134.305389 m,
      bearing: 270.896941 deg,
      approach rate: -0.781205 m/s,
      LOS rate: -0.000716 deg/s,
      cmd heading: 270.161139 deg,
      new cmd heading: 270.160534 deg.

2025-08-21T19:36:29.277Z,1755804989.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715191 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:29.369Z,1755804989.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744252
2025-08-21T19:36:29.621Z,1755804989.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996678
2025-08-21T19:36:29.697Z,1755804989.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:29.700Z,1755804989.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 133.960297 m,
      bearing: 270.898198 deg,
      approach rate: -0.814655 m/s,
      LOS rate: 0.002975 deg/s,
      cmd heading: 270.160537 deg,
      new cmd heading: 270.163058 deg.

2025-08-21T19:36:29.701Z,1755804989.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715235 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:29.872Z,1755804989.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247494
2025-08-21T19:36:30.038Z,1755804990.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:30.042Z,1755804990.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 133.689087 m,
      bearing: 270.899297 deg,
      approach rate: -0.794980 m/s,
      LOS rate: 0.003227 deg/s,
      cmd heading: 270.163051 deg,
      new cmd heading: 270.165253 deg.

2025-08-21T19:36:30.043Z,1755804990.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715273 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:30.126Z,1755804990.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500785
2025-08-21T19:36:30.376Z,1755804990.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751464
2025-08-21T19:36:30.442Z,1755804990.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:30.445Z,1755804990.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 133.368561 m,
      bearing: 270.900748 deg,
      approach rate: -0.794374 m/s,
      LOS rate: 0.003604 deg/s,
      cmd heading: 270.165264 deg,
      new cmd heading: 270.168173 deg.

2025-08-21T19:36:30.446Z,1755804990.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715324 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:30.630Z,1755804990.630 [DAT](INFO): DAT read: Rx Time:19:36:29.3472

2025-08-21T19:36:30.630Z,1755804990.630 [DAT](INFO): Rx dataTimestamp_ set to:1755804990.629749
2025-08-21T19:36:30.631Z,1755804990.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005845
2025-08-21T19:36:30.866Z,1755804990.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:30.868Z,1755804990.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.00 m.
2025-08-21T19:36:30.871Z,1755804990.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.002884 m,
      nav range: 133.036331 m,
      bearing: 270.903704 deg,
      approach rate: -0.778789 m/s,
      LOS rate: 0.006947 deg/s,
      cmd heading: 270.168160 deg,
      new cmd heading: 270.174087 deg.

2025-08-21T19:36:30.872Z,1755804990.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715427 target range: 143.002884 and range: 143.90 m.
2025-08-21T19:36:30.880Z,1755804990.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255559
2025-08-21T19:36:31.138Z,1755804991.138 [DAT](INFO): DAT read: 19:36:29.3472 LVL= 28432, 32561, 29474, 32755, AGC= 64, IDX= 401, 0.05, 1.011,-0.759, 1.130, 0.647, PHS= 0.466,-1.361, 0.439, RAW= 149.3,   5.1, CAL= 148.5,   5.3, ROT=   1.5,  -5.3

2025-08-21T19:36:31.139Z,1755804991.139 [DAT](INFO): got valid direction response:
 19:36:29.3472 LVL= 28432, 32561, 29474, 32755, AGC= 64, IDX= 401, 0.05, 1.011,-0.759, 1.130, 0.647, PHS= 0.466,-1.361, 0.439, RAW= 149.3,   5.1, CAL= 148.5,   5.3, ROT=   1.5,  -5.3

2025-08-21T19:36:31.140Z,1755804991.140 [DAT](INFO): DAT read: Bearing  48.4,  15.0 (Local)

2025-08-21T19:36:31.141Z,1755804991.141 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.4,  15.0 (Local)

2025-08-21T19:36:31.142Z,1755804991.142 [DAT](INFO): DAT read: Range 11 to 50 : 140.9 m  (Round-trip  187.9 ms) speed  0.7 m/s

2025-08-21T19:36:31.143Z,1755804991.143 [DAT](INFO): DAT read: user:3991>

2025-08-21T19:36:31.145Z,1755804991.145 [DAT](INFO): DAT read: Tx time:19:36:30.4551

2025-08-21T19:36:31.145Z,1755804991.145 [DAT](INFO): Ping request sent.
2025-08-21T19:36:31.145Z,1755804991.145 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:31.146Z,1755804991.146 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:31.148Z,1755804991.148 [DAT](INFO): direction in FSK: [0.995383,0.026065,0.092371]
2025-08-21T19:36:31.148Z,1755804991.148 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:31.149Z,1755804991.149 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:31.155Z,1755804991.155 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:31.155Z,1755804991.155 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:31.375Z,1755804991.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.899994 m,
      deltaT: 3.527587 s,
      deltaX: -3.000000 m,
      approachRate: -0.850440 m/s,
      rangeRepo size: 4

2025-08-21T19:36:31.378Z,1755804991.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.020813 m,
      bearing: 271.048313 deg,
      lat: 36.779471 deg,
      lon: -121.859621 deg,
      deltaT: 3.527587 s,
      deltaX: -2.982071 m,
      approachRate: -0.845357 m/s,
      posRepo size: 4

2025-08-21T19:36:31.378Z,1755804991.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:31.386Z,1755804991.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 132.919647 m,
      bearing: 271.053328 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006947 deg/s,
      cmd heading: 270.174089 deg,
      new cmd heading: 270.181121 deg.

2025-08-21T19:36:31.391Z,1755804991.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715550 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:31.893Z,1755804991.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:31.896Z,1755804991.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 132.500458 m,
      bearing: 271.059090 deg,
      approach rate: -0.808859 m/s,
      LOS rate: 0.011153 deg/s,
      cmd heading: 270.181110 deg,
      new cmd heading: 270.192670 deg.

2025-08-21T19:36:31.897Z,1755804991.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715752 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:32.334Z,1755804992.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:32.352Z,1755804992.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 132.156204 m,
      bearing: 271.063992 deg,
      approach rate: -0.781095 m/s,
      LOS rate: 0.011153 deg/s,
      cmd heading: 270.192667 deg,
      new cmd heading: 270.202497 deg.

2025-08-21T19:36:32.353Z,1755804992.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715923 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:32.789Z,1755804992.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:32.792Z,1755804992.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 131.801208 m,
      bearing: 271.071625 deg,
      approach rate: -0.778667 m/s,
      LOS rate: 0.016787 deg/s,
      cmd heading: 270.202502 deg,
      new cmd heading: 270.217808 deg.

2025-08-21T19:36:32.793Z,1755804992.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716190 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:33.176Z,1755804993.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:33.182Z,1755804993.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:33.185Z,1755804993.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 131.511185 m,
      bearing: 271.078096 deg,
      approach rate: -0.739608 m/s,
      LOS rate: 0.016538 deg/s,
      cmd heading: 270.217802 deg,
      new cmd heading: 270.230772 deg.

2025-08-21T19:36:33.186Z,1755804993.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716417 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:33.401Z,1755804993.401 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:33.401Z,1755804993.401 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:33.402Z,1755804993.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:33.561Z,1755804993.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:33.564Z,1755804993.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 131.203079 m,
      bearing: 271.085063 deg,
      approach rate: -0.813278 m/s,
      LOS rate: 0.018433 deg/s,
      cmd heading: 270.230779 deg,
      new cmd heading: 270.244746 deg.

2025-08-21T19:36:33.565Z,1755804993.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716660 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:33.653Z,1755804993.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507619
2025-08-21T19:36:33.904Z,1755804993.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759257
2025-08-21T19:36:33.978Z,1755804993.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:33.981Z,1755804993.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 130.856796 m,
      bearing: 271.093336 deg,
      approach rate: -0.829504 m/s,
      LOS rate: 0.019871 deg/s,
      cmd heading: 270.244740 deg,
      new cmd heading: 270.261331 deg.

2025-08-21T19:36:33.982Z,1755804993.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716950 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:34.157Z,1755804994.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011683
2025-08-21T19:36:34.360Z,1755804994.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.02 m.
2025-08-21T19:36:34.362Z,1755804994.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.020813 m,
      nav range: 130.552094 m,
      bearing: 271.100702 deg,
      approach rate: -0.798341 m/s,
      LOS rate: 0.019343 deg/s,
      cmd heading: 270.261324 deg,
      new cmd heading: 270.276089 deg.

2025-08-21T19:36:34.364Z,1755804994.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717207 target range: 140.020813 and range: 140.90 m.
2025-08-21T19:36:34.409Z,1755804994.409 [DAT](INFO): DAT read: Rx Time:19:36:33.0432

2025-08-21T19:36:34.410Z,1755804994.410 [DAT](INFO): Rx dataTimestamp_ set to:1755804994.409289
2025-08-21T19:36:34.410Z,1755804994.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265514
2025-08-21T19:36:34.663Z,1755804994.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517345
2025-08-21T19:36:34.930Z,1755804994.930 [DAT](INFO): DAT read: 19:36:33.0432 LVL= 29504, 32753, 30818, 32291, AGC= 63, IDX= 408, 0.08, 2.607, 0.869, 2.696, 2.232, PHS= 0.477,-1.318, 0.420, RAW= 148.4,   4.8, CAL= 147.7,   5.0, ROT=   2.3,  -5.0

2025-08-21T19:36:34.936Z,1755804994.936 [DAT](INFO): got valid direction response:
 19:36:33.0432 LVL= 29504, 32753, 30818, 32291, AGC= 63, IDX= 408, 0.08, 2.607, 0.869, 2.696, 2.232, PHS= 0.477,-1.318, 0.420, RAW= 148.4,   4.8, CAL= 147.7,   5.0, ROT=   2.3,  -5.0

2025-08-21T19:36:34.937Z,1755804994.937 [DAT](INFO): DAT read: Bearing  48.1,  16.4 (Local)

2025-08-21T19:36:34.937Z,1755804994.937 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.1,  16.4 (Local)

2025-08-21T19:36:34.939Z,1755804994.939 [DAT](INFO): DAT read: Range 11 to 50 : 137.9 m  (Round-trip  183.9 ms) speed  0.7 m/s

2025-08-21T19:36:34.939Z,1755804994.939 [DAT](INFO): DAT read: user:3992>

2025-08-21T19:36:34.940Z,1755804994.940 [DAT](INFO): DAT read: Tx time:19:36:34.1567

2025-08-21T19:36:34.940Z,1755804994.940 [DAT](INFO): Ping request sent.
2025-08-21T19:36:34.941Z,1755804994.941 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:34.941Z,1755804994.941 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:34.942Z,1755804994.942 [DAT](INFO): direction in FSK: [0.995392,0.039979,0.087156]
2025-08-21T19:36:34.942Z,1755804994.942 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:34.942Z,1755804994.942 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:34.960Z,1755804994.960 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:34.960Z,1755804994.960 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:34.979Z,1755804994.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.899994 m,
      deltaT: 3.779853 s,
      deltaX: -3.000000 m,
      approachRate: -0.793682 m/s,
      rangeRepo size: 4

2025-08-21T19:36:34.989Z,1755804994.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.037186 m,
      bearing: 271.551035 deg,
      lat: 36.779474 deg,
      lon: -121.859621 deg,
      deltaT: 3.779853 s,
      deltaX: -2.983627 m,
      approachRate: -0.789350 m/s,
      posRepo size: 4

2025-08-21T19:36:34.990Z,1755804994.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:35.009Z,1755804995.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 130.127197 m,
      bearing: 271.244839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019343 deg/s,
      cmd heading: 270.276077 deg,
      new cmd heading: 270.300001 deg.

2025-08-21T19:36:35.010Z,1755804995.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717625 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:35.339Z,1755804995.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:35.345Z,1755804995.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:35.352Z,1755804995.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 129.792770 m,
      bearing: 271.254382 deg,
      approach rate: -0.910444 m/s,
      LOS rate: 0.026047 deg/s,
      cmd heading: 270.300010 deg,
      new cmd heading: 270.319145 deg.

2025-08-21T19:36:35.353Z,1755804995.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717959 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:35.417Z,1755804995.417 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:35.417Z,1755804995.417 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:35.417Z,1755804995.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:35.669Z,1755804995.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.728565
2025-08-21T19:36:35.773Z,1755804995.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:35.776Z,1755804995.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 129.448013 m,
      bearing: 271.263680 deg,
      approach rate: -0.805729 m/s,
      LOS rate: 0.021788 deg/s,
      cmd heading: 270.319134 deg,
      new cmd heading: 270.337780 deg.

2025-08-21T19:36:35.777Z,1755804995.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718284 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:35.920Z,1755804995.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979686
2025-08-21T19:36:36.173Z,1755804996.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232405
2025-08-21T19:36:36.190Z,1755804996.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:36.197Z,1755804996.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 129.138504 m,
      bearing: 271.272070 deg,
      approach rate: -0.741670 m/s,
      LOS rate: 0.020152 deg/s,
      cmd heading: 270.337767 deg,
      new cmd heading: 270.354587 deg.

2025-08-21T19:36:36.198Z,1755804996.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718578 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:36.425Z,1755804996.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484324
2025-08-21T19:36:36.558Z,1755804996.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:36.569Z,1755804996.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 128.841125 m,
      bearing: 271.280203 deg,
      approach rate: -0.810013 m/s,
      LOS rate: 0.022204 deg/s,
      cmd heading: 270.354597 deg,
      new cmd heading: 270.370901 deg.

2025-08-21T19:36:36.570Z,1755804996.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718863 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:36.678Z,1755804996.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737516
2025-08-21T19:36:36.928Z,1755804996.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987691
2025-08-21T19:36:36.982Z,1755804996.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:36.986Z,1755804996.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 128.507507 m,
      bearing: 271.288651 deg,
      approach rate: -0.785759 m/s,
      LOS rate: 0.019951 deg/s,
      cmd heading: 270.370907 deg,
      new cmd heading: 270.387849 deg.

2025-08-21T19:36:36.987Z,1755804996.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719158 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:37.181Z,1755804997.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240637
2025-08-21T19:36:37.403Z,1755804997.403 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:37.405Z,1755804997.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:37.409Z,1755804997.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 128.162170 m,
      bearing: 271.297465 deg,
      approach rate: -0.816228 m/s,
      LOS rate: 0.020887 deg/s,
      cmd heading: 270.387846 deg,
      new cmd heading: 270.405521 deg.

2025-08-21T19:36:37.410Z,1755804997.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719467 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:37.432Z,1755804997.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491762
2025-08-21T19:36:37.687Z,1755804997.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745873
2025-08-21T19:36:37.888Z,1755804997.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:37.890Z,1755804997.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 127.799904 m,
      bearing: 271.306266 deg,
      approach rate: -0.757610 m/s,
      LOS rate: 0.018458 deg/s,
      cmd heading: 270.405523 deg,
      new cmd heading: 270.423175 deg.

2025-08-21T19:36:37.897Z,1755804997.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719775 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:37.937Z,1755804997.937 [DAT](INFO): DAT read: Rx Time:19:36:36.7406

2025-08-21T19:36:37.938Z,1755804997.938 [DAT](INFO): Rx dataTimestamp_ set to:1755804997.936867
2025-08-21T19:36:37.938Z,1755804997.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997506
2025-08-21T19:36:38.188Z,1755804998.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247713
2025-08-21T19:36:38.265Z,1755804998.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:38.268Z,1755804998.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 127.499886 m,
      bearing: 271.313505 deg,
      approach rate: -0.786102 m/s,
      LOS rate: 0.019012 deg/s,
      cmd heading: 270.423172 deg,
      new cmd heading: 270.437684 deg.

2025-08-21T19:36:38.269Z,1755804998.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720028 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:38.444Z,1755804998.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502856
2025-08-21T19:36:38.715Z,1755804998.715 [DAT](INFO): DAT read: 19:36:36.7406 LVL= 32656, 32753, 30002, 32755, AGC= 64, IDX= 398,-0.32,-2.535, 2.026,-2.387,-2.902, PHS= 0.469,-1.310, 0.471, RAW= 150.0,   4.2, CAL= 149.2,   4.3, ROT=   0.8,  -4.3

2025-08-21T19:36:38.719Z,1755804998.719 [DAT](INFO): got valid direction response:
 19:36:36.7406 LVL= 32656, 32753, 30002, 32755, AGC= 64, IDX= 398,-0.32,-2.535, 2.026,-2.387,-2.902, PHS= 0.469,-1.310, 0.471, RAW= 150.0,   4.2, CAL= 149.2,   4.3, ROT=   0.8,  -4.3

2025-08-21T19:36:38.726Z,1755804998.726 [DAT](INFO): DAT read: Bearing  47.8,  15.0 (Local)

2025-08-21T19:36:38.735Z,1755804998.735 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.8,  15.0 (Local)

2025-08-21T19:36:38.737Z,1755804998.737 [DAT](INFO): DAT read: Range 11 to 50 : 134.7 m  (Round-trip  179.7 ms) speed  0.6 m/s

2025-08-21T19:36:38.738Z,1755804998.738 [DAT](INFO): DAT read: user:3993>

2025-08-21T19:36:38.738Z,1755804998.738 [DAT](INFO): DAT read: Tx time:19:36:37.8551

2025-08-21T19:36:38.739Z,1755804998.739 [DAT](INFO): Ping request sent.
2025-08-21T19:36:38.739Z,1755804998.739 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:38.746Z,1755804998.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.04 m.
2025-08-21T19:36:38.747Z,1755804998.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:38.748Z,1755804998.748 [DAT](INFO): direction in FSK: [0.997088,0.013923,0.074979]
2025-08-21T19:36:38.748Z,1755804998.748 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:38.749Z,1755804998.749 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:38.756Z,1755804998.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.037186 m,
      nav range: 127.177864 m,
      bearing: 271.321229 deg,
      approach rate: -0.670241 m/s,
      LOS rate: 0.016117 deg/s,
      cmd heading: 270.437679 deg,
      new cmd heading: 270.453167 deg.

2025-08-21T19:36:38.757Z,1755804998.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720298 target range: 137.037186 and range: 137.90 m.
2025-08-21T19:36:38.760Z,1755804998.760 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:38.760Z,1755804998.760 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:39.178Z,1755804999.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.699997 m,
      deltaT: 3.781084 s,
      deltaX: -3.199997 m,
      approachRate: -0.846317 m/s,
      rangeRepo size: 4

2025-08-21T19:36:39.181Z,1755804999.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.854904 m,
      bearing: 270.060451 deg,
      lat: 36.779474 deg,
      lon: -121.859627 deg,
      deltaT: 3.781084 s,
      deltaX: -3.182281 m,
      approachRate: -0.841632 m/s,
      posRepo size: 4

2025-08-21T19:36:39.182Z,1755804999.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:39.185Z,1755804999.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 127.314529 m,
      bearing: 271.323940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016117 deg/s,
      cmd heading: 270.453170 deg,
      new cmd heading: 270.467068 deg.

2025-08-21T19:36:39.186Z,1755804999.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720541 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:39.516Z,1755804999.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:39.518Z,1755804999.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:39.521Z,1755804999.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 127.041977 m,
      bearing: 271.329698 deg,
      approach rate: -0.798909 m/s,
      LOS rate: 0.016914 deg/s,
      cmd heading: 270.467076 deg,
      new cmd heading: 270.478617 deg.

2025-08-21T19:36:39.522Z,1755804999.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720742 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:39.702Z,1755804999.702 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:39.702Z,1755804999.702 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:39.703Z,1755804999.703 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:39.944Z,1755804999.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:39.946Z,1755804999.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 126.715218 m,
      bearing: 271.335267 deg,
      approach rate: -0.767043 m/s,
      LOS rate: 0.013107 deg/s,
      cmd heading: 270.478606 deg,
      new cmd heading: 270.489773 deg.

2025-08-21T19:36:39.948Z,1755804999.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720937 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:39.952Z,1755804999.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213617
2025-08-21T19:36:40.205Z,1755805000.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466209
2025-08-21T19:36:40.331Z,1755805000.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:40.334Z,1755805000.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 126.417969 m,
      bearing: 271.340199 deg,
      approach rate: -0.767871 m/s,
      LOS rate: 0.012771 deg/s,
      cmd heading: 270.489780 deg,
      new cmd heading: 270.499667 deg.

2025-08-21T19:36:40.335Z,1755805000.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721110 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:40.456Z,1755805000.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717590
2025-08-21T19:36:40.711Z,1755805000.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971772
2025-08-21T19:36:40.806Z,1755805000.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:40.809Z,1755805000.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 126.054222 m,
      bearing: 271.345349 deg,
      approach rate: -0.764951 m/s,
      LOS rate: 0.010860 deg/s,
      cmd heading: 270.499670 deg,
      new cmd heading: 270.509999 deg.

2025-08-21T19:36:40.810Z,1755805000.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721290 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:40.960Z,1755805000.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221526
2025-08-21T19:36:41.185Z,1755805001.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:41.192Z,1755805001.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 125.783173 m,
      bearing: 271.349031 deg,
      approach rate: -0.715251 m/s,
      LOS rate: 0.009739 deg/s,
      cmd heading: 270.509997 deg,
      new cmd heading: 270.517379 deg.

2025-08-21T19:36:41.193Z,1755805001.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721419 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:41.212Z,1755805001.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473731
2025-08-21T19:36:41.464Z,1755805001.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725526
2025-08-21T19:36:41.561Z,1755805001.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:41.563Z,1755805001.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:41.566Z,1755805001.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 125.475441 m,
      bearing: 271.352979 deg,
      approach rate: -0.815192 m/s,
      LOS rate: 0.010483 deg/s,
      cmd heading: 270.517374 deg,
      new cmd heading: 270.525288 deg.

2025-08-21T19:36:41.567Z,1755805001.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721557 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:41.719Z,1755805001.719 [DAT](INFO): DAT read: Rx Time:19:36:40.4353

2025-08-21T19:36:41.720Z,1755805001.720 [DAT](INFO): Rx dataTimestamp_ set to:1755805001.719470
2025-08-21T19:36:41.722Z,1755805001.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983033
2025-08-21T19:36:41.968Z,1755805001.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229670
2025-08-21T19:36:42.005Z,1755805002.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:42.011Z,1755805002.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 125.156021 m,
      bearing: 271.357651 deg,
      approach rate: -0.723312 m/s,
      LOS rate: 0.010606 deg/s,
      cmd heading: 270.525297 deg,
      new cmd heading: 270.534664 deg.

2025-08-21T19:36:42.012Z,1755805002.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721721 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:42.227Z,1755805002.227 [DAT](INFO): DAT read: 19:36:40.4353 LVL= 30704, 30785, 31282, 32755, AGC= 62, IDX= 407, 0.10,-0.125,-1.828, 0.038,-0.469, PHS= 0.447,-1.314, 0.463, RAW= 150.5,   4.6, CAL= 149.6,   4.7, ROT=   0.4,  -4.7

2025-08-21T19:36:42.234Z,1755805002.234 [DAT](INFO): got valid direction response:
 19:36:40.4353 LVL= 30704, 30785, 31282, 32755, AGC= 62, IDX= 407, 0.10,-0.125,-1.828, 0.038,-0.469, PHS= 0.447,-1.314, 0.463, RAW= 150.5,   4.6, CAL= 149.6,   4.7, ROT=   0.4,  -4.7

2025-08-21T19:36:42.240Z,1755805002.240 [DAT](INFO): DAT read: Bearing  49.3,  14.3 (Local 11 to 50 : 132.0 m  (Round-trip  176.0 ms) speed  0.7 m/s

2025-08-21T19:36:42.241Z,1755805002.241 [DAT](INFO): unknown deviceResponse_: Bearing  49.3,  14.3 (Local 11 to 50 : 132.0 m  (Round-trip  176.0 ms) speed  0.7 m/s

2025-08-21T19:36:42.241Z,1755805002.241 [DAT](INFO): DAT read: user:3994>

2025-08-21T19:36:42.242Z,1755805002.242 [DAT](INFO): DAT read: Tx time:19:36:41.5551

2025-08-21T19:36:42.242Z,1755805002.242 [DAT](INFO): Ping request sent.
2025-08-21T19:36:42.242Z,1755805002.242 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:42.243Z,1755805002.243 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T19:36:42.253Z,1755805002.253 [DAT](INFO): direction in FSK: [0.996613,0.006958,0.081939]
2025-08-21T19:36:42.253Z,1755805002.253 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:42.261Z,1755805002.261 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:42.403Z,1755805002.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:42.409Z,1755805002.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 124.848595 m,
      bearing: 271.361978 deg,
      approach rate: -0.772380 m/s,
      LOS rate: 0.010897 deg/s,
      cmd heading: 270.534668 deg,
      new cmd heading: 270.543343 deg.

2025-08-21T19:36:42.410Z,1755805002.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721872 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:42.859Z,1755805002.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:42.878Z,1755805002.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 124.488258 m,
      bearing: 271.366185 deg,
      approach rate: -0.789636 m/s,
      LOS rate: 0.009247 deg/s,
      cmd heading: 270.543356 deg,
      new cmd heading: 270.551795 deg.

2025-08-21T19:36:42.879Z,1755805002.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722020 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:43.210Z,1755805003.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:43.213Z,1755805003.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 124.218025 m,
      bearing: 271.369067 deg,
      approach rate: -0.769864 m/s,
      LOS rate: 0.008227 deg/s,
      cmd heading: 270.551798 deg,
      new cmd heading: 270.557573 deg.

2025-08-21T19:36:43.214Z,1755805003.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722120 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:43.622Z,1755805003.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:43.625Z,1755805003.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:43.628Z,1755805003.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 123.898972 m,
      bearing: 271.372323 deg,
      approach rate: -0.769279 m/s,
      LOS rate: 0.007872 deg/s,
      cmd heading: 270.557563 deg,
      new cmd heading: 270.564093 deg.

2025-08-21T19:36:43.629Z,1755805003.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722234 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:43.735Z,1755805003.735 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:43.735Z,1755805003.735 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:43.736Z,1755805003.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:43.984Z,1755805003.984 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:43.984Z,1755805003.984 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:43.984Z,1755805003.984 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:44.076Z,1755805004.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:44.081Z,1755805004.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 123.563965 m,
      bearing: 271.377290 deg,
      approach rate: -0.771194 m/s,
      LOS rate: 0.011464 deg/s,
      cmd heading: 270.564092 deg,
      new cmd heading: 270.574052 deg.

2025-08-21T19:36:44.083Z,1755805004.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722408 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:44.236Z,1755805004.236 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:44.236Z,1755805004.236 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:44.236Z,1755805004.236 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:44.423Z,1755805004.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:44.426Z,1755805004.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 123.282570 m,
      bearing: 271.381359 deg,
      approach rate: -0.773367 m/s,
      LOS rate: 0.011210 deg/s,
      cmd heading: 270.574064 deg,
      new cmd heading: 270.582222 deg.

2025-08-21T19:36:44.427Z,1755805004.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722551 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:44.488Z,1755805004.488 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:44.488Z,1755805004.488 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:44.488Z,1755805004.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:44.741Z,1755805004.741 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:44.741Z,1755805004.741 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:44.741Z,1755805004.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:44.893Z,1755805004.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:44.900Z,1755805004.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 122.908806 m,
      bearing: 271.386820 deg,
      approach rate: -0.794764 m/s,
      LOS rate: 0.011647 deg/s,
      cmd heading: 270.582233 deg,
      new cmd heading: 270.593188 deg.

2025-08-21T19:36:44.901Z,1755805004.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722742 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:44.993Z,1755805004.993 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:44.993Z,1755805004.993 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:44.993Z,1755805004.993 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:45.228Z,1755805005.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:45.230Z,1755805005.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 122.642632 m,
      bearing: 271.390783 deg,
      approach rate: -0.795400 m/s,
      LOS rate: 0.011868 deg/s,
      cmd heading: 270.593189 deg,
      new cmd heading: 270.601132 deg.

2025-08-21T19:36:45.232Z,1755805005.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722881 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:45.244Z,1755805005.244 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:45.244Z,1755805005.244 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:45.244Z,1755805005.244 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:45.496Z,1755805005.496 [DAT](INFO): DAT read: Rx Time:19:36:44.1312

2025-08-21T19:36:45.497Z,1755805005.497 [DAT](INFO): Rx dataTimestamp_ set to:1755805005.496447
2025-08-21T19:36:45.497Z,1755805005.497 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:45.497Z,1755805005.497 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:45.497Z,1755805005.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:45.636Z,1755805005.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:45.638Z,1755805005.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.85 m.
2025-08-21T19:36:45.641Z,1755805005.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.854904 m,
      nav range: 122.316666 m,
      bearing: 271.395670 deg,
      approach rate: -0.794326 m/s,
      LOS rate: 0.011942 deg/s,
      cmd heading: 270.601139 deg,
      new cmd heading: 270.610941 deg.

2025-08-21T19:36:45.642Z,1755805005.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723052 target range: 133.854904 and range: 134.70 m.
2025-08-21T19:36:45.749Z,1755805005.749 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:45.750Z,1755805005.750 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:45.750Z,1755805005.750 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T19:36:46.014Z,1755805006.014 [DAT](INFO): DAT read: 19:36:44.1312 LVL= 24992, 30625, 23906, 31731, AGC= 62, IDX= 398,-0.01, 3.086, 1.381,-3.038, 2.737, PHS= 0.450,-1.311, 0.464, RAW= 150.4,   4.5, CAL= 149.6,   4.6, ROT=   0.4,  -4.6

2025-08-21T19:36:46.015Z,1755805006.015 [DAT](INFO): got valid direction response:
 19:36:44.1312 LVL= 24992, 30625, 23906, 31731, AGC= 62, IDX= 398,-0.01, 3.086, 1.381,-3.038, 2.737, PHS= 0.450,-1.311, 0.464, RAW= 150.4,   4.5, CAL= 149.6,   4.6, ROT=   0.4,  -4.6

2025-08-21T19:36:46.016Z,1755805006.016 [DAT](INFO): DAT read: Bearing  50.3,  13.7 (Local)

2025-08-21T19:36:46.016Z,1755805006.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,  13.7 (Local)

2025-08-21T19:36:46.018Z,1755805006.018 [DAT](INFO): DAT read: Range 11 to 50 : 129.0 m  (Round-trip  172.0 ms) speed  0.8 m/s

2025-08-21T19:36:46.018Z,1755805006.018 [DAT](INFO): DAT read: user:3995>

2025-08-21T19:36:46.024Z,1755805006.024 [DAT](INFO): DAT read: Tx time:19:36:45.2550

2025-08-21T19:36:46.024Z,1755805006.024 [DAT](INFO): Ping request sent.
2025-08-21T19:36:46.024Z,1755805006.024 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:46.024Z,1755805006.024 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T19:36:46.025Z,1755805006.025 [DAT](INFO): direction in FSK: [0.996755,0.006959,0.080199]
2025-08-21T19:36:46.025Z,1755805006.025 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:46.026Z,1755805006.026 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:46.029Z,1755805006.029 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:46.029Z,1755805006.029 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:46.217Z,1755805006.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 129.000000 m,
      deltaT: 7.306775 s,
      deltaX: -5.699997 m,
      approachRate: -0.780097 m/s,
      rangeRepo size: 4

2025-08-21T19:36:46.223Z,1755805006.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.189285 m,
      bearing: 270.496549 deg,
      lat: 36.779471 deg,
      lon: -121.859628 deg,
      deltaT: 7.306775 s,
      deltaX: -5.665619 m,
      approachRate: -0.775393 m/s,
      posRepo size: 4

2025-08-21T19:36:46.224Z,1755805006.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:46.227Z,1755805006.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 122.027184 m,
      bearing: 271.258076 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011942 deg/s,
      cmd heading: 270.610947 deg,
      new cmd heading: 270.624756 deg.

2025-08-21T19:36:46.235Z,1755805006.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723293 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:46.699Z,1755805006.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:46.702Z,1755805006.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 121.625069 m,
      bearing: 271.267123 deg,
      approach rate: -0.833647 m/s,
      LOS rate: 0.018819 deg/s,
      cmd heading: 270.624744 deg,
      new cmd heading: 270.642899 deg.

2025-08-21T19:36:46.703Z,1755805006.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723609 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:47.224Z,1755805007.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:47.226Z,1755805007.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 121.220955 m,
      bearing: 271.278798 deg,
      approach rate: -0.770267 m/s,
      LOS rate: 0.022327 deg/s,
      cmd heading: 270.642885 deg,
      new cmd heading: 270.666312 deg.

2025-08-21T19:36:47.227Z,1755805007.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724018 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:47.609Z,1755805007.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:47.612Z,1755805007.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 120.900131 m,
      bearing: 271.288192 deg,
      approach rate: -0.831031 m/s,
      LOS rate: 0.024398 deg/s,
      cmd heading: 270.666299 deg,
      new cmd heading: 270.685138 deg.

2025-08-21T19:36:47.613Z,1755805007.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724347 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:48.087Z,1755805008.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:48.118Z,1755805008.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:48.121Z,1755805008.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 120.517982 m,
      bearing: 271.300254 deg,
      approach rate: -0.793795 m/s,
      LOS rate: 0.025134 deg/s,
      cmd heading: 270.685151 deg,
      new cmd heading: 270.709351 deg.

2025-08-21T19:36:48.122Z,1755805008.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724770 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:48.268Z,1755805008.268 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:48.268Z,1755805008.268 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:48.268Z,1755805008.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:48.405Z,1755805008.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:48.408Z,1755805008.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 120.258110 m,
      bearing: 271.308527 deg,
      approach rate: -0.826669 m/s,
      LOS rate: 0.026372 deg/s,
      cmd heading: 270.709357 deg,
      new cmd heading: 270.725938 deg.

2025-08-21T19:36:48.409Z,1755805008.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725059 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:48.520Z,1755805008.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496272
2025-08-21T19:36:48.772Z,1755805008.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748334
2025-08-21T19:36:48.901Z,1755805008.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:48.907Z,1755805008.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 119.864410 m,
      bearing: 271.321004 deg,
      approach rate: -0.794749 m/s,
      LOS rate: 0.025270 deg/s,
      cmd heading: 270.725941 deg,
      new cmd heading: 270.750976 deg.

2025-08-21T19:36:48.908Z,1755805008.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725496 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:49.025Z,1755805009.025 [DAT](INFO): DAT read: Rx Time:19:36:47.8271

2025-08-21T19:36:49.025Z,1755805009.025 [DAT](INFO): Rx dataTimestamp_ set to:1755805009.024845
2025-08-21T19:36:49.026Z,1755805009.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001670
2025-08-21T19:36:49.164Z,1755805009.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:36:49.276Z,1755805009.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252327
2025-08-21T19:36:49.280Z,1755805009.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:49.283Z,1755805009.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 119.556702 m,
      bearing: 271.329705 deg,
      approach rate: -0.811064 m/s,
      LOS rate: 0.022995 deg/s,
      cmd heading: 270.750966 deg,
      new cmd heading: 270.768414 deg.

2025-08-21T19:36:49.284Z,1755805009.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725801 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:49.532Z,1755805009.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.506941
2025-08-21T19:36:49.652Z,1755805009.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.19 m.
2025-08-21T19:36:49.655Z,1755805009.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.189285 m,
      nav range: 119.258682 m,
      bearing: 271.338175 deg,
      approach rate: -0.800916 m/s,
      LOS rate: 0.022820 deg/s,
      cmd heading: 270.768424 deg,
      new cmd heading: 270.785407 deg.

2025-08-21T19:36:49.656Z,1755805009.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726097 target range: 128.189285 and range: 129.00 m.
2025-08-21T19:36:49.786Z,1755805009.786 [DAT](INFO): DAT read: 19:36:47.8271 LVL= 27616, 32161, 27426, 32755, AGC= 66, IDX= 405,-0.37, 1.809, 0.095, 1.974, 1.502, PHS= 0.409,-1.362, 0.428, RAW= 150.5,   5.9, CAL= 149.8,   6.2, ROT=   0.2,  -6.2

2025-08-21T19:36:49.790Z,1755805009.790 [DAT](INFO): got valid direction response:
 19:36:47.8271 LVL= 27616, 32161, 27426, 32755, AGC= 66, IDX= 405,-0.37, 1.809, 0.095, 1.974, 1.502, PHS= 0.409,-1.362, 0.428, RAW= 150.5,   5.9, CAL= 149.8,   6.2, ROT=   0.2,  -6.2

2025-08-21T19:36:49.807Z,1755805009.807 [DAT](INFO): DAT read: Bearing  52.5,  12.5 (Local)

2025-08-21T19:36:49.808Z,1755805009.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.5,  12.5 (Local)

2025-08-21T19:36:49.809Z,1755805009.809 [DAT](INFO): DAT read: Range 11 to 50 : 125.9 m  (Round-trip  167.9 ms) speed  0.6 m/s

2025-08-21T19:36:49.810Z,1755805009.810 [DAT](INFO): DAT read: user:3996>

2025-08-21T19:36:49.881Z,1755805009.881 [DAT](INFO): DAT read: Tx time:19:36:48.9550

2025-08-21T19:36:49.882Z,1755805009.882 [DAT](INFO): Ping request sent.
2025-08-21T19:36:49.882Z,1755805009.882 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:49.882Z,1755805009.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:49.885Z,1755805009.885 [DAT](INFO): direction in FSK: [0.994145,0.003470,0.107999]
2025-08-21T19:36:49.885Z,1755805009.885 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:49.885Z,1755805009.885 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:49.893Z,1755805009.893 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:49.893Z,1755805009.893 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:50.116Z,1755805010.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.900002 m,
      deltaT: 3.780018 s,
      deltaX: -3.099998 m,
      approachRate: -0.820101 m/s,
      rangeRepo size: 4

2025-08-21T19:36:50.119Z,1755805010.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.105392 m,
      bearing: 270.395823 deg,
      lat: 36.779457 deg,
      lon: -121.859628 deg,
      deltaT: 3.780018 s,
      deltaX: -3.083893 m,
      approachRate: -0.815841 m/s,
      posRepo size: 4

2025-08-21T19:36:50.120Z,1755805010.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:50.122Z,1755805010.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 118.866753 m,
      bearing: 270.570189 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022820 deg/s,
      cmd heading: 270.785418 deg,
      new cmd heading: 270.806384 deg.

2025-08-21T19:36:50.123Z,1755805010.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726463 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:50.168Z,1755805010.168 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:36:50.585Z,1755805010.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:50.589Z,1755805010.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:50.593Z,1755805010.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 118.466614 m,
      bearing: 270.579559 deg,
      approach rate: -0.839070 m/s,
      LOS rate: 0.019716 deg/s,
      cmd heading: 270.806373 deg,
      new cmd heading: 270.825178 deg.

2025-08-21T19:36:50.594Z,1755805010.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726791 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:50.788Z,1755805010.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:50.788Z,1755805010.788 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:50.788Z,1755805010.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:51.011Z,1755805011.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:51.014Z,1755805011.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 118.140144 m,
      bearing: 270.586849 deg,
      approach rate: -0.779264 m/s,
      LOS rate: 0.017449 deg/s,
      cmd heading: 270.825169 deg,
      new cmd heading: 270.839790 deg.

2025-08-21T19:36:51.019Z,1755805011.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727046 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:51.042Z,1755805011.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.160320
2025-08-21T19:36:51.293Z,1755805011.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.410847
2025-08-21T19:36:51.380Z,1755805011.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:51.382Z,1755805011.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 117.844299 m,
      bearing: 270.593373 deg,
      approach rate: -0.794917 m/s,
      LOS rate: 0.017573 deg/s,
      cmd heading: 270.839786 deg,
      new cmd heading: 270.852866 deg.

2025-08-21T19:36:51.383Z,1755805011.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727274 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:51.544Z,1755805011.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.662424
2025-08-21T19:36:51.780Z,1755805011.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:51.782Z,1755805011.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 117.532867 m,
      bearing: 270.600103 deg,
      approach rate: -0.778913 m/s,
      LOS rate: 0.016877 deg/s,
      cmd heading: 270.852873 deg,
      new cmd heading: 270.866369 deg.

2025-08-21T19:36:51.783Z,1755805011.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727510 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:51.796Z,1755805011.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.914603
2025-08-21T19:36:52.049Z,1755805012.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.167129
2025-08-21T19:36:52.221Z,1755805012.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:52.224Z,1755805012.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 117.182060 m,
      bearing: 270.607161 deg,
      approach rate: -0.793461 m/s,
      LOS rate: 0.016012 deg/s,
      cmd heading: 270.866369 deg,
      new cmd heading: 270.880528 deg.

2025-08-21T19:36:52.225Z,1755805012.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727757 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:52.301Z,1755805012.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.419641
2025-08-21T19:36:52.552Z,1755805012.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.670531
2025-08-21T19:36:52.607Z,1755805012.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:52.609Z,1755805012.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:52.612Z,1755805012.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 116.874474 m,
      bearing: 270.613257 deg,
      approach rate: -0.793446 m/s,
      LOS rate: 0.015765 deg/s,
      cmd heading: 270.880521 deg,
      new cmd heading: 270.892745 deg.

2025-08-21T19:36:52.613Z,1755805012.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727970 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:52.804Z,1755805012.804 [DAT](INFO): DAT read: Rx Time:19:36:51.5230

2025-08-21T19:36:52.805Z,1755805012.805 [DAT](INFO): Rx dataTimestamp_ set to:1755805012.804515
2025-08-21T19:36:52.805Z,1755805012.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.923604
2025-08-21T19:36:53.017Z,1755805013.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.11 m.
2025-08-21T19:36:53.020Z,1755805013.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.105392 m,
      nav range: 116.550926 m,
      bearing: 270.619915 deg,
      approach rate: -0.792142 m/s,
      LOS rate: 0.016346 deg/s,
      cmd heading: 270.892734 deg,
      new cmd heading: 270.906086 deg.

2025-08-21T19:36:53.021Z,1755805013.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728203 target range: 125.105392 and range: 125.90 m.
2025-08-21T19:36:53.058Z,1755805013.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.175913
2025-08-21T19:36:53.314Z,1755805013.314 [DAT](INFO): DAT read: 19:36:51.5230 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 395,-0.47, 1.350,-0.377, 1.502, 1.037, PHS= 0.415,-1.368, 0.421, RAW= 150.1,   6.0, CAL= 149.5,   6.3, ROT=   0.5,  -6.3

2025-08-21T19:36:53.315Z,1755805013.315 [DAT](INFO): got valid direction response:
 19:36:51.5230 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 395,-0.47, 1.350,-0.377, 1.502, 1.037, PHS= 0.415,-1.368, 0.421, RAW= 150.1,   6.0, CAL= 149.5,   6.3, ROT=   0.5,  -6.3

2025-08-21T19:36:53.316Z,1755805013.316 [DAT](INFO): DAT read: Bearing  53.1,  11.4 (Local)

2025-08-21T19:36:53.316Z,1755805013.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.1,  11.4 (Local)

2025-08-21T19:36:53.318Z,1755805013.318 [DAT](INFO): DAT read: Range 11 to 50 : 122.8 m  (Round-trip  163.8 ms) speed  0.7 m/s

2025-08-21T19:36:53.319Z,1755805013.319 [DAT](INFO): DAT read: user:3997>

2025-08-21T19:36:53.323Z,1755805013.323 [DAT](INFO): DAT read: Tx time:19:36:52.6550

2025-08-21T19:36:53.323Z,1755805013.323 [DAT](INFO): Ping request sent.
2025-08-21T19:36:53.324Z,1755805013.324 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:53.324Z,1755805013.324 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:53.325Z,1755805013.325 [DAT](INFO): direction in FSK: [0.993923,0.008674,0.109734]
2025-08-21T19:36:53.325Z,1755805013.325 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:53.325Z,1755805013.325 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:53.329Z,1755805013.329 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:53.329Z,1755805013.329 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:53.463Z,1755805013.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.800003 m,
      deltaT: 3.528019 s,
      deltaX: -3.099998 m,
      approachRate: -0.878680 m/s,
      rangeRepo size: 4

2025-08-21T19:36:53.466Z,1755805013.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.015152 m,
      bearing: 271.066101 deg,
      lat: 36.779457 deg,
      lon: -121.859634 deg,
      deltaT: 3.528019 s,
      deltaX: -3.090240 m,
      approachRate: -0.875914 m/s,
      posRepo size: 4

2025-08-21T19:36:53.466Z,1755805013.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:53.473Z,1755805013.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 116.753258 m,
      bearing: 270.623924 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016346 deg/s,
      cmd heading: 270.906094 deg,
      new cmd heading: 270.920514 deg.

2025-08-21T19:36:53.474Z,1755805013.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728455 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:53.804Z,1755805013.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:53.806Z,1755805013.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 116.463013 m,
      bearing: 270.629606 deg,
      approach rate: -0.841627 m/s,
      LOS rate: 0.016517 deg/s,
      cmd heading: 270.920519 deg,
      new cmd heading: 270.931911 deg.

2025-08-21T19:36:53.808Z,1755805013.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728654 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:54.238Z,1755805014.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:54.246Z,1755805014.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 116.122314 m,
      bearing: 270.632663 deg,
      approach rate: -0.783789 m/s,
      LOS rate: 0.007052 deg/s,
      cmd heading: 270.931912 deg,
      new cmd heading: 270.938043 deg.

2025-08-21T19:36:54.247Z,1755805014.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728761 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:54.613Z,1755805014.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:54.615Z,1755805014.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:54.617Z,1755805014.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 115.827370 m,
      bearing: 270.635190 deg,
      approach rate: -0.783413 m/s,
      LOS rate: 0.006730 deg/s,
      cmd heading: 270.938032 deg,
      new cmd heading: 270.943099 deg.

2025-08-21T19:36:54.618Z,1755805014.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728849 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:54.824Z,1755805014.824 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:54.824Z,1755805014.824 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:54.825Z,1755805014.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:55.039Z,1755805015.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:55.047Z,1755805015.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 115.499138 m,
      bearing: 270.634142 deg,
      approach rate: -0.773863 m/s,
      LOS rate: -0.002479 deg/s,
      cmd heading: 270.943086 deg,
      new cmd heading: 270.940983 deg.

2025-08-21T19:36:55.048Z,1755805015.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728812 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:55.078Z,1755805015.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753842
2025-08-21T19:36:55.328Z,1755805015.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004727
2025-08-21T19:36:55.474Z,1755805015.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:55.477Z,1755805015.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 115.164024 m,
      bearing: 270.632794 deg,
      approach rate: -0.770608 m/s,
      LOS rate: -0.003108 deg/s,
      cmd heading: 270.940982 deg,
      new cmd heading: 270.938279 deg.

2025-08-21T19:36:55.478Z,1755805015.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728765 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:55.581Z,1755805015.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257796
2025-08-21T19:36:55.832Z,1755805015.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508557
2025-08-21T19:36:55.972Z,1755805015.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:55.975Z,1755805015.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 114.808960 m,
      bearing: 270.631273 deg,
      approach rate: -0.712388 m/s,
      LOS rate: -0.003062 deg/s,
      cmd heading: 270.938277 deg,
      new cmd heading: 270.935225 deg.

2025-08-21T19:36:55.976Z,1755805015.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728712 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:56.084Z,1755805016.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683
2025-08-21T19:36:56.337Z,1755805016.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013142
2025-08-21T19:36:56.469Z,1755805016.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:56.472Z,1755805016.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 114.396477 m,
      bearing: 270.630303 deg,
      approach rate: -0.830198 m/s,
      LOS rate: -0.001959 deg/s,
      cmd heading: 270.935218 deg,
      new cmd heading: 270.933271 deg.

2025-08-21T19:36:56.473Z,1755805016.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728678 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:56.588Z,1755805016.588 [DAT](INFO): DAT read: Rx Time:19:36:55.2192

2025-08-21T19:36:56.589Z,1755805016.589 [DAT](INFO): Rx dataTimestamp_ set to:1755805016.588459
2025-08-21T19:36:56.589Z,1755805016.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265676
2025-08-21T19:36:56.842Z,1755805016.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518049
2025-08-21T19:36:56.962Z,1755805016.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:56.988Z,1755805016.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.02 m.
2025-08-21T19:36:56.998Z,1755805016.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.015152 m,
      nav range: 114.052544 m,
      bearing: 270.629505 deg,
      approach rate: -0.670481 m/s,
      LOS rate: -0.001561 deg/s,
      cmd heading: 270.933278 deg,
      new cmd heading: 270.931676 deg.

2025-08-21T19:36:57.004Z,1755805017.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728650 target range: 122.015152 and range: 122.80 m.
2025-08-21T19:36:57.098Z,1755805017.098 [DAT](INFO): DAT read: 19:36:55.2192 LVL= 25888, 28945, 25170, 32755, AGC= 65, IDX= 403,-0.10,-1.636, 2.953,-1.482,-1.928, PHS= 0.394,-1.357, 0.402, RAW= 150.2,   6.5, CAL= 149.6,   6.8, ROT=   0.4,  -6.8

2025-08-21T19:36:57.099Z,1755805017.099 [DAT](INFO): got valid direction response:
 19:36:55.2192 LVL= 25888, 28945, 25170, 32755, AGC= 65, IDX= 403,-0.10,-1.636, 2.953,-1.482,-1.928, PHS= 0.394,-1.357, 0.402, RAW= 150.2,   6.5, CAL= 149.6,   6.8, ROT=   0.4,  -6.8

2025-08-21T19:36:57.100Z,1755805017.100 [DAT](INFO): DAT read: Bearing  54.0,  10.2 (Local)

2025-08-21T19:36:57.101Z,1755805017.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing  54.0,  10.2 (Local)

2025-08-21T19:36:57.102Z,1755805017.102 [DAT](INFO): DAT read: Range 11 to 50 : 120.0 m  (Round-trip  160.0 ms) speed  0.7 m/s

2025-08-21T19:36:57.103Z,1755805017.103 [DAT](INFO): DAT read: user:3998>

2025-08-21T19:36:57.104Z,1755805017.104 [DAT](INFO): DAT read: Tx time:19:36:56.3050

2025-08-21T19:36:57.104Z,1755805017.104 [DAT](INFO): Ping request sent.
2025-08-21T19:36:57.104Z,1755805017.104 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:36:57.104Z,1755805017.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:36:57.105Z,1755805017.105 [DAT](INFO): direction in FSK: [0.992941,0.006932,0.118404]
2025-08-21T19:36:57.105Z,1755805017.105 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:57.106Z,1755805017.106 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:57.114Z,1755805017.114 [DAT](INFO): publishing transmit ping time
2025-08-21T19:36:57.114Z,1755805017.114 [DAT](INFO): publishing direction and range info
2025-08-21T19:36:57.377Z,1755805017.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.000000 m,
      deltaT: 3.784088 s,
      deltaX: -2.800003 m,
      approachRate: -0.739941 m/s,
      rangeRepo size: 4

2025-08-21T19:36:57.400Z,1755805017.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.230095 m,
      bearing: 271.341045 deg,
      lat: 36.779457 deg,
      lon: -121.859635 deg,
      deltaT: 3.784088 s,
      deltaX: -2.785057 m,
      approachRate: -0.735992 m/s,
      posRepo size: 4

2025-08-21T19:36:57.400Z,1755805017.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:57.407Z,1755805017.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 113.711678 m,
      bearing: 270.628419 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001561 deg/s,
      cmd heading: 270.931666 deg,
      new cmd heading: 270.930433 deg.

2025-08-21T19:36:57.408Z,1755805017.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728628 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:57.748Z,1755805017.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:57.750Z,1755805017.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 113.417336 m,
      bearing: 270.627612 deg,
      approach rate: -0.793313 m/s,
      LOS rate: -0.002182 deg/s,
      cmd heading: 270.930436 deg,
      new cmd heading: 270.928818 deg.

2025-08-21T19:36:57.752Z,1755805017.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728600 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:58.199Z,1755805018.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:58.202Z,1755805018.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 113.061203 m,
      bearing: 270.626405 deg,
      approach rate: -0.790129 m/s,
      LOS rate: -0.002685 deg/s,
      cmd heading: 270.928824 deg,
      new cmd heading: 270.926404 deg.

2025-08-21T19:36:58.203Z,1755805018.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728558 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:58.582Z,1755805018.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:58.585Z,1755805018.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 112.759041 m,
      bearing: 270.625380 deg,
      approach rate: -0.787574 m/s,
      LOS rate: -0.002680 deg/s,
      cmd heading: 270.926393 deg,
      new cmd heading: 270.924337 deg.

2025-08-21T19:36:58.586Z,1755805018.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728522 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:58.986Z,1755805018.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:36:59.003Z,1755805019.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:59.029Z,1755805019.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 112.455315 m,
      bearing: 270.624362 deg,
      approach rate: -0.724806 m/s,
      LOS rate: -0.002436 deg/s,
      cmd heading: 270.924344 deg,
      new cmd heading: 270.922302 deg.

2025-08-21T19:36:59.030Z,1755805019.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728486 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:59.113Z,1755805019.113 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:36:59.113Z,1755805019.113 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:36:59.113Z,1755805019.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:36:59.364Z,1755805019.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260321
2025-08-21T19:36:59.389Z,1755805019.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:59.392Z,1755805019.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 112.108742 m,
      bearing: 270.625443 deg,
      approach rate: -0.893913 m/s,
      LOS rate: 0.002797 deg/s,
      cmd heading: 270.922295 deg,
      new cmd heading: 270.924463 deg.

2025-08-21T19:36:59.393Z,1755805019.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728524 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:59.617Z,1755805019.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512759
2025-08-21T19:36:59.786Z,1755805019.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:36:59.788Z,1755805019.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 111.793205 m,
      bearing: 270.626415 deg,
      approach rate: -0.795506 m/s,
      LOS rate: 0.002459 deg/s,
      cmd heading: 270.924453 deg,
      new cmd heading: 270.926404 deg.

2025-08-21T19:36:59.789Z,1755805019.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728558 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:36:59.868Z,1755805019.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764326
2025-08-21T19:37:00.120Z,1755805020.120 [DAT](INFO): DAT read: Rx Time:19:36:58.8654

2025-08-21T19:37:00.121Z,1755805020.121 [DAT](INFO): Rx dataTimestamp_ set to:1755805020.120491
2025-08-21T19:37:00.121Z,1755805020.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017326
2025-08-21T19:37:00.227Z,1755805020.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.23 m.
2025-08-21T19:37:00.230Z,1755805020.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.230095 m,
      nav range: 111.423843 m,
      bearing: 270.628226 deg,
      approach rate: -0.837441 m/s,
      LOS rate: 0.004119 deg/s,
      cmd heading: 270.926393 deg,
      new cmd heading: 270.930026 deg.

2025-08-21T19:37:00.231Z,1755805020.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728621 target range: 119.230095 and range: 120.00 m.
2025-08-21T19:37:00.373Z,1755805020.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269204
2025-08-21T19:37:00.630Z,1755805020.630 [DAT](INFO): DAT read: 19:36:58.8654 LVL= 27760, 31217, 27490, 31347, AGC= 63, IDX= 396, 0.11,-0.629,-2.432,-0.499,-0.922, PHS= 0.394,-1.466, 0.379, RAW= 149.6,   7.5, CAL= 149.0,   8.1, ROT=   1.0,  -8.1

2025-08-21T19:37:00.631Z,1755805020.631 [DAT](INFO): got valid direction response:
 19:36:58.8654 LVL= 27760, 31217, 27490, 31347, AGC= 63, IDX= 396, 0.11,-0.629,-2.432,-0.499,-0.922, PHS= 0.394,-1.466, 0.379, RAW= 149.6,   7.5, CAL= 149.0,   8.1, ROT=   1.0,  -8.1

2025-08-21T19:37:00.632Z,1755805020.632 [DAT](INFO): DAT read: Bearing  55.4,   9.2 (Local)

2025-08-21T19:37:00.633Z,1755805020.633 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.4,   9.2 (Local)

2025-08-21T19:37:00.634Z,1755805020.634 [DAT](INFO): DAT read: Range 11 to 50 : 117.1 m  (Round-trip  156.2 ms) speed  0.8 m/s

2025-08-21T19:37:00.635Z,1755805020.635 [DAT](INFO): DAT read: user:3999>

2025-08-21T19:37:00.644Z,1755805020.644 [DAT](INFO): DAT read: Tx time:19:36:59.9550

2025-08-21T19:37:00.644Z,1755805020.644 [DAT](INFO): Ping request sent.
2025-08-21T19:37:00.644Z,1755805020.644 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:00.645Z,1755805020.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:00.646Z,1755805020.646 [DAT](INFO): direction in FSK: [0.989873,0.017278,0.140901]
2025-08-21T19:37:00.647Z,1755805020.647 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:00.649Z,1755805020.649 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:00.686Z,1755805020.686 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:00.686Z,1755805020.686 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:00.728Z,1755805020.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.099998 m,
      deltaT: 3.532028 s,
      deltaX: -2.900002 m,
      approachRate: -0.821058 m/s,
      rangeRepo size: 4

2025-08-21T19:37:00.730Z,1755805020.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.348549 m,
      bearing: 271.971267 deg,
      lat: 36.779465 deg,
      lon: -121.859637 deg,
      deltaT: 3.532028 s,
      deltaX: -2.881546 m,
      approachRate: -0.815833 m/s,
      posRepo size: 4

2025-08-21T19:37:00.731Z,1755805020.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:00.758Z,1755805020.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 111.258575 m,
      bearing: 271.095395 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004119 deg/s,
      cmd heading: 270.930027 deg,
      new cmd heading: 270.934083 deg.

2025-08-21T19:37:00.759Z,1755805020.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728692 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:01.206Z,1755805021.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:01.208Z,1755805021.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:01.211Z,1755805021.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 110.844971 m,
      bearing: 271.100607 deg,
      approach rate: -0.846022 m/s,
      LOS rate: 0.010701 deg/s,
      cmd heading: 270.934070 deg,
      new cmd heading: 270.944534 deg.

2025-08-21T19:37:01.213Z,1755805021.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728874 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:01.380Z,1755805021.380 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:01.380Z,1755805021.380 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:01.380Z,1755805021.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:01.593Z,1755805021.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:01.599Z,1755805021.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 110.538818 m,
      bearing: 271.104222 deg,
      approach rate: -0.796113 m/s,
      LOS rate: 0.009425 deg/s,
      cmd heading: 270.944534 deg,
      new cmd heading: 270.951783 deg.

2025-08-21T19:37:01.600Z,1755805021.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729001 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:01.632Z,1755805021.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988087
2025-08-21T19:37:01.884Z,1755805021.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239850
2025-08-21T19:37:02.012Z,1755805022.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:02.065Z,1755805022.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 110.215538 m,
      bearing: 271.108060 deg,
      approach rate: -0.781892 m/s,
      LOS rate: 0.009310 deg/s,
      cmd heading: 270.951774 deg,
      new cmd heading: 270.959473 deg.

2025-08-21T19:37:02.067Z,1755805022.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729135 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:02.138Z,1755805022.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493173
2025-08-21T19:37:02.388Z,1755805022.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743909
2025-08-21T19:37:02.442Z,1755805022.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:02.465Z,1755805022.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 109.839172 m,
      bearing: 271.114802 deg,
      approach rate: -0.864185 m/s,
      LOS rate: 0.015533 deg/s,
      cmd heading: 270.959478 deg,
      new cmd heading: 270.973008 deg.

2025-08-21T19:37:02.466Z,1755805022.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729371 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:02.640Z,1755805022.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995952
2025-08-21T19:37:02.804Z,1755805022.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:02.807Z,1755805022.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 109.541443 m,
      bearing: 271.120014 deg,
      approach rate: -0.820757 m/s,
      LOS rate: 0.014409 deg/s,
      cmd heading: 270.973002 deg,
      new cmd heading: 270.983456 deg.

2025-08-21T19:37:02.808Z,1755805022.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729554 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:02.894Z,1755805022.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249753
2025-08-21T19:37:03.145Z,1755805023.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500469
2025-08-21T19:37:03.239Z,1755805023.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:03.241Z,1755805023.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:03.244Z,1755805023.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 109.181702 m,
      bearing: 271.128450 deg,
      approach rate: -0.823163 m/s,
      LOS rate: 0.019366 deg/s,
      cmd heading: 270.983466 deg,
      new cmd heading: 271.000393 deg.

2025-08-21T19:37:03.245Z,1755805023.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729849 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:03.396Z,1755805023.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751766
2025-08-21T19:37:03.652Z,1755805023.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008031
2025-08-21T19:37:03.682Z,1755805023.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:03.685Z,1755805023.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 108.818405 m,
      bearing: 271.136904 deg,
      approach rate: -0.823583 m/s,
      LOS rate: 0.019230 deg/s,
      cmd heading: 271.000405 deg,
      new cmd heading: 271.017370 deg.

2025-08-21T19:37:03.686Z,1755805023.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730145 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:03.904Z,1755805023.904 [DAT](INFO): DAT read: Rx Time:19:37:02.5112

2025-08-21T19:37:03.905Z,1755805023.905 [DAT](INFO): Rx dataTimestamp_ set to:1755805023.904469
2025-08-21T19:37:03.905Z,1755805023.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260943
2025-08-21T19:37:04.157Z,1755805024.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512279
2025-08-21T19:37:04.213Z,1755805024.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.35 m.
2025-08-21T19:37:04.251Z,1755805024.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.348549 m,
      nav range: 108.390083 m,
      bearing: 271.142418 deg,
      approach rate: -0.810299 m/s,
      LOS rate: 0.010473 deg/s,
      cmd heading: 271.017371 deg,
      new cmd heading: 271.028443 deg.

2025-08-21T19:37:04.264Z,1755805024.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730339 target range: 116.348549 and range: 117.10 m.
2025-08-21T19:37:04.414Z,1755805024.414 [DAT](INFO): DAT read: 19:37:02.5112 LVL= 29024, 32753, 27106, 32755, AGC= 66, IDX= 401, 0.49, 2.938, 1.169, 3.070, 2.672, PHS= 0.369,-1.457, 0.355, RAW= 149.6,   8.1, CAL= 149.1,   8.7, ROT=   0.9,  -8.7

2025-08-21T19:37:04.415Z,1755805024.415 [DAT](INFO): got valid direction response:
 19:37:02.5112 LVL= 29024, 32753, 27106, 32755, AGC= 66, IDX= 401, 0.49, 2.938, 1.169, 3.070, 2.672, PHS= 0.369,-1.457, 0.355, RAW= 149.6,   8.1, CAL= 149.1,   8.7, ROT=   0.9,  -8.7

2025-08-21T19:37:04.419Z,1755805024.419 [DAT](INFO): DAT read: Bearing  56.2,   7.8 (Local)

2025-08-21T19:37:04.420Z,1755805024.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.2,   7.8 (Local)

2025-08-21T19:37:04.421Z,1755805024.421 [DAT](INFO): DAT read: Range 11 to 50 : 114.0 m  (Round-trip  152.0 ms) speed  0.6 m/s

2025-08-21T19:37:04.422Z,1755805024.422 [DAT](INFO): DAT read: user:4000>

2025-08-21T19:37:04.423Z,1755805024.423 [DAT](INFO): DAT read: Tx time:19:37:03.6050

2025-08-21T19:37:04.423Z,1755805024.423 [DAT](INFO): Ping request sent.
2025-08-21T19:37:04.423Z,1755805024.423 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:04.424Z,1755805024.424 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:04.425Z,1755805024.425 [DAT](INFO): direction in FSK: [0.988372,0.015527,0.151261]
2025-08-21T19:37:04.425Z,1755805024.425 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:04.425Z,1755805024.425 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:04.428Z,1755805024.428 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:04.429Z,1755805024.429 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:04.668Z,1755805024.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.000000 m,
      deltaT: 3.783861 s,
      deltaX: -3.099998 m,
      approachRate: -0.819269 m/s,
      rangeRepo size: 4

2025-08-21T19:37:04.670Z,1755805024.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.268768 m,
      bearing: 272.182108 deg,
      lat: 36.779470 deg,
      lon: -121.859645 deg,
      deltaT: 3.783861 s,
      deltaX: -3.079781 m,
      approachRate: -0.813925 m/s,
      posRepo size: 4

2025-08-21T19:37:04.675Z,1755805024.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:04.678Z,1755805024.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 108.766388 m,
      bearing: 271.421151 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010473 deg/s,
      cmd heading: 271.028436 deg,
      new cmd heading: 271.037911 deg.

2025-08-21T19:37:04.679Z,1755805024.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730504 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:05.019Z,1755805025.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:05.022Z,1755805025.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 108.452110 m,
      bearing: 271.425951 deg,
      approach rate: -0.883122 m/s,
      LOS rate: 0.013528 deg/s,
      cmd heading: 271.037916 deg,
      new cmd heading: 271.047545 deg.

2025-08-21T19:37:05.024Z,1755805025.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730672 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:05.446Z,1755805025.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:05.448Z,1755805025.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:05.453Z,1755805025.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 108.089622 m,
      bearing: 271.431121 deg,
      approach rate: -0.845190 m/s,
      LOS rate: 0.012094 deg/s,
      cmd heading: 271.047533 deg,
      new cmd heading: 271.057907 deg.

2025-08-21T19:37:05.457Z,1755805025.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730853 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:05.680Z,1755805025.680 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:05.680Z,1755805025.680 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:05.681Z,1755805025.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:05.837Z,1755805025.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:05.839Z,1755805025.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 107.771111 m,
      bearing: 271.435692 deg,
      approach rate: -0.819998 m/s,
      LOS rate: 0.011802 deg/s,
      cmd heading: 271.057915 deg,
      new cmd heading: 271.067084 deg.

2025-08-21T19:37:05.840Z,1755805025.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731013 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:05.932Z,1755805025.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509058
2025-08-21T19:37:06.184Z,1755805026.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761262
2025-08-21T19:37:06.243Z,1755805026.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:06.262Z,1755805026.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 107.428375 m,
      bearing: 271.440703 deg,
      approach rate: -0.843552 m/s,
      LOS rate: 0.012375 deg/s,
      cmd heading: 271.067095 deg,
      new cmd heading: 271.077151 deg.

2025-08-21T19:37:06.263Z,1755805026.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731189 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:06.436Z,1755805026.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013044
2025-08-21T19:37:06.628Z,1755805026.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:06.630Z,1755805026.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 107.113831 m,
      bearing: 271.445294 deg,
      approach rate: -0.817985 m/s,
      LOS rate: 0.011973 deg/s,
      cmd heading: 271.077149 deg,
      new cmd heading: 271.086357 deg.

2025-08-21T19:37:06.631Z,1755805026.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731349 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:06.689Z,1755805026.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265902
2025-08-21T19:37:06.940Z,1755805026.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517198
2025-08-21T19:37:07.023Z,1755805027.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:07.039Z,1755805027.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 106.790314 m,
      bearing: 271.450011 deg,
      approach rate: -0.817912 m/s,
      LOS rate: 0.011961 deg/s,
      cmd heading: 271.086356 deg,
      new cmd heading: 271.095818 deg.

2025-08-21T19:37:07.041Z,1755805027.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731514 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:07.193Z,1755805027.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769182
2025-08-21T19:37:07.433Z,1755805027.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -112.+1688.68,       +13.91,  0.00
2025-08-21T19:37:07.444Z,1755805027.444 [DAT](INFO): DAT read: Rx Time:19:37:06.1573

2025-08-21T19:37:07.445Z,1755805027.445 [DAT](INFO): Rx dataTimestamp_ set to:1755805027.444512
2025-08-21T19:37:07.445Z,1755805027.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022219
2025-08-21T19:37:07.454Z,1755805027.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:07.460Z,1755805027.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:07.463Z,1755805027.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 106.437187 m,
      bearing: 271.455065 deg,
      approach rate: -0.807512 m/s,
      LOS rate: 0.011596 deg/s,
      cmd heading: 271.095809 deg,
      new cmd heading: 271.105951 deg.

2025-08-21T19:37:07.464Z,1755805027.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731691 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:07.697Z,1755805027.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273637
2025-08-21T19:37:07.828Z,1755805027.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.27 m.
2025-08-21T19:37:07.830Z,1755805027.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.268768 m,
      nav range: 106.131989 m,
      bearing: 271.459383 deg,
      approach rate: -0.830233 m/s,
      LOS rate: 0.011779 deg/s,
      cmd heading: 271.105945 deg,
      new cmd heading: 271.114605 deg.

2025-08-21T19:37:07.832Z,1755805027.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731843 target range: 113.268768 and range: 114.00 m.
2025-08-21T19:37:07.957Z,1755805027.957 [DAT](INFO): DAT read: 19:37:06.1573 LVL= 30016, 32753, 28082, 32755, AGC= 65, IDX= 409,-0.28, 1.635,-0.146, 1.816, 1.403, PHS= 0.335,-1.504, 0.369, RAW= 150.9,   8.7, CAL= 150.5,   9.3, ROT= 359.5,  -9.3

2025-08-21T19:37:07.959Z,1755805027.959 [DAT](INFO): got valid direction response:
 19:37:06.1573 LVL= 30016, 32753, 28082, 32755, AGC= 65, IDX= 409,-0.28, 1.635,-0.146, 1.816, 1.403, PHS= 0.335,-1.504, 0.369, RAW= 150.9,   8.7, CAL= 150.5,   9.3, ROT= 359.5,  -9.3

2025-08-21T19:37:07.960Z,1755805027.960 [DAT](INFO): DAT read: Bearing  57.0,   5.4 (Local)

2025-08-21T19:37:07.961Z,1755805027.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.0,   5.4 (Local)

2025-08-21T19:37:07.963Z,1755805027.963 [DAT](INFO): DAT read: Range 11 to 50 : 111.0 m  (Round-trip  148.1 ms) speed  0.9 m/s

2025-08-21T19:37:07.963Z,1755805027.963 [DAT](INFO): DAT read: user:4001>

2025-08-21T19:37:07.964Z,1755805027.964 [DAT](INFO): DAT read: Tx time:19:37:07.2550

2025-08-21T19:37:07.965Z,1755805027.965 [DAT](INFO): Ping request sent.
2025-08-21T19:37:07.965Z,1755805027.965 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:07.965Z,1755805027.965 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:07.966Z,1755805027.966 [DAT](INFO): direction in FSK: [0.986818,-0.008612,0.161604]
2025-08-21T19:37:07.966Z,1755805027.966 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:07.967Z,1755805027.967 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:07.970Z,1755805027.970 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:07.970Z,1755805027.970 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:08.322Z,1755805028.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.000000 m,
      deltaT: 3.540491 s,
      deltaX: -3.000000 m,
      approachRate: -0.847340 m/s,
      rangeRepo size: 4

2025-08-21T19:37:08.328Z,1755805028.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.288048 m,
      bearing: 270.900443 deg,
      lat: 36.779470 deg,
      lon: -121.859647 deg,
      deltaT: 3.540491 s,
      deltaX: -2.980721 m,
      approachRate: -0.841895 m/s,
      posRepo size: 4

2025-08-21T19:37:08.329Z,1755805028.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:08.336Z,1755805028.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 105.918381 m,
      bearing: 271.459518 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011779 deg/s,
      cmd heading: 271.114606 deg,
      new cmd heading: 271.126220 deg.

2025-08-21T19:37:08.337Z,1755805028.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732045 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:08.690Z,1755805028.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:08.693Z,1755805028.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 105.606850 m,
      bearing: 271.461070 deg,
      approach rate: -0.842896 m/s,
      LOS rate: 0.004213 deg/s,
      cmd heading: 271.126217 deg,
      new cmd heading: 271.129331 deg.

2025-08-21T19:37:08.694Z,1755805028.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732100 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:09.089Z,1755805029.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:09.091Z,1755805029.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 105.289635 m,
      bearing: 271.462361 deg,
      approach rate: -0.796874 m/s,
      LOS rate: 0.003254 deg/s,
      cmd heading: 271.129331 deg,
      new cmd heading: 271.131922 deg.

2025-08-21T19:37:09.092Z,1755805029.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732145 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:09.602Z,1755805029.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:09.604Z,1755805029.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:09.607Z,1755805029.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 104.887375 m,
      bearing: 271.463489 deg,
      approach rate: -0.780284 m/s,
      LOS rate: 0.002195 deg/s,
      cmd heading: 271.131927 deg,
      new cmd heading: 271.134190 deg.

2025-08-21T19:37:09.610Z,1755805029.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732184 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:09.712Z,1755805029.712 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:09.712Z,1755805029.712 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:09.712Z,1755805029.712 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:09.964Z,1755805029.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999676
2025-08-21T19:37:09.994Z,1755805029.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:10.001Z,1755805030.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 104.594894 m,
      bearing: 271.464221 deg,
      approach rate: -0.749567 m/s,
      LOS rate: 0.001883 deg/s,
      cmd heading: 271.134195 deg,
      new cmd heading: 271.135664 deg.

2025-08-21T19:37:10.002Z,1755805030.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732210 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:10.217Z,1755805030.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252413
2025-08-21T19:37:10.468Z,1755805030.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503628
2025-08-21T19:37:10.541Z,1755805030.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:10.550Z,1755805030.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 104.185341 m,
      bearing: 271.464083 deg,
      approach rate: -0.750328 m/s,
      LOS rate: -0.000253 deg/s,
      cmd heading: 271.135670 deg,
      new cmd heading: 271.135394 deg.

2025-08-21T19:37:10.556Z,1755805030.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732205 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:10.721Z,1755805030.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756185
2025-08-21T19:37:10.972Z,1755805030.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007540
2025-08-21T19:37:11.053Z,1755805031.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:11.057Z,1755805031.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 103.761467 m,
      bearing: 271.463587 deg,
      approach rate: -0.825830 m/s,
      LOS rate: -0.000972 deg/s,
      cmd heading: 271.135397 deg,
      new cmd heading: 271.134399 deg.

2025-08-21T19:37:11.062Z,1755805031.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732188 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:11.224Z,1755805031.224 [DAT](INFO): DAT read: Rx Time:19:37:09.8034

2025-08-21T19:37:11.225Z,1755805031.225 [DAT](INFO): Rx dataTimestamp_ set to:1755805031.224484
2025-08-21T19:37:11.225Z,1755805031.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260665
2025-08-21T19:37:11.436Z,1755805031.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.29 m.
2025-08-21T19:37:11.438Z,1755805031.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.288048 m,
      nav range: 103.458244 m,
      bearing: 271.463337 deg,
      approach rate: -0.793527 m/s,
      LOS rate: -0.000656 deg/s,
      cmd heading: 271.134386 deg,
      new cmd heading: 271.133884 deg.

2025-08-21T19:37:11.440Z,1755805031.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732179 target range: 110.288048 and range: 111.00 m.
2025-08-21T19:37:11.477Z,1755805031.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512556
2025-08-21T19:37:11.734Z,1755805031.734 [DAT](INFO): DAT read: 19:37:09.8034 LVL= 27696, 32753, 26482, 32755, AGC= 65, IDX= 401, 0.15, 0.831,-0.873, 1.010, 0.620, PHS= 0.313,-1.448, 0.346, RAW= 150.9,   8.9, CAL= 150.5,   9.6, ROT= 359.5,  -9.6

2025-08-21T19:37:11.735Z,1755805031.735 [DAT](INFO): got valid direction response:
 19:37:09.8034 LVL= 27696, 32753, 26482, 32755, AGC= 65, IDX= 401, 0.15, 0.831,-0.873, 1.010, 0.620, PHS= 0.313,-1.448, 0.346, RAW= 150.9,   8.9, CAL= 150.5,   9.6, ROT= 359.5,  -9.6

2025-08-21T19:37:11.736Z,1755805031.736 [DAT](INFO): DAT read: Bearing  57.6,   4.4 (Local)

2025-08-21T19:37:11.736Z,1755805031.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.6,   4.4 (Local)

2025-08-21T19:37:11.738Z,1755805031.738 [DAT](INFO): DAT read: Range 11 to 50 : 108.1 m  (Round-trip  144.2 ms) speed  0.7 m/s

2025-08-21T19:37:11.739Z,1755805031.739 [DAT](INFO): DAT read: user:4002>

2025-08-21T19:37:11.739Z,1755805031.739 [DAT](INFO): DAT read: Tx time:19:37:10.9050

2025-08-21T19:37:11.740Z,1755805031.740 [DAT](INFO): Ping request sent.
2025-08-21T19:37:11.740Z,1755805031.740 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:11.740Z,1755805031.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:11.741Z,1755805031.741 [DAT](INFO): direction in FSK: [0.985958,-0.008604,0.166769]
2025-08-21T19:37:11.741Z,1755805031.741 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:11.742Z,1755805031.742 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:11.745Z,1755805031.745 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:11.746Z,1755805031.746 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:11.846Z,1755805031.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.099998 m,
      deltaT: 3.779498 s,
      deltaX: -2.900002 m,
      approachRate: -0.767298 m/s,
      rangeRepo size: 4

2025-08-21T19:37:11.852Z,1755805031.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.406563 m,
      bearing: 271.443526 deg,
      lat: 36.779470 deg,
      lon: -121.859653 deg,
      deltaT: 3.779498 s,
      deltaX: -2.881485 m,
      approachRate: -0.762399 m/s,
      posRepo size: 4

2025-08-21T19:37:11.853Z,1755805031.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:11.865Z,1755805031.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 103.687241 m,
      bearing: 271.455567 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.000656 deg/s,
      cmd heading: 271.133894 deg,
      new cmd heading: 271.133357 deg.

2025-08-21T19:37:11.866Z,1755805031.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732170 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:12.245Z,1755805032.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,003131,35.0, +10.7,492.7,  0
2025-08-21T19:37:12.265Z,1755805032.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:12.267Z,1755805032.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:12.270Z,1755805032.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 103.347252 m,
      bearing: 271.455253 deg,
      approach rate: -0.805277 m/s,
      LOS rate: -0.000746 deg/s,
      cmd heading: 271.133348 deg,
      new cmd heading: 271.132718 deg.

2025-08-21T19:37:12.271Z,1755805032.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732159 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:12.484Z,1755805032.484 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:12.484Z,1755805032.484 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:12.484Z,1755805032.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:12.649Z,1755805032.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:12.658Z,1755805032.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 103.057083 m,
      bearing: 271.455014 deg,
      approach rate: -0.760634 m/s,
      LOS rate: -0.000627 deg/s,
      cmd heading: 271.132719 deg,
      new cmd heading: 271.132241 deg.

2025-08-21T19:37:12.661Z,1755805032.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732150 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:12.736Z,1755805032.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996459
2025-08-21T19:37:12.988Z,1755805032.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248524
2025-08-21T19:37:13.072Z,1755805033.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:13.075Z,1755805033.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 102.728973 m,
      bearing: 271.454729 deg,
      approach rate: -0.774172 m/s,
      LOS rate: -0.000677 deg/s,
      cmd heading: 271.132227 deg,
      new cmd heading: 271.131654 deg.

2025-08-21T19:37:13.076Z,1755805033.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732140 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:13.240Z,1755805033.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500671
2025-08-21T19:37:13.492Z,1755805033.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752506
2025-08-21T19:37:13.495Z,1755805033.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:13.498Z,1755805033.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 102.376862 m,
      bearing: 271.457201 deg,
      approach rate: -0.833277 m/s,
      LOS rate: 0.005871 deg/s,
      cmd heading: 271.131654 deg,
      new cmd heading: 271.136615 deg.

2025-08-21T19:37:13.499Z,1755805033.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732227 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:13.745Z,1755805033.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005488
2025-08-21T19:37:13.850Z,1755805033.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:13.854Z,1755805033.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 102.086609 m,
      bearing: 271.459576 deg,
      approach rate: -0.816289 m/s,
      LOS rate: 0.006699 deg/s,
      cmd heading: 271.136626 deg,
      new cmd heading: 271.141390 deg.

2025-08-21T19:37:13.855Z,1755805033.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732310 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:13.996Z,1755805033.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256344
2025-08-21T19:37:14.248Z,1755805034.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508478
2025-08-21T19:37:14.299Z,1755805034.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:14.301Z,1755805034.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:14.304Z,1755805034.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 101.720703 m,
      bearing: 271.463303 deg,
      approach rate: -0.812144 m/s,
      LOS rate: 0.008302 deg/s,
      cmd heading: 271.141380 deg,
      new cmd heading: 271.148860 deg.

2025-08-21T19:37:14.305Z,1755805034.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732440 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:14.500Z,1755805034.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760541
2025-08-21T19:37:14.676Z,1755805034.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:14.679Z,1755805034.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 101.434662 m,
      bearing: 271.466237 deg,
      approach rate: -0.762244 m/s,
      LOS rate: 0.007842 deg/s,
      cmd heading: 271.148866 deg,
      new cmd heading: 271.154752 deg.

2025-08-21T19:37:14.680Z,1755805034.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732543 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:14.752Z,1755805034.752 [DAT](INFO): DAT read: Rx Time:19:37:13.4495

2025-08-21T19:37:14.753Z,1755805034.753 [DAT](INFO): Rx dataTimestamp_ set to:1755805034.752676
2025-08-21T19:37:14.753Z,1755805034.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013704
2025-08-21T19:37:15.004Z,1755805035.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264486
2025-08-21T19:37:15.089Z,1755805035.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.41 m.
2025-08-21T19:37:15.092Z,1755805035.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.406563 m,
      nav range: 101.079979 m,
      bearing: 271.470251 deg,
      approach rate: -0.860100 m/s,
      LOS rate: 0.009768 deg/s,
      cmd heading: 271.154740 deg,
      new cmd heading: 271.162796 deg.

2025-08-21T19:37:15.093Z,1755805035.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732684 target range: 107.406563 and range: 108.10 m.
2025-08-21T19:37:15.287Z,1755805035.287 [DAT](INFO): DAT read: 19:37:13.4495 LVL= 25136, 32657, 21874, 32755, AGC= 64, IDX= 409, 0.05,-2.483, 2.060,-2.277,-2.685, PHS= 0.304,-1.493, 0.365, RAW= 151.7,   9.1, CAL= 151.3,   9.8, ROT= 358.7,  -9.8

2025-08-21T19:37:15.293Z,1755805035.293 [DAT](INFO): got valid direction response:
 19:37:13.4495 LVL= 25136, 32657, 21874, 32755, AGC= 64, IDX= 409, 0.05,-2.483, 2.060,-2.277,-2.685, PHS= 0.304,-1.493, 0.365, RAW= 151.7,   9.1, CAL= 151.3,   9.8, ROT= 358.7,  -9.8

2025-08-21T19:37:15.294Z,1755805035.294 [DAT](INFO): DAT read: Bearing  57.5,   2.0 (Local)

2025-08-21T19:37:15.295Z,1755805035.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.5,   2.0 (Local)

2025-08-21T19:37:15.302Z,1755805035.302 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m  (Round-trip  140.3 ms) speed  0.7 m/s

2025-08-21T19:37:15.302Z,1755805035.302 [DAT](INFO): DAT read: user:4003>

2025-08-21T19:37:15.307Z,1755805035.307 [DAT](INFO): DAT read: Tx time:19:37:14.5550

2025-08-21T19:37:15.308Z,1755805035.308 [DAT](INFO): Ping request sent.
2025-08-21T19:37:15.308Z,1755805035.308 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:15.308Z,1755805035.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:15.309Z,1755805035.309 [DAT](INFO): direction in FSK: [0.985154,-0.022356,0.170209]
2025-08-21T19:37:15.309Z,1755805035.309 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:15.309Z,1755805035.309 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:15.321Z,1755805035.321 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:15.321Z,1755805035.321 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:15.547Z,1755805035.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.199997 m,
      deltaT: 3.530513 s,
      deltaX: -2.900002 m,
      approachRate: -0.821411 m/s,
      rangeRepo size: 4

2025-08-21T19:37:15.549Z,1755805035.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 104.525253 m,
      bearing: 270.419573 deg,
      lat: 36.779470 deg,
      lon: -121.859657 deg,
      deltaT: 3.530513 s,
      deltaX: -2.881310 m,
      approachRate: -0.816116 m/s,
      posRepo size: 4

2025-08-21T19:37:15.550Z,1755805035.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:15.557Z,1755805035.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 101.132401 m,
      bearing: 271.467454 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009768 deg/s,
      cmd heading: 271.162799 deg,
      new cmd heading: 271.171633 deg.

2025-08-21T19:37:15.558Z,1755805035.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732838 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:15.885Z,1755805035.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:15.895Z,1755805035.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 100.831245 m,
      bearing: 271.471191 deg,
      approach rate: -0.875833 m/s,
      LOS rate: 0.010902 deg/s,
      cmd heading: 271.171624 deg,
      new cmd heading: 271.179121 deg.

2025-08-21T19:37:15.896Z,1755805035.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732968 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:16.332Z,1755805036.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:16.334Z,1755805036.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:16.337Z,1755805036.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 100.448387 m,
      bearing: 271.473765 deg,
      approach rate: -0.851847 m/s,
      LOS rate: 0.005748 deg/s,
      cmd heading: 271.179110 deg,
      new cmd heading: 271.184276 deg.

2025-08-21T19:37:16.338Z,1755805036.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733058 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:16.517Z,1755805036.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:16.517Z,1755805036.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:16.518Z,1755805036.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:16.699Z,1755805036.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:16.702Z,1755805036.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 100.150215 m,
      bearing: 271.475783 deg,
      approach rate: -0.817478 m/s,
      LOS rate: 0.005549 deg/s,
      cmd heading: 271.184274 deg,
      new cmd heading: 271.188321 deg.

2025-08-21T19:37:16.703Z,1755805036.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733129 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:16.768Z,1755805036.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460715
2025-08-21T19:37:17.021Z,1755805037.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712883
2025-08-21T19:37:17.193Z,1755805037.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:17.197Z,1755805037.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 99.746292 m,
      bearing: 271.478809 deg,
      approach rate: -0.816625 m/s,
      LOS rate: 0.006143 deg/s,
      cmd heading: 271.188317 deg,
      new cmd heading: 271.194394 deg.

2025-08-21T19:37:17.198Z,1755805037.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733235 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:17.277Z,1755805037.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966973
2025-08-21T19:37:17.526Z,1755805037.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217733
2025-08-21T19:37:17.603Z,1755805037.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:17.606Z,1755805037.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 99.423325 m,
      bearing: 271.483279 deg,
      approach rate: -0.796587 m/s,
      LOS rate: 0.011062 deg/s,
      cmd heading: 271.194382 deg,
      new cmd heading: 271.203353 deg.

2025-08-21T19:37:17.611Z,1755805037.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733391 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:17.777Z,1755805037.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468841
2025-08-21T19:37:17.951Z,1755805037.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:17.954Z,1755805037.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 99.140373 m,
      bearing: 271.487227 deg,
      approach rate: -0.804001 m/s,
      LOS rate: 0.011250 deg/s,
      cmd heading: 271.203343 deg,
      new cmd heading: 271.211262 deg.

2025-08-21T19:37:17.955Z,1755805037.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733530 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:18.030Z,1755805038.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721886
2025-08-21T19:37:18.283Z,1755805038.283 [DAT](INFO): DAT read: Rx Time:19:37:17.0955

2025-08-21T19:37:18.285Z,1755805038.285 [DAT](INFO): Rx dataTimestamp_ set to:1755805038.283837
2025-08-21T19:37:18.286Z,1755805038.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978136
2025-08-21T19:37:18.385Z,1755805038.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:18.392Z,1755805038.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:18.395Z,1755805038.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 98.785973 m,
      bearing: 271.492271 deg,
      approach rate: -0.811656 m/s,
      LOS rate: 0.011594 deg/s,
      cmd heading: 271.211266 deg,
      new cmd heading: 271.221391 deg.

2025-08-21T19:37:18.400Z,1755805038.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733706 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:18.534Z,1755805038.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.225969
2025-08-21T19:37:18.753Z,1755805038.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.53 m.
2025-08-21T19:37:18.756Z,1755805038.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 104.525253 m,
      nav range: 98.478256 m,
      bearing: 271.496701 deg,
      approach rate: -0.841121 m/s,
      LOS rate: 0.012147 deg/s,
      cmd heading: 271.221402 deg,
      new cmd heading: 271.230290 deg.

2025-08-21T19:37:18.757Z,1755805038.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733861 target range: 104.525253 and range: 105.20 m.
2025-08-21T19:37:18.801Z,1755805038.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492303
2025-08-21T19:37:19.054Z,1755805039.054 [DAT](INFO): DAT read: 19:37:17.0955 LVL= 26432, 29105, 23666, 32035, AGC= 67, IDX= 400, 0.39, 1.587,-0.144, 1.842, 1.427, PHS= 0.262,-1.527, 0.371, RAW= 152.9,   9.7, CAL= 152.7,  10.5, ROT= 357.3, -10.5

2025-08-21T19:37:19.056Z,1755805039.056 [DAT](INFO): got valid direction response:
 19:37:17.0955 LVL= 26432, 29105, 23666, 32035, AGC= 67, IDX= 400, 0.39, 1.587,-0.144, 1.842, 1.427, PHS= 0.262,-1.527, 0.371, RAW= 152.9,   9.7, CAL= 152.7,  10.5, ROT= 357.3, -10.5

2025-08-21T19:37:19.056Z,1755805039.056 [DAT](INFO): DAT read: Bearing  58.1,  -0.8 (Local)

2025-08-21T19:37:19.057Z,1755805039.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.1,  -0.8 (Local)

2025-08-21T19:37:19.058Z,1755805039.058 [DAT](INFO): DAT read: Range 11 to 50 : 102.2 m  (Round-trip  136.3 ms) speed  0.8 m/s

2025-08-21T19:37:19.059Z,1755805039.059 [DAT](INFO): DAT read: user:4004>

2025-08-21T19:37:19.060Z,1755805039.060 [DAT](INFO): DAT read: Tx time:19:37:18.2050

2025-08-21T19:37:19.060Z,1755805039.060 [DAT](INFO): Ping request sent.
2025-08-21T19:37:19.060Z,1755805039.060 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:19.060Z,1755805039.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:19.061Z,1755805039.061 [DAT](INFO): direction in FSK: [0.982163,-0.046318,0.182236]
2025-08-21T19:37:19.062Z,1755805039.062 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:19.062Z,1755805039.062 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:19.066Z,1755805039.066 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:19.067Z,1755805039.067 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:19.200Z,1755805039.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.199997 m,
      deltaT: 3.789501 s,
      deltaX: -3.000000 m,
      approachRate: -0.791661 m/s,
      rangeRepo size: 4

2025-08-21T19:37:19.202Z,1755805039.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.544289 m,
      bearing: 268.839529 deg,
      lat: 36.779461 deg,
      lon: -121.859661 deg,
      deltaT: 3.789501 s,
      deltaX: -2.980965 m,
      approachRate: -0.786638 m/s,
      posRepo size: 4

2025-08-21T19:37:19.207Z,1755805039.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:19.210Z,1755805039.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 98.475761 m,
      bearing: 270.905143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012147 deg/s,
      cmd heading: 271.230282 deg,
      new cmd heading: 271.241022 deg.

2025-08-21T19:37:19.216Z,1755805039.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734049 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:19.609Z,1755805039.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:19.612Z,1755805039.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 98.118423 m,
      bearing: 270.906093 deg,
      approach rate: -0.863425 m/s,
      LOS rate: 0.002302 deg/s,
      cmd heading: 271.241019 deg,
      new cmd heading: 271.242924 deg.

2025-08-21T19:37:19.613Z,1755805039.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734082 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:19.959Z,1755805039.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:19.962Z,1755805039.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 97.833176 m,
      bearing: 270.906852 deg,
      approach rate: -0.815101 m/s,
      LOS rate: 0.002177 deg/s,
      cmd heading: 271.242931 deg,
      new cmd heading: 271.244455 deg.

2025-08-21T19:37:19.980Z,1755805039.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.734109 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:20.297Z,1755805040.297 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:37:20.387Z,1755805040.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:20.390Z,1755805040.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 97.494331 m,
      bearing: 270.903638 deg,
      approach rate: -0.792572 m/s,
      LOS rate: -0.007544 deg/s,
      cmd heading: 271.244461 deg,
      new cmd heading: 271.238010 deg.

2025-08-21T19:37:20.391Z,1755805040.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733996 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:20.768Z,1755805040.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:20.770Z,1755805040.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:20.773Z,1755805040.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 97.190788 m,
      bearing: 270.900830 deg,
      approach rate: -0.792590 m/s,
      LOS rate: -0.007354 deg/s,
      cmd heading: 271.238013 deg,
      new cmd heading: 271.232381 deg.

2025-08-21T19:37:20.774Z,1755805040.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733898 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:20.813Z,1755805040.813 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:20.813Z,1755805040.813 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:20.813Z,1755805040.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:21.064Z,1755805041.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004152
2025-08-21T19:37:21.185Z,1755805041.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:21.188Z,1755805041.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 96.863129 m,
      bearing: 270.897784 deg,
      approach rate: -0.788931 m/s,
      LOS rate: -0.007361 deg/s,
      cmd heading: 271.232385 deg,
      new cmd heading: 271.226271 deg.

2025-08-21T19:37:21.189Z,1755805041.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733791 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:21.301Z,1755805041.301 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:37:21.319Z,1755805041.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258537
2025-08-21T19:37:21.568Z,1755805041.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507856
2025-08-21T19:37:21.638Z,1755805041.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:21.645Z,1755805041.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 96.517670 m,
      bearing: 270.894784 deg,
      approach rate: -0.762497 m/s,
      LOS rate: -0.006645 deg/s,
      cmd heading: 271.226266 deg,
      new cmd heading: 271.220245 deg.

2025-08-21T19:37:21.646Z,1755805041.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733686 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:21.820Z,1755805041.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759993
2025-08-21T19:37:22.016Z,1755805042.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:22.025Z,1755805042.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 96.213570 m,
      bearing: 270.892221 deg,
      approach rate: -0.815465 m/s,
      LOS rate: -0.006894 deg/s,
      cmd heading: 271.220255 deg,
      new cmd heading: 271.215113 deg.

2025-08-21T19:37:22.031Z,1755805042.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733597 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:22.073Z,1755805042.073 [DAT](INFO): DAT read: Rx Time:19:37:20.7415

2025-08-21T19:37:22.074Z,1755805042.074 [DAT](INFO): Rx dataTimestamp_ set to:1755805042.073111
2025-08-21T19:37:22.075Z,1755805042.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014076
2025-08-21T19:37:22.329Z,1755805042.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266404
2025-08-21T19:37:22.418Z,1755805042.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.54 m.
2025-08-21T19:37:22.421Z,1755805042.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.544289 m,
      nav range: 95.875908 m,
      bearing: 270.893243 deg,
      approach rate: -0.830109 m/s,
      LOS rate: 0.002521 deg/s,
      cmd heading: 271.215119 deg,
      new cmd heading: 271.217169 deg.

2025-08-21T19:37:22.422Z,1755805042.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733633 target range: 101.544289 and range: 102.20 m.
2025-08-21T19:37:22.582Z,1755805042.582 [DAT](INFO): DAT read: 19:37:20.7415 LVL= 23024, 27553, 21618, 32451, AGC= 63, IDX= 408,-0.46,-2.344, 2.232,-2.084,-2.516, PHS= 0.273,-1.491, 0.387, RAW= 153.1,   9.1, CAL= 152.8,   9.8, ROT= 357.2,  -9.8

2025-08-21T19:37:22.583Z,1755805042.583 [DAT](INFO): got valid direction response:
 19:37:20.7415 LVL= 23024, 27553, 21618, 32451, AGC= 63, IDX= 408,-0.46,-2.344, 2.232,-2.084,-2.516, PHS= 0.273,-1.491, 0.387, RAW= 153.1,   9.1, CAL= 152.8,   9.8, ROT= 357.2,  -9.8

2025-08-21T19:37:22.584Z,1755805042.584 [DAT](INFO): DAT read: Bearing  57.1,  -2.1 (Local)

2025-08-21T19:37:22.584Z,1755805042.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.1,  -2.1 (Local)

2025-08-21T19:37:22.586Z,1755805042.586 [DAT](INFO): DAT read: Range 11 to 50 : 99.3 m  (Round-trip  132.4 ms) speed  0.7 m/s

2025-08-21T19:37:22.587Z,1755805042.587 [DAT](INFO): DAT read: user:4005>

2025-08-21T19:37:22.587Z,1755805042.587 [DAT](INFO): DAT read: Tx time:19:37:21.8549

2025-08-21T19:37:22.588Z,1755805042.588 [DAT](INFO): Ping request sent.
2025-08-21T19:37:22.588Z,1755805042.588 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:22.588Z,1755805042.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:22.589Z,1755805042.589 [DAT](INFO): direction in FSK: [0.984231,-0.048137,0.170209]
2025-08-21T19:37:22.589Z,1755805042.589 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:22.590Z,1755805042.590 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:22.593Z,1755805042.593 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:22.593Z,1755805042.593 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:22.809Z,1755805042.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.300003 m,
      deltaT: 3.528022 s,
      deltaX: -2.899994 m,
      approachRate: -0.821989 m/s,
      rangeRepo size: 4

2025-08-21T19:37:22.811Z,1755805042.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.663216 m,
      bearing: 268.679436 deg,
      lat: 36.779453 deg,
      lon: -121.859669 deg,
      deltaT: 3.528022 s,
      deltaX: -2.881073 m,
      approachRate: -0.816626 m/s,
      posRepo size: 4

2025-08-21T19:37:22.812Z,1755805042.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:22.814Z,1755805042.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 96.265343 m,
      bearing: 270.396742 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.002521 deg/s,
      cmd heading: 271.217168 deg,
      new cmd heading: 271.219135 deg.

2025-08-21T19:37:22.816Z,1755805042.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733667 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:23.199Z,1755805043.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:23.201Z,1755805043.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:23.228Z,1755805043.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 95.948311 m,
      bearing: 270.396152 deg,
      approach rate: -0.805606 m/s,
      LOS rate: -0.001504 deg/s,
      cmd heading: 271.219135 deg,
      new cmd heading: 271.217951 deg.

2025-08-21T19:37:23.229Z,1755805043.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733646 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:23.335Z,1755805043.335 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:23.335Z,1755805043.335 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:23.336Z,1755805043.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:23.584Z,1755805043.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996559
2025-08-21T19:37:23.659Z,1755805043.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:23.662Z,1755805043.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 95.598801 m,
      bearing: 270.390195 deg,
      approach rate: -0.764506 m/s,
      LOS rate: -0.013077 deg/s,
      cmd heading: 271.217960 deg,
      new cmd heading: 271.206003 deg.

2025-08-21T19:37:23.663Z,1755805043.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733438 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:23.836Z,1755805043.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248413
2025-08-21T19:37:24.037Z,1755805044.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:24.040Z,1755805044.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 95.276047 m,
      bearing: 270.384813 deg,
      approach rate: -0.853709 m/s,
      LOS rate: -0.014285 deg/s,
      cmd heading: 271.205994 deg,
      new cmd heading: 271.195192 deg.

2025-08-21T19:37:24.041Z,1755805044.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733249 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:24.089Z,1755805044.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501711
2025-08-21T19:37:24.343Z,1755805044.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754731
2025-08-21T19:37:24.446Z,1755805044.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:24.449Z,1755805044.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 94.938217 m,
      bearing: 270.381764 deg,
      approach rate: -0.824572 m/s,
      LOS rate: -0.007467 deg/s,
      cmd heading: 271.195202 deg,
      new cmd heading: 271.189083 deg.

2025-08-21T19:37:24.450Z,1755805044.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733142 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:24.592Z,1755805044.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004361
2025-08-21T19:37:24.828Z,1755805044.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:24.831Z,1755805044.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 94.636505 m,
      bearing: 270.379036 deg,
      approach rate: -0.789928 m/s,
      LOS rate: -0.007166 deg/s,
      cmd heading: 271.189082 deg,
      new cmd heading: 271.183608 deg.

2025-08-21T19:37:24.832Z,1755805044.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.733047 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:24.844Z,1755805044.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256542
2025-08-21T19:37:25.096Z,1755805045.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508552
2025-08-21T19:37:25.214Z,1755805045.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:25.217Z,1755805045.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:25.220Z,1755805045.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 94.303154 m,
      bearing: 270.376096 deg,
      approach rate: -0.858387 m/s,
      LOS rate: -0.007598 deg/s,
      cmd heading: 271.183618 deg,
      new cmd heading: 271.177717 deg.

2025-08-21T19:37:25.221Z,1755805045.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732944 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:25.348Z,1755805045.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760416
2025-08-21T19:37:25.600Z,1755805045.600 [DAT](INFO): DAT read: Rx Time:19:37:24.3875

2025-08-21T19:37:25.601Z,1755805045.601 [DAT](INFO): Rx dataTimestamp_ set to:1755805045.600544
2025-08-21T19:37:25.601Z,1755805045.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013605
2025-08-21T19:37:25.690Z,1755805045.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:25.697Z,1755805045.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 93.930168 m,
      bearing: 270.373411 deg,
      approach rate: -0.787831 m/s,
      LOS rate: -0.005692 deg/s,
      cmd heading: 271.177717 deg,
      new cmd heading: 271.172327 deg.

2025-08-21T19:37:25.698Z,1755805045.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732850 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:25.852Z,1755805045.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264482
2025-08-21T19:37:26.072Z,1755805046.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.66 m.
2025-08-21T19:37:26.074Z,1755805046.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.663216 m,
      nav range: 93.612320 m,
      bearing: 270.371352 deg,
      approach rate: -0.833471 m/s,
      LOS rate: -0.005420 deg/s,
      cmd heading: 271.172334 deg,
      new cmd heading: 271.168200 deg.

2025-08-21T19:37:26.076Z,1755805046.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732778 target range: 98.663216 and range: 99.30 m.
2025-08-21T19:37:26.108Z,1755805046.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519701
2025-08-21T19:37:26.381Z,1755805046.381 [DAT](INFO): DAT read: 19:37:24.3875 LVL= 24112, 31473, 24722, 32755, AGC= 68, IDX= 399, 0.10, 1.494,-0.194, 1.811, 1.333, PHS= 0.264,-1.482, 0.434, RAW= 154.6,   8.6, CAL= 154.2,   9.1, ROT= 355.8,  -9.1

2025-08-21T19:37:26.385Z,1755805046.385 [DAT](INFO): got valid direction response:
 19:37:24.3875 LVL= 24112, 31473, 24722, 32755, AGC= 68, IDX= 399, 0.10, 1.494,-0.194, 1.811, 1.333, PHS= 0.264,-1.482, 0.434, RAW= 154.6,   8.6, CAL= 154.2,   9.1, ROT= 355.8,  -9.1

2025-08-21T19:37:26.390Z,1755805046.390 [DAT](INFO): DAT read: Bearing  56.3,  -4.5 (Local)

2025-08-21T19:37:26.392Z,1755805046.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.3,  -4.5 (Local)

2025-08-21T19:37:26.397Z,1755805046.397 [DAT](INFO): DAT read: Range 11 to 50 : 96.3 m  (Round-trip  128.4 ms) speed  0.8 m/s

2025-08-21T19:37:26.401Z,1755805046.401 [DAT](INFO): DAT read: user:4006>

2025-08-21T19:37:26.405Z,1755805046.405 [DAT](INFO): DAT read: Tx time:19:37:25.5049

2025-08-21T19:37:26.406Z,1755805046.406 [DAT](INFO): Ping request sent.
2025-08-21T19:37:26.406Z,1755805046.406 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:26.408Z,1755805046.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:26.411Z,1755805046.411 [DAT](INFO): direction in FSK: [0.984762,-0.072317,0.158158]
2025-08-21T19:37:26.416Z,1755805046.416 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:26.416Z,1755805046.416 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:26.420Z,1755805046.420 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:26.420Z,1755805046.420 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:26.642Z,1755805046.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.300003 m,
      deltaT: 3.781488 s,
      deltaX: -3.000000 m,
      approachRate: -0.793338 m/s,
      rangeRepo size: 4

2025-08-21T19:37:26.653Z,1755805046.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.682022 m,
      bearing: 267.116844 deg,
      lat: 36.779428 deg,
      lon: -121.859674 deg,
      deltaT: 3.781488 s,
      deltaX: -2.981194 m,
      approachRate: -0.788365 m/s,
      posRepo size: 4

2025-08-21T19:37:26.653Z,1755805046.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:26.660Z,1755805046.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 93.610199 m,
      bearing: 268.686176 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005420 deg/s,
      cmd heading: 271.168209 deg,
      new cmd heading: 271.162035 deg.

2025-08-21T19:37:26.661Z,1755805046.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732670 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:27.049Z,1755805047.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:27.052Z,1755805047.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 93.255341 m,
      bearing: 268.678299 deg,
      approach rate: -0.869783 m/s,
      LOS rate: -0.019380 deg/s,
      cmd heading: 271.162034 deg,
      new cmd heading: 271.146221 deg.

2025-08-21T19:37:27.053Z,1755805047.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732394 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:27.464Z,1755805047.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:27.466Z,1755805047.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:27.468Z,1755805047.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 92.923210 m,
      bearing: 268.670941 deg,
      approach rate: -0.797455 m/s,
      LOS rate: -0.017731 deg/s,
      cmd heading: 271.146216 deg,
      new cmd heading: 271.131446 deg.

2025-08-21T19:37:27.469Z,1755805047.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.732136 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:27.616Z,1755805047.616 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:27.616Z,1755805047.616 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:27.616Z,1755805047.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:27.830Z,1755805047.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:27.849Z,1755805047.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 92.633682 m,
      bearing: 268.666486 deg,
      approach rate: -0.795321 m/s,
      LOS rate: -0.012277 deg/s,
      cmd heading: 271.131435 deg,
      new cmd heading: 271.122497 deg.

2025-08-21T19:37:27.850Z,1755805047.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731980 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:27.869Z,1755805047.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.462939
2025-08-21T19:37:28.120Z,1755805048.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.714483
2025-08-21T19:37:28.238Z,1755805048.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:28.240Z,1755805048.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 92.309380 m,
      bearing: 268.661462 deg,
      approach rate: -0.795095 m/s,
      LOS rate: -0.012360 deg/s,
      cmd heading: 271.122501 deg,
      new cmd heading: 271.112419 deg.

2025-08-21T19:37:28.241Z,1755805048.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731804 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:28.372Z,1755805048.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.966464
2025-08-21T19:37:28.624Z,1755805048.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.218612
2025-08-21T19:37:28.637Z,1755805048.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:28.640Z,1755805048.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 91.989876 m,
      bearing: 268.657595 deg,
      approach rate: -0.800208 m/s,
      LOS rate: -0.009718 deg/s,
      cmd heading: 271.112420 deg,
      new cmd heading: 271.104660 deg.

2025-08-21T19:37:28.641Z,1755805048.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731669 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:28.877Z,1755805048.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.470996
2025-08-21T19:37:29.054Z,1755805049.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:29.057Z,1755805049.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 91.656281 m,
      bearing: 268.653593 deg,
      approach rate: -0.799751 m/s,
      LOS rate: -0.009630 deg/s,
      cmd heading: 271.104661 deg,
      new cmd heading: 271.096627 deg.

2025-08-21T19:37:29.058Z,1755805049.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731529 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:29.129Z,1755805049.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723084
2025-08-21T19:37:29.380Z,1755805049.380 [DAT](INFO): DAT read: Rx Time:19:37:28.0335

2025-08-21T19:37:29.381Z,1755805049.381 [DAT](INFO): Rx dataTimestamp_ set to:1755805049.380458
2025-08-21T19:37:29.381Z,1755805049.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975614
2025-08-21T19:37:29.540Z,1755805049.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:29.542Z,1755805049.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:29.545Z,1755805049.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 91.256073 m,
      bearing: 268.648285 deg,
      approach rate: -0.819385 m/s,
      LOS rate: -0.010915 deg/s,
      cmd heading: 271.096629 deg,
      new cmd heading: 271.085966 deg.

2025-08-21T19:37:29.546Z,1755805049.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731343 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:29.632Z,1755805049.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226695
2025-08-21T19:37:29.870Z,1755805049.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.68 m.
2025-08-21T19:37:29.873Z,1755805049.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.682022 m,
      nav range: 90.987053 m,
      bearing: 268.644720 deg,
      approach rate: -0.820168 m/s,
      LOS rate: -0.010903 deg/s,
      cmd heading: 271.085973 deg,
      new cmd heading: 271.078821 deg.

2025-08-21T19:37:29.874Z,1755805049.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731218 target range: 95.682022 and range: 96.30 m.
2025-08-21T19:37:29.890Z,1755805049.890 [DAT](INFO): DAT read: 19:37:28.0335 LVL= 25744, 32113, 23650, 32755, AGC= 65, IDX= 407, 0.09,-0.515,-2.134,-0.183,-0.635, PHS= 0.221,-1.454, 0.408, RAW= 155.2,   9.3, CAL= 154.9,  10.0, ROT= 355.1, -10.0

2025-08-21T19:37:29.899Z,1755805049.899 [DAT](INFO): got valid direction response:
 19:37:28.0335 LVL= 25744, 32113, 23650, 32755, AGC= 65, IDX= 407, 0.09,-0.515,-2.134,-0.183,-0.635, PHS= 0.221,-1.454, 0.408, RAW= 155.2,   9.3, CAL= 154.9,  10.0, ROT= 355.1, -10.0

2025-08-21T19:37:29.900Z,1755805049.900 [DAT](INFO): DAT read: Bearing  57.2,  -6.0 (Local)

2025-08-21T19:37:29.901Z,1755805049.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.2,  -6.0 (Local)

2025-08-21T19:37:29.902Z,1755805049.902 [DAT](INFO): DAT read: Range 11 to 50 : 93.3 m  (Round-trip  124.5 ms) speed  0.8 m/s

2025-08-21T19:37:29.903Z,1755805049.903 [DAT](INFO): DAT read: user:4007>

2025-08-21T19:37:29.904Z,1755805049.904 [DAT](INFO): DAT read: Tx time:19:37:29.1549

2025-08-21T19:37:29.904Z,1755805049.904 [DAT](INFO): Ping request sent.
2025-08-21T19:37:29.904Z,1755805049.904 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:29.904Z,1755805049.904 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:29.905Z,1755805049.905 [DAT](INFO): direction in FSK: [0.981209,-0.084119,0.173648]
2025-08-21T19:37:29.906Z,1755805049.906 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:29.906Z,1755805049.906 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:29.917Z,1755805049.917 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:29.917Z,1755805049.917 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:30.365Z,1755805050.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.300003 m,
      deltaT: 3.526807 s,
      deltaX: -3.000000 m,
      approachRate: -0.850628 m/s,
      rangeRepo size: 4

2025-08-21T19:37:30.368Z,1755805050.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.701378 m,
      bearing: 266.273360 deg,
      lat: 36.779427 deg,
      lon: -121.859681 deg,
      deltaT: 3.526807 s,
      deltaX: -2.980644 m,
      approachRate: -0.845140 m/s,
      posRepo size: 4

2025-08-21T19:37:30.368Z,1755805050.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:30.371Z,1755805050.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 91.260246 m,
      bearing: 268.547331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010903 deg/s,
      cmd heading: 271.078815 deg,
      new cmd heading: 271.068036 deg.

2025-08-21T19:37:30.372Z,1755805050.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.731030 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:30.745Z,1755805050.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:30.751Z,1755805050.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 90.948341 m,
      bearing: 268.541384 deg,
      approach rate: -0.821187 m/s,
      LOS rate: -0.015711 deg/s,
      cmd heading: 271.068024 deg,
      new cmd heading: 271.056089 deg.

2025-08-21T19:37:30.752Z,1755805050.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730821 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:31.107Z,1755805051.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:31.110Z,1755805051.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 90.650803 m,
      bearing: 268.535747 deg,
      approach rate: -0.820980 m/s,
      LOS rate: -0.015606 deg/s,
      cmd heading: 271.056085 deg,
      new cmd heading: 271.044773 deg.

2025-08-21T19:37:31.111Z,1755805051.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730624 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:31.578Z,1755805051.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:31.580Z,1755805051.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:31.583Z,1755805051.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 90.268341 m,
      bearing: 268.525404 deg,
      approach rate: -0.807863 m/s,
      LOS rate: -0.021940 deg/s,
      cmd heading: 271.044774 deg,
      new cmd heading: 271.024000 deg.

2025-08-21T19:37:31.584Z,1755805051.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.730261 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:31.650Z,1755805051.650 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:31.650Z,1755805051.650 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:31.650Z,1755805051.650 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:31.952Z,1755805051.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.047535
2025-08-21T19:37:31.966Z,1755805051.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:32.001Z,1755805052.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 89.955963 m,
      bearing: 268.516924 deg,
      approach rate: -0.810216 m/s,
      LOS rate: -0.022071 deg/s,
      cmd heading: 271.024010 deg,
      new cmd heading: 271.006991 deg.

2025-08-21T19:37:32.003Z,1755805052.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729964 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:32.153Z,1755805052.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248283
2025-08-21T19:37:32.375Z,1755805052.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:32.378Z,1755805052.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 89.624832 m,
      bearing: 268.507871 deg,
      approach rate: -0.809312 m/s,
      LOS rate: -0.022208 deg/s,
      cmd heading: 271.006989 deg,
      new cmd heading: 270.988816 deg.

2025-08-21T19:37:32.379Z,1755805052.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729647 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:32.404Z,1755805052.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500218
2025-08-21T19:37:32.657Z,1755805052.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752359
2025-08-21T19:37:32.795Z,1755805052.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:32.798Z,1755805052.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 89.285240 m,
      bearing: 268.501154 deg,
      approach rate: -0.809175 m/s,
      LOS rate: -0.016065 deg/s,
      cmd heading: 270.988821 deg,
      new cmd heading: 270.975337 deg.

2025-08-21T19:37:32.799Z,1755805052.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729412 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:32.909Z,1755805052.909 [DAT](INFO): DAT read: Rx Time:19:37:31.6795

2025-08-21T19:37:32.910Z,1755805052.910 [DAT](INFO): Rx dataTimestamp_ set to:1755805052.909297
2025-08-21T19:37:32.911Z,1755805052.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006383
2025-08-21T19:37:33.161Z,1755805053.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256546
2025-08-21T19:37:33.210Z,1755805053.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.70 m.
2025-08-21T19:37:33.217Z,1755805053.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.701378 m,
      nav range: 88.950256 m,
      bearing: 268.494524 deg,
      approach rate: -0.806098 m/s,
      LOS rate: -0.016016 deg/s,
      cmd heading: 270.975324 deg,
      new cmd heading: 270.962013 deg.

2025-08-21T19:37:33.218Z,1755805053.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.729179 target range: 92.701378 and range: 93.30 m.
2025-08-21T19:37:33.433Z,1755805053.433 [DAT](INFO): DAT read: 19:37:31.6795 LVL= 23120, 27889, 22514, 32755, AGC= 66, IDX= 398, 0.45, 2.768, 1.080, 3.113, 2.642, PHS= 0.227,-1.517, 0.426, RAW= 155.3,   9.4, CAL= 155.1,  10.0, ROT= 354.9, -10.0

2025-08-21T19:37:33.434Z,1755805053.434 [DAT](INFO): got valid direction response:
 19:37:31.6795 LVL= 23120, 27889, 22514, 32755, AGC= 66, IDX= 398, 0.45, 2.768, 1.080, 3.113, 2.642, PHS= 0.227,-1.517, 0.426, RAW= 155.3,   9.4, CAL= 155.1,  10.0, ROT= 354.9, -10.0

2025-08-21T19:37:33.437Z,1755805053.437 [DAT](INFO): DAT read: Bearing  57.0,  -6.8 (Local)

2025-08-21T19:37:33.437Z,1755805053.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing  57.0,  -6.8 (Local)

2025-08-21T19:37:33.450Z,1755805053.450 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m  (Round-trip  120.5 ms) speed  0.7 m/s

2025-08-21T19:37:33.450Z,1755805053.450 [DAT](INFO): DAT read: user:4008>

2025-08-21T19:37:33.455Z,1755805053.455 [DAT](INFO): DAT read: Tx time:19:37:32.8049

2025-08-21T19:37:33.457Z,1755805053.457 [DAT](INFO): Ping request sent.
2025-08-21T19:37:33.457Z,1755805053.457 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:33.459Z,1755805053.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:33.461Z,1755805053.461 [DAT](INFO): direction in FSK: [0.980909,-0.087544,0.173648]
2025-08-21T19:37:33.461Z,1755805053.461 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:33.461Z,1755805053.461 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:33.464Z,1755805053.464 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:33.465Z,1755805053.465 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:33.745Z,1755805053.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.300003 m,
      deltaT: 3.529147 s,
      deltaX: -3.000000 m,
      approachRate: -0.850064 m/s,
      rangeRepo size: 4

2025-08-21T19:37:33.748Z,1755805053.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.720512 m,
      bearing: 265.931837 deg,
      lat: 36.779405 deg,
      lon: -121.859685 deg,
      deltaT: 3.529147 s,
      deltaX: -2.980865 m,
      approachRate: -0.844642 m/s,
      posRepo size: 4

2025-08-21T19:37:33.749Z,1755805053.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:33.752Z,1755805053.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 88.944397 m,
      bearing: 266.901826 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016016 deg/s,
      cmd heading: 270.962019 deg,
      new cmd heading: 270.944897 deg.

2025-08-21T19:37:33.753Z,1755805053.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728880 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:34.130Z,1755805054.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:34.132Z,1755805054.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:34.135Z,1755805054.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 88.634682 m,
      bearing: 266.886408 deg,
      approach rate: -0.799026 m/s,
      LOS rate: -0.039916 deg/s,
      cmd heading: 270.944889 deg,
      new cmd heading: 270.913945 deg.

2025-08-21T19:37:34.136Z,1755805054.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.728340 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:34.169Z,1755805054.169 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:34.169Z,1755805054.169 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:34.169Z,1755805054.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:34.420Z,1755805054.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.963401
2025-08-21T19:37:34.604Z,1755805054.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:34.607Z,1755805054.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 88.264702 m,
      bearing: 266.868453 deg,
      approach rate: -0.784176 m/s,
      LOS rate: -0.038215 deg/s,
      cmd heading: 270.913935 deg,
      new cmd heading: 270.877875 deg.

2025-08-21T19:37:34.608Z,1755805054.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727711 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:34.672Z,1755805054.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.215520
2025-08-21T19:37:34.924Z,1755805054.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.467445
2025-08-21T19:37:34.939Z,1755805054.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:34.942Z,1755805054.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 88.002602 m,
      bearing: 266.855590 deg,
      approach rate: -0.783568 m/s,
      LOS rate: -0.038569 deg/s,
      cmd heading: 270.877871 deg,
      new cmd heading: 270.852069 deg.

2025-08-21T19:37:34.943Z,1755805054.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.727261 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:35.177Z,1755805055.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720176
2025-08-21T19:37:35.373Z,1755805055.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:35.376Z,1755805055.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 87.673332 m,
      bearing: 266.839322 deg,
      approach rate: -0.757966 m/s,
      LOS rate: -0.037590 deg/s,
      cmd heading: 270.852080 deg,
      new cmd heading: 270.819422 deg.

2025-08-21T19:37:35.377Z,1755805055.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726691 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:35.429Z,1755805055.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972283
2025-08-21T19:37:35.680Z,1755805055.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223561
2025-08-21T19:37:35.772Z,1755805055.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:35.775Z,1755805055.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 87.346512 m,
      bearing: 266.822859 deg,
      approach rate: -0.819023 m/s,
      LOS rate: -0.041412 deg/s,
      cmd heading: 270.819432 deg,
      new cmd heading: 270.786382 deg.

2025-08-21T19:37:35.792Z,1755805055.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.726114 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:35.932Z,1755805055.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475403
2025-08-21T19:37:36.184Z,1755805056.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727572
2025-08-21T19:37:36.198Z,1755805056.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:36.204Z,1755805056.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:36.206Z,1755805056.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 87.027588 m,
      bearing: 266.806673 deg,
      approach rate: -0.738787 m/s,
      LOS rate: -0.037632 deg/s,
      cmd heading: 270.786374 deg,
      new cmd heading: 270.753884 deg.

2025-08-21T19:37:36.212Z,1755805056.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.725547 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:36.437Z,1755805056.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979684
2025-08-21T19:37:36.619Z,1755805056.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:36.622Z,1755805056.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 86.682808 m,
      bearing: 266.790478 deg,
      approach rate: -0.830833 m/s,
      LOS rate: -0.039181 deg/s,
      cmd heading: 270.753890 deg,
      new cmd heading: 270.721371 deg.

2025-08-21T19:37:36.623Z,1755805056.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724979 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:36.691Z,1755805056.691 [DAT](INFO): DAT read: Rx Time:19:37:35.3257

2025-08-21T19:37:36.692Z,1755805056.692 [DAT](INFO): Rx dataTimestamp_ set to:1755805056.691519
2025-08-21T19:37:36.692Z,1755805056.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235529
2025-08-21T19:37:36.940Z,1755805056.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.483273
2025-08-21T19:37:36.965Z,1755805056.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.72 m.
2025-08-21T19:37:36.968Z,1755805056.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.720512 m,
      nav range: 86.413452 m,
      bearing: 266.777779 deg,
      approach rate: -0.777402 m/s,
      LOS rate: -0.036766 deg/s,
      cmd heading: 270.721378 deg,
      new cmd heading: 270.695900 deg.

2025-08-21T19:37:36.969Z,1755805056.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.724535 target range: 89.720512 and range: 90.30 m.
2025-08-21T19:37:37.201Z,1755805057.201 [DAT](INFO): DAT read: 19:37:35.3257 LVL= 21536, 24689, 20626, 29171, AGC= 66, IDX= 407, 0.48, 1.408,-0.281, 1.773, 1.270, PHS= 0.240,-1.506, 0.459, RAW= 155.8,   8.7, CAL= 155.5,   9.2, ROT= 354.5,  -9.2

2025-08-21T19:37:37.202Z,1755805057.202 [DAT](INFO): got valid direction response:
 19:37:35.3257 LVL= 21536, 24689, 20626, 29171, AGC= 66, IDX= 407, 0.48, 1.408,-0.281, 1.773, 1.270, PHS= 0.240,-1.506, 0.459, RAW= 155.8,   8.7, CAL= 155.5,   9.2, ROT= 354.5,  -9.2

2025-08-21T19:37:37.204Z,1755805057.204 [DAT](INFO): DAT read: Bearing  55.9,  -7.8 (Local)

2025-08-21T19:37:37.204Z,1755805057.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.9,  -7.8 (Local)

2025-08-21T19:37:37.206Z,1755805057.206 [DAT](INFO): DAT read: Range 11 to 50 : 87.4 m  (Round-trip  116.6 ms) speed  0.7 m/s

2025-08-21T19:37:37.208Z,1755805057.208 [DAT](INFO): DAT read: user:4009>

2025-08-21T19:37:37.209Z,1755805057.209 [DAT](INFO): DAT read: Tx time:19:37:36.4549

2025-08-21T19:37:37.209Z,1755805057.209 [DAT](INFO): Ping request sent.
2025-08-21T19:37:37.210Z,1755805057.210 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:37.210Z,1755805057.210 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:37.211Z,1755805057.211 [DAT](INFO): direction in FSK: [0.982592,-0.094613,0.159881]
2025-08-21T19:37:37.212Z,1755805057.212 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:37.212Z,1755805057.212 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:37.215Z,1755805057.215 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:37.215Z,1755805057.215 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:37.390Z,1755805057.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.400002 m,
      deltaT: 3.780445 s,
      deltaX: -2.900002 m,
      approachRate: -0.767106 m/s,
      rangeRepo size: 4

2025-08-21T19:37:37.397Z,1755805057.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.839203 m,
      bearing: 265.635762 deg,
      lat: 36.779394 deg,
      lon: -121.859686 deg,
      deltaT: 3.780445 s,
      deltaX: -2.881310 m,
      approachRate: -0.762161 m/s,
      posRepo size: 4

2025-08-21T19:37:37.398Z,1755805057.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:37.405Z,1755805057.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 86.300659 m,
      bearing: 265.974243 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036766 deg/s,
      cmd heading: 270.695888 deg,
      new cmd heading: 270.664684 deg.

2025-08-21T19:37:37.406Z,1755805057.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723990 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:37.805Z,1755805057.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:37.808Z,1755805057.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 85.972076 m,
      bearing: 265.957597 deg,
      approach rate: -0.791785 m/s,
      LOS rate: -0.040266 deg/s,
      cmd heading: 270.664687 deg,
      new cmd heading: 270.631268 deg.

2025-08-21T19:37:37.809Z,1755805057.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.723407 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:38.182Z,1755805058.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:38.185Z,1755805058.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 85.652885 m,
      bearing: 265.941354 deg,
      approach rate: -0.846286 m/s,
      LOS rate: -0.043225 deg/s,
      cmd heading: 270.631274 deg,
      new cmd heading: 270.598668 deg.

2025-08-21T19:37:38.186Z,1755805058.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722838 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:38.636Z,1755805058.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:38.638Z,1755805058.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:38.640Z,1755805058.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 85.280701 m,
      bearing: 265.920528 deg,
      approach rate: -0.816621 m/s,
      LOS rate: -0.045894 deg/s,
      cmd heading: 270.598680 deg,
      new cmd heading: 270.556847 deg.

2025-08-21T19:37:38.641Z,1755805058.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.722108 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:38.704Z,1755805058.704 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:38.704Z,1755805058.704 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:38.704Z,1755805058.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:38.956Z,1755805058.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746573
2025-08-21T19:37:39.009Z,1755805059.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:39.016Z,1755805059.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 84.988579 m,
      bearing: 265.904121 deg,
      approach rate: -0.786602 m/s,
      LOS rate: -0.044332 deg/s,
      cmd heading: 270.556852 deg,
      new cmd heading: 270.523925 deg.

2025-08-21T19:37:39.017Z,1755805059.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.721533 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:39.212Z,1755805059.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001927
2025-08-21T19:37:39.381Z,1755805059.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:39.384Z,1755805059.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 84.678978 m,
      bearing: 265.886630 deg,
      approach rate: -0.832856 m/s,
      LOS rate: -0.047226 deg/s,
      cmd heading: 270.523931 deg,
      new cmd heading: 270.488820 deg.

2025-08-21T19:37:39.385Z,1755805059.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720921 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:39.460Z,1755805059.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250804
2025-08-21T19:37:39.712Z,1755805059.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502664
2025-08-21T19:37:39.814Z,1755805059.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:39.817Z,1755805059.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 84.315948 m,
      bearing: 265.870083 deg,
      approach rate: -0.837444 m/s,
      LOS rate: -0.038335 deg/s,
      cmd heading: 270.488824 deg,
      new cmd heading: 270.455588 deg.

2025-08-21T19:37:39.818Z,1755805059.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.720340 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:39.964Z,1755805059.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754573
2025-08-21T19:37:40.196Z,1755805060.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:40.199Z,1755805060.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 83.997116 m,
      bearing: 265.855571 deg,
      approach rate: -0.835300 m/s,
      LOS rate: -0.038164 deg/s,
      cmd heading: 270.455574 deg,
      new cmd heading: 270.426440 deg.

2025-08-21T19:37:40.200Z,1755805060.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719832 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:40.216Z,1755805060.216 [DAT](INFO): DAT read: Rx Time:19:37:38.9717

2025-08-21T19:37:40.217Z,1755805060.217 [DAT](INFO): Rx dataTimestamp_ set to:1755805060.216339
2025-08-21T19:37:40.217Z,1755805060.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007566
2025-08-21T19:37:40.470Z,1755805060.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260164
2025-08-21T19:37:40.669Z,1755805060.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:40.680Z,1755805060.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.84 m.
2025-08-21T19:37:40.708Z,1755805060.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.839203 m,
      nav range: 83.611725 m,
      bearing: 265.836144 deg,
      approach rate: -0.800464 m/s,
      LOS rate: -0.040535 deg/s,
      cmd heading: 270.426450 deg,
      new cmd heading: 270.387418 deg.

2025-08-21T19:37:40.737Z,1755805060.737 [DAT](INFO): DAT read: 19:37:38.9717 LVL= 28144, 27825, 25074, 31507, AGC= 61, IDX= 398,-0.06, 1.851, 0.165, 2.202, 1.768, PHS= 0.185,-1.558, 0.390, RAW= 155.5,  10.6, CAL= 155.4,  11.6, ROT= 354.6, -11.6

2025-08-21T19:37:40.738Z,1755805060.738 [DAT](INFO): got valid direction response:
 19:37:38.9717 LVL= 28144, 27825, 25074, 31507, AGC= 61, IDX= 398,-0.06, 1.851, 0.165, 2.202, 1.768, PHS= 0.185,-1.558, 0.390, RAW= 155.5,  10.6, CAL= 155.4,  11.6, ROT= 354.6, -11.6

2025-08-21T19:37:40.740Z,1755805060.740 [DAT](INFO): DAT read: Bearing  58.3,  -7.7 (Local)

2025-08-21T19:37:40.740Z,1755805060.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.3,  -7.7 (Local)

2025-08-21T19:37:40.741Z,1755805060.741 [DAT](INFO): DAT read: Range 11 to 50 : 84.4 m  (Round-trip  112.6 ms) speed  0.8 m/s

2025-08-21T19:37:40.742Z,1755805060.742 [DAT](INFO): DAT read: user:4010>

2025-08-21T19:37:40.743Z,1755805060.743 [DAT](INFO): DAT read: Tx time:19:37:40.0549

2025-08-21T19:37:40.743Z,1755805060.743 [DAT](INFO): Ping request sent.
2025-08-21T19:37:40.743Z,1755805060.743 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:40.744Z,1755805060.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:40.745Z,1755805060.745 [DAT](INFO): direction in FSK: [0.975228,-0.092186,0.201078]
2025-08-21T19:37:40.745Z,1755805060.745 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:40.745Z,1755805060.745 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:40.749Z,1755805060.749 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:40.749Z,1755805060.749 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:40.768Z,1755805060.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.719151 target range: 86.839203 and range: 87.40 m.
2025-08-21T19:37:41.106Z,1755805061.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.400002 m,
      deltaT: 3.537132 s,
      deltaX: -3.000000 m,
      approachRate: -0.848145 m/s,
      rangeRepo size: 4

2025-08-21T19:37:41.113Z,1755805061.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.858162 m,
      bearing: 265.495223 deg,
      lat: 36.779391 deg,
      lon: -121.859686 deg,
      deltaT: 3.537132 s,
      deltaX: -2.981041 m,
      approachRate: -0.842785 m/s,
      posRepo size: 4

2025-08-21T19:37:41.114Z,1755805061.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:41.141Z,1755805061.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 83.300781 m,
      bearing: 265.604846 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040535 deg/s,
      cmd heading: 270.387409 deg,
      new cmd heading: 270.352674 deg.

2025-08-21T19:37:41.142Z,1755805061.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.718544 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:41.516Z,1755805061.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:41.518Z,1755805061.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 82.939980 m,
      bearing: 265.585415 deg,
      approach rate: -0.880178 m/s,
      LOS rate: -0.047608 deg/s,
      cmd heading: 270.352684 deg,
      new cmd heading: 270.313654 deg.

2025-08-21T19:37:41.520Z,1755805061.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717863 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:41.912Z,1755805061.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:41.931Z,1755805061.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 82.612801 m,
      bearing: 265.570860 deg,
      approach rate: -0.824743 m/s,
      LOS rate: -0.036834 deg/s,
      cmd heading: 270.313643 deg,
      new cmd heading: 270.284418 deg.

2025-08-21T19:37:41.932Z,1755805061.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.717353 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:42.317Z,1755805062.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:42.324Z,1755805062.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 82.285828 m,
      bearing: 265.556461 deg,
      approach rate: -0.807839 m/s,
      LOS rate: -0.035716 deg/s,
      cmd heading: 270.284410 deg,
      new cmd heading: 270.255498 deg.

2025-08-21T19:37:42.325Z,1755805062.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716848 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:42.745Z,1755805062.745 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:42.748Z,1755805062.748 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:42.748Z,1755805062.748 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:42.748Z,1755805062.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:42.751Z,1755805062.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:42.754Z,1755805062.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 81.941689 m,
      bearing: 265.538401 deg,
      approach rate: -0.800322 m/s,
      LOS rate: -0.042178 deg/s,
      cmd heading: 270.255504 deg,
      new cmd heading: 270.219231 deg.

2025-08-21T19:37:42.755Z,1755805062.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.716215 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:43.000Z,1755805063.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256845
2025-08-21T19:37:43.124Z,1755805063.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:43.127Z,1755805063.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 81.641098 m,
      bearing: 265.522574 deg,
      approach rate: -0.797466 m/s,
      LOS rate: -0.042141 deg/s,
      cmd heading: 270.219222 deg,
      new cmd heading: 270.187454 deg.

2025-08-21T19:37:43.132Z,1755805063.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.715661 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:43.252Z,1755805063.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509187
2025-08-21T19:37:43.504Z,1755805063.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761045
2025-08-21T19:37:43.592Z,1755805063.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:43.595Z,1755805063.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 81.266548 m,
      bearing: 265.502851 deg,
      approach rate: -0.800141 m/s,
      LOS rate: -0.042329 deg/s,
      cmd heading: 270.187448 deg,
      new cmd heading: 270.147819 deg.

2025-08-21T19:37:43.596Z,1755805063.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714969 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:43.756Z,1755805063.756 [DAT](INFO): DAT read: Rx Time:19:37:42.5676

2025-08-21T19:37:43.757Z,1755805063.757 [DAT](INFO): Rx dataTimestamp_ set to:1755805063.756424
2025-08-21T19:37:43.757Z,1755805063.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013971
2025-08-21T19:37:44.007Z,1755805064.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:44.008Z,1755805064.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265054
2025-08-21T19:37:44.014Z,1755805064.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 80.943848 m,
      bearing: 265.486079 deg,
      approach rate: -0.778603 m/s,
      LOS rate: -0.040628 deg/s,
      cmd heading: 270.147806 deg,
      new cmd heading: 270.114128 deg.

2025-08-21T19:37:44.015Z,1755805064.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.714381 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:44.263Z,1755805064.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519208
2025-08-21T19:37:44.417Z,1755805064.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.86 m.
2025-08-21T19:37:44.423Z,1755805064.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.858162 m,
      nav range: 80.617714 m,
      bearing: 265.468991 deg,
      approach rate: -0.795644 m/s,
      LOS rate: -0.041856 deg/s,
      cmd heading: 270.114119 deg,
      new cmd heading: 270.079806 deg.

2025-08-21T19:37:44.424Z,1755805064.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713782 target range: 83.858162 and range: 84.40 m.
2025-08-21T19:37:44.521Z,1755805064.521 [DAT](INFO): DAT read: 19:37:42.5676 LVL= 20912, 31601, 20530, 32755, AGC= 68, IDX= 405,-0.46, 1.334,-0.401, 1.653, 1.186, PHS= 0.250,-1.542, 0.424, RAW= 154.6,   9.2, CAL= 154.3,   9.9, ROT= 355.7,  -9.9

2025-08-21T19:37:44.522Z,1755805064.522 [DAT](INFO): got valid direction response:
 19:37:42.5676 LVL= 20912, 31601, 20530, 32755, AGC= 68, IDX= 405,-0.46, 1.334,-0.401, 1.653, 1.186, PHS= 0.250,-1.542, 0.424, RAW= 154.6,   9.2, CAL= 154.3,   9.9, ROT= 355.7,  -9.9

2025-08-21T19:37:44.523Z,1755805064.523 [DAT](INFO): DAT read: Bearing  56.2,  -6.8 (Local)

2025-08-21T19:37:44.523Z,1755805064.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.2,  -6.8 (Local)

2025-08-21T19:37:44.524Z,1755805064.524 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.5 ms) speed  0.7 m/s

2025-08-21T19:37:44.525Z,1755805064.525 [DAT](INFO): DAT read: user:4011>

2025-08-21T19:37:44.526Z,1755805064.526 [DAT](INFO): DAT read: Tx time:19:37:43.7049

2025-08-21T19:37:44.526Z,1755805064.526 [DAT](INFO): Ping request sent.
2025-08-21T19:37:44.526Z,1755805064.526 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:44.527Z,1755805064.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:44.532Z,1755805064.532 [DAT](INFO): direction in FSK: [0.982336,-0.073862,0.171929]
2025-08-21T19:37:44.532Z,1755805064.532 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:44.532Z,1755805064.532 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:44.540Z,1755805064.540 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:44.540Z,1755805064.540 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:44.818Z,1755805064.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.300003 m,
      deltaT: 3.781727 s,
      deltaX: -3.099998 m,
      approachRate: -0.819731 m/s,
      rangeRepo size: 4

2025-08-21T19:37:44.820Z,1755805064.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.778214 m,
      bearing: 266.355634 deg,
      lat: 36.779391 deg,
      lon: -121.859686 deg,
      deltaT: 3.781727 s,
      deltaX: -3.079948 m,
      approachRate: -0.814429 m/s,
      posRepo size: 4

2025-08-21T19:37:44.821Z,1755805064.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:44.824Z,1755805064.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 80.298492 m,
      bearing: 265.451917 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041856 deg/s,
      cmd heading: 270.079805 deg,
      new cmd heading: 270.046272 deg.

2025-08-21T19:37:44.825Z,1755805064.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.713197 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:45.199Z,1755805065.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:45.201Z,1755805065.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:45.204Z,1755805065.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 80.020370 m,
      bearing: 265.437099 deg,
      approach rate: -0.724221 m/s,
      LOS rate: -0.038720 deg/s,
      cmd heading: 270.046282 deg,
      new cmd heading: 270.016543 deg.

2025-08-21T19:37:45.205Z,1755805065.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712677 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:45.269Z,1755805065.269 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:45.269Z,1755805065.269 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:45.269Z,1755805065.269 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:45.520Z,1755805065.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993882
2025-08-21T19:37:45.598Z,1755805065.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:45.601Z,1755805065.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 79.702896 m,
      bearing: 265.420164 deg,
      approach rate: -0.800187 m/s,
      LOS rate: -0.042854 deg/s,
      cmd heading: 270.016530 deg,
      new cmd heading: 269.982525 deg.

2025-08-21T19:37:45.602Z,1755805065.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.712084 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:45.772Z,1755805065.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246077
2025-08-21T19:37:46.024Z,1755805066.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497989
2025-08-21T19:37:46.066Z,1755805066.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:46.074Z,1755805066.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 79.325607 m,
      bearing: 265.397162 deg,
      approach rate: -0.805818 m/s,
      LOS rate: -0.049361 deg/s,
      cmd heading: 269.982515 deg,
      new cmd heading: 269.936293 deg.

2025-08-21T19:37:46.075Z,1755805066.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.711277 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:46.281Z,1755805066.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753620
2025-08-21T19:37:46.440Z,1755805066.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:46.442Z,1755805066.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 79.021103 m,
      bearing: 265.378438 deg,
      approach rate: -0.816600 m/s,
      LOS rate: -0.050408 deg/s,
      cmd heading: 269.936289 deg,
      new cmd heading: 269.898695 deg.

2025-08-21T19:37:46.460Z,1755805066.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.710621 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:46.530Z,1755805066.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002961
2025-08-21T19:37:46.784Z,1755805066.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257753
2025-08-21T19:37:46.872Z,1755805066.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:46.875Z,1755805066.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 78.680840 m,
      bearing: 265.356646 deg,
      approach rate: -0.785514 m/s,
      LOS rate: -0.050524 deg/s,
      cmd heading: 269.898695 deg,
      new cmd heading: 269.854924 deg.

2025-08-21T19:37:46.876Z,1755805066.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709857 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:47.036Z,1755805067.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509878
2025-08-21T19:37:47.237Z,1755805067.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:47.239Z,1755805067.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:47.241Z,1755805067.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 78.393257 m,
      bearing: 265.338202 deg,
      approach rate: -0.784859 m/s,
      LOS rate: -0.050521 deg/s,
      cmd heading: 269.854927 deg,
      new cmd heading: 269.817904 deg.

2025-08-21T19:37:47.242Z,1755805067.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.709211 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:47.288Z,1755805067.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762038
2025-08-21T19:37:47.540Z,1755805067.540 [DAT](INFO): DAT read: Rx Time:19:37:46.2139

2025-08-21T19:37:47.541Z,1755805067.541 [DAT](INFO): Rx dataTimestamp_ set to:1755805067.540420
2025-08-21T19:37:47.541Z,1755805067.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014933
2025-08-21T19:37:47.659Z,1755805067.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.78 m.
2025-08-21T19:37:47.662Z,1755805067.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.778214 m,
      nav range: 78.071892 m,
      bearing: 265.317530 deg,
      approach rate: -0.771432 m/s,
      LOS rate: -0.049828 deg/s,
      cmd heading: 269.817908 deg,
      new cmd heading: 269.776393 deg.

2025-08-21T19:37:47.668Z,1755805067.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.708486 target range: 80.778214 and range: 81.30 m.
2025-08-21T19:37:47.792Z,1755805067.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265992
2025-08-21T19:37:48.050Z,1755805068.050 [DAT](INFO): DAT read: 19:37:46.2139 LVL= 25584, 28401, 27570, 32755, AGC= 64, IDX= 398,-0.19, 0.568,-1.038, 0.916, 0.503, PHS= 0.167,-1.496, 0.369, RAW= 155.7,  10.8, CAL= 155.6,  11.9, ROT= 354.4, -11.9

2025-08-21T19:37:48.052Z,1755805068.052 [DAT](INFO): got valid direction response:
 19:37:46.2139 LVL= 25584, 28401, 27570, 32755, AGC= 64, IDX= 398,-0.19, 0.568,-1.038, 0.916, 0.503, PHS= 0.167,-1.496, 0.369, RAW= 155.7,  10.8, CAL= 155.6,  11.9, ROT= 354.4, -11.9

2025-08-21T19:37:48.053Z,1755805068.053 [DAT](INFO): DAT read: Bearing  58.1,  -8.3 (Local)

2025-08-21T19:37:48.054Z,1755805068.054 [DAT](INFO): Local bearing/azimuth received:
 Bearing  58.1,  -8.3 (Local)

2025-08-21T19:37:48.055Z,1755805068.055 [DAT](INFO): DAT read: Range 11 to 50 : 78.6 m  (Round-trip  104.8 ms) speed  0.7 m/s

2025-08-21T19:37:48.056Z,1755805068.056 [DAT](INFO): DAT read: user:4012>

2025-08-21T19:37:48.057Z,1755805068.057 [DAT](INFO): DAT read: Tx time:19:37:47.3049

2025-08-21T19:37:48.057Z,1755805068.057 [DAT](INFO): Ping request sent.
2025-08-21T19:37:48.057Z,1755805068.057 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:48.057Z,1755805068.057 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:48.058Z,1755805068.058 [DAT](INFO): direction in FSK: [0.973839,-0.095486,0.206204]
2025-08-21T19:37:48.059Z,1755805068.059 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:48.059Z,1755805068.059 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:48.066Z,1755805068.066 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:48.066Z,1755805068.066 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:48.181Z,1755805068.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.599998 m,
      deltaT: 3.531341 s,
      deltaX: -2.700005 m,
      approachRate: -0.764583 m/s,
      rangeRepo size: 4

2025-08-21T19:37:48.183Z,1755805068.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.095680 m,
      bearing: 264.848547 deg,
      lat: 36.779390 deg,
      lon: -121.859685 deg,
      deltaT: 3.531341 s,
      deltaX: -2.682533 m,
      approachRate: -0.759636 m/s,
      posRepo size: 4

2025-08-21T19:37:48.188Z,1755805068.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:48.190Z,1755805068.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 77.566795 m,
      bearing: 265.182534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.049828 deg/s,
      cmd heading: 269.776380 deg,
      new cmd heading: 269.724940 deg.

2025-08-21T19:37:48.196Z,1755805068.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.707588 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:48.581Z,1755805068.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:48.584Z,1755805068.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 77.216194 m,
      bearing: 265.156850 deg,
      approach rate: -0.856832 m/s,
      LOS rate: -0.063054 deg/s,
      cmd heading: 269.724935 deg,
      new cmd heading: 269.673334 deg.

2025-08-21T19:37:48.585Z,1755805068.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.706687 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:49.060Z,1755805069.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:49.063Z,1755805069.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 76.833748 m,
      bearing: 265.129896 deg,
      approach rate: -0.797737 m/s,
      LOS rate: -0.056503 deg/s,
      cmd heading: 269.673326 deg,
      new cmd heading: 269.619150 deg.

2025-08-21T19:37:49.064Z,1755805069.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.705742 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:49.445Z,1755805069.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:49.448Z,1755805069.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:49.454Z,1755805069.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 76.522629 m,
      bearing: 265.107966 deg,
      approach rate: -0.803722 m/s,
      LOS rate: -0.056882 deg/s,
      cmd heading: 269.619149 deg,
      new cmd heading: 269.575112 deg.

2025-08-21T19:37:49.456Z,1755805069.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704973 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:49.556Z,1755805069.556 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:49.556Z,1755805069.556 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:49.557Z,1755805069.557 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:49.808Z,1755805069.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751032
2025-08-21T19:37:49.883Z,1755805069.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:49.886Z,1755805069.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 76.177559 m,
      bearing: 265.083851 deg,
      approach rate: -0.792403 m/s,
      LOS rate: -0.055629 deg/s,
      cmd heading: 269.575108 deg,
      new cmd heading: 269.526659 deg.

2025-08-21T19:37:49.887Z,1755805069.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.704128 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:50.061Z,1755805070.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003465
2025-08-21T19:37:50.260Z,1755805070.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:50.263Z,1755805070.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 75.881485 m,
      bearing: 265.063109 deg,
      approach rate: -0.783924 m/s,
      LOS rate: -0.055134 deg/s,
      cmd heading: 269.526669 deg,
      new cmd heading: 269.485022 deg.

2025-08-21T19:37:50.268Z,1755805070.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.703401 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:50.312Z,1755805070.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255301
2025-08-21T19:37:50.564Z,1755805070.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507155
2025-08-21T19:37:50.654Z,1755805070.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:50.657Z,1755805070.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 75.566559 m,
      bearing: 265.041165 deg,
      approach rate: -0.798972 m/s,
      LOS rate: -0.055902 deg/s,
      cmd heading: 269.485032 deg,
      new cmd heading: 269.440962 deg.

2025-08-21T19:37:50.658Z,1755805070.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.702632 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:50.816Z,1755805070.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759193
2025-08-21T19:37:51.068Z,1755805071.068 [DAT](INFO): DAT read: Rx Time:19:37:49.8100

2025-08-21T19:37:51.069Z,1755805071.069 [DAT](INFO): Rx dataTimestamp_ set to:1755805071.068587
2025-08-21T19:37:51.069Z,1755805071.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012321
2025-08-21T19:37:51.083Z,1755805071.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:51.086Z,1755805071.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 75.205688 m,
      bearing: 265.019607 deg,
      approach rate: -0.842008 m/s,
      LOS rate: -0.050543 deg/s,
      cmd heading: 269.440963 deg,
      new cmd heading: 269.397640 deg.

2025-08-21T19:37:51.087Z,1755805071.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701876 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:51.320Z,1755805071.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262999
2025-08-21T19:37:51.422Z,1755805071.422 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:37:51.471Z,1755805071.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:51.489Z,1755805071.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.10 m.
2025-08-21T19:37:51.496Z,1755805071.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.095680 m,
      nav range: 74.882530 m,
      bearing: 265.000260 deg,
      approach rate: -0.795609 m/s,
      LOS rate: -0.047837 deg/s,
      cmd heading: 269.397633 deg,
      new cmd heading: 269.358772 deg.

2025-08-21T19:37:51.497Z,1755805071.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.701198 target range: 78.095680 and range: 78.60 m.
2025-08-21T19:37:51.578Z,1755805071.578 [DAT](INFO): DAT read: 19:37:49.8100 LVL= 24784, 32753, 24754, 32755, AGC= 64, IDX= 407,-0.07,-1.378,-3.056,-1.039,-1.499, PHS= 0.224,-1.512, 0.416, RAW= 155.2,   9.5, CAL= 155.0,  10.2, ROT= 355.0, -10.2

2025-08-21T19:37:51.579Z,1755805071.579 [DAT](INFO): got valid direction response:
 19:37:49.8100 LVL= 24784, 32753, 24754, 32755, AGC= 64, IDX= 407,-0.07,-1.378,-3.056,-1.039,-1.499, PHS= 0.224,-1.512, 0.416, RAW= 155.2,   9.5, CAL= 155.0,  10.2, ROT= 355.0, -10.2

2025-08-21T19:37:51.580Z,1755805071.580 [DAT](INFO): DAT read: Bearing  56.3,  -7.6 (Local)

2025-08-21T19:37:51.580Z,1755805071.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.3,  -7.6 (Local)

2025-08-21T19:37:51.582Z,1755805071.582 [DAT](INFO): DAT read: Range 11 to 50 : 75.7 m  (Round-trip  101.0 ms) speed  0.8 m/s

2025-08-21T19:37:51.583Z,1755805071.583 [DAT](INFO): DAT read: user:4013>

2025-08-21T19:37:51.583Z,1755805071.583 [DAT](INFO): DAT read: Tx time:19:37:50.9048

2025-08-21T19:37:51.584Z,1755805071.584 [DAT](INFO): Ping request sent.
2025-08-21T19:37:51.584Z,1755805071.584 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:51.584Z,1755805071.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:51.585Z,1755805071.585 [DAT](INFO): direction in FSK: [0.980450,-0.085778,0.177085]
2025-08-21T19:37:51.585Z,1755805071.585 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:51.586Z,1755805071.586 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:51.593Z,1755805071.593 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:51.593Z,1755805071.593 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:51.933Z,1755805071.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.699997 m,
      deltaT: 3.528002 s,
      deltaX: -2.900002 m,
      approachRate: -0.821995 m/s,
      rangeRepo size: 4

2025-08-21T19:37:51.935Z,1755805071.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.214142 m,
      bearing: 265.139860 deg,
      lat: 36.779390 deg,
      lon: -121.859687 deg,
      deltaT: 3.528002 s,
      deltaX: -2.881538 m,
      approachRate: -0.816762 m/s,
      posRepo size: 4

2025-08-21T19:37:51.940Z,1755805071.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:51.942Z,1755805071.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 74.690742 m,
      bearing: 264.987223 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047837 deg/s,
      cmd heading: 269.358783 deg,
      new cmd heading: 269.316425 deg.

2025-08-21T19:37:51.950Z,1755805071.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.700459 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:52.277Z,1755805072.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:52.280Z,1755805072.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 74.397850 m,
      bearing: 264.967522 deg,
      approach rate: -0.848420 m/s,
      LOS rate: -0.057292 deg/s,
      cmd heading: 269.316435 deg,
      new cmd heading: 269.276878 deg.

2025-08-21T19:37:52.281Z,1755805072.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.699768 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:52.424Z,1755805072.424 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:37:52.671Z,1755805072.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:52.674Z,1755805072.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 74.065880 m,
      bearing: 264.945252 deg,
      approach rate: -0.842062 m/s,
      LOS rate: -0.056741 deg/s,
      cmd heading: 269.276875 deg,
      new cmd heading: 269.232136 deg.

2025-08-21T19:37:52.675Z,1755805072.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698987 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:53.120Z,1755805073.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:53.122Z,1755805073.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 73.706604 m,
      bearing: 264.924111 deg,
      approach rate: -0.801583 m/s,
      LOS rate: -0.047398 deg/s,
      cmd heading: 269.232123 deg,
      new cmd heading: 269.189635 deg.

2025-08-21T19:37:53.124Z,1755805073.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.698246 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:53.492Z,1755805073.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:53.494Z,1755805073.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:53.497Z,1755805073.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 73.391037 m,
      bearing: 264.905535 deg,
      approach rate: -0.841905 m/s,
      LOS rate: -0.049772 deg/s,
      cmd heading: 269.189640 deg,
      new cmd heading: 269.152328 deg.

2025-08-21T19:37:53.498Z,1755805073.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.697594 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:53.588Z,1755805073.588 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:53.589Z,1755805073.589 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:53.589Z,1755805073.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:53.840Z,1755805073.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256456
2025-08-21T19:37:53.938Z,1755805073.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:53.947Z,1755805073.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 73.046455 m,
      bearing: 264.883088 deg,
      approach rate: -0.777321 m/s,
      LOS rate: -0.050876 deg/s,
      cmd heading: 269.152320 deg,
      new cmd heading: 269.107213 deg.

2025-08-21T19:37:53.953Z,1755805073.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696807 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:54.092Z,1755805074.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508368
2025-08-21T19:37:54.300Z,1755805074.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:54.303Z,1755805074.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 72.732056 m,
      bearing: 264.862473 deg,
      approach rate: -0.869194 m/s,
      LOS rate: -0.057240 deg/s,
      cmd heading: 269.107213 deg,
      new cmd heading: 269.065804 deg.

2025-08-21T19:37:54.306Z,1755805074.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.696084 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:54.345Z,1755805074.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760883
2025-08-21T19:37:54.598Z,1755805074.598 [DAT](INFO): DAT read: Rx Time:19:37:53.4061

2025-08-21T19:37:54.598Z,1755805074.598 [DAT](INFO): Rx dataTimestamp_ set to:1755805074.598084
2025-08-21T19:37:54.599Z,1755805074.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015065
2025-08-21T19:37:54.699Z,1755805074.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:54.702Z,1755805074.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 72.404823 m,
      bearing: 264.841052 deg,
      approach rate: -0.818631 m/s,
      LOS rate: -0.053829 deg/s,
      cmd heading: 269.065795 deg,
      new cmd heading: 269.022761 deg.

2025-08-21T19:37:54.703Z,1755805074.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.695333 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:54.848Z,1755805074.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264486
2025-08-21T19:37:55.104Z,1755805075.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519118
2025-08-21T19:37:55.206Z,1755805075.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.21 m.
2025-08-21T19:37:55.213Z,1755805075.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.214142 m,
      nav range: 72.004662 m,
      bearing: 264.817077 deg,
      approach rate: -0.789464 m/s,
      LOS rate: -0.047562 deg/s,
      cmd heading: 269.022765 deg,
      new cmd heading: 268.974548 deg.

2025-08-21T19:37:55.214Z,1755805075.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.694491 target range: 75.214142 and range: 75.70 m.
2025-08-21T19:37:55.358Z,1755805075.358 [DAT](INFO): DAT read: 19:37:53.4061 LVL= 25696, 27873, 26194, 32755, AGC= 60, IDX= 399,-0.01,-2.753, 1.855,-2.422,-2.892, PHS= 0.241,-1.491, 0.425, RAW= 155.0,   9.1, CAL= 154.7,   9.7, ROT= 355.3,  -9.7

2025-08-21T19:37:55.359Z,1755805075.359 [DAT](INFO): got valid direction response:
 19:37:53.4061 LVL= 25696, 27873, 26194, 32755, AGC= 60, IDX= 399,-0.01,-2.753, 1.855,-2.422,-2.892, PHS= 0.241,-1.491, 0.425, RAW= 155.0,   9.1, CAL= 154.7,   9.7, ROT= 355.3,  -9.7

2025-08-21T19:37:55.360Z,1755805075.360 [DAT](INFO): DAT read: Bearing  55.8,  -7.0 (Local)

2025-08-21T19:37:55.360Z,1755805075.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing  55.8,  -7.0 (Local)

2025-08-21T19:37:55.362Z,1755805075.362 [DAT](INFO): DAT read: Range 11 to 50 : 72.8 m  (Round-trip  97.1 ms) speed  0.7 m/s

2025-08-21T19:37:55.362Z,1755805075.362 [DAT](INFO): DAT read: user:4014>

2025-08-21T19:37:55.364Z,1755805075.364 [DAT](INFO): DAT read: Tx time:19:37:54.5048

2025-08-21T19:37:55.364Z,1755805075.364 [DAT](INFO): Ping request sent.
2025-08-21T19:37:55.364Z,1755805075.364 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:55.364Z,1755805075.364 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:55.365Z,1755805075.365 [DAT](INFO): direction in FSK: [0.982389,-0.080767,0.168489]
2025-08-21T19:37:55.366Z,1755805075.366 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:55.366Z,1755805075.366 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:55.369Z,1755805075.369 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:55.369Z,1755805075.369 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:55.599Z,1755805075.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.800003 m,
      deltaT: 3.779862 s,
      deltaX: -2.899994 m,
      approachRate: -0.767222 m/s,
      rangeRepo size: 4

2025-08-21T19:37:55.606Z,1755805075.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.332588 m,
      bearing: 265.216211 deg,
      lat: 36.779392 deg,
      lon: -121.859687 deg,
      deltaT: 3.779862 s,
      deltaX: -2.881554 m,
      approachRate: -0.762344 m/s,
      posRepo size: 4

2025-08-21T19:37:55.607Z,1755805075.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:55.614Z,1755805075.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 71.699005 m,
      bearing: 264.957326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047562 deg/s,
      cmd heading: 268.974543 deg,
      new cmd heading: 268.937256 deg.

2025-08-21T19:37:55.615Z,1755805075.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693841 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:56.014Z,1755805076.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:56.016Z,1755805076.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:56.019Z,1755805076.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 71.338112 m,
      bearing: 264.935213 deg,
      approach rate: -0.863131 m/s,
      LOS rate: -0.053155 deg/s,
      cmd heading: 268.937251 deg,
      new cmd heading: 268.892800 deg.

2025-08-21T19:37:56.020Z,1755805076.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.693065 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:56.109Z,1755805076.109 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:37:56.109Z,1755805076.109 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:37:56.109Z,1755805076.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:37:56.360Z,1755805076.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996132
2025-08-21T19:37:56.387Z,1755805076.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:56.390Z,1755805076.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 71.034302 m,
      bearing: 264.916646 deg,
      approach rate: -0.819936 m/s,
      LOS rate: -0.050324 deg/s,
      cmd heading: 268.892800 deg,
      new cmd heading: 268.855507 deg.

2025-08-21T19:37:56.391Z,1755805076.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.692414 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:56.612Z,1755805076.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247964
2025-08-21T19:37:56.866Z,1755805076.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502309
2025-08-21T19:37:56.941Z,1755805076.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:56.950Z,1755805076.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 70.608376 m,
      bearing: 264.893023 deg,
      approach rate: -0.776031 m/s,
      LOS rate: -0.043299 deg/s,
      cmd heading: 268.855507 deg,
      new cmd heading: 268.807977 deg.

2025-08-21T19:37:56.957Z,1755805076.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.691584 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:57.116Z,1755805077.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752137
2025-08-21T19:37:57.321Z,1755805077.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:57.323Z,1755805077.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 70.280693 m,
      bearing: 264.874685 deg,
      approach rate: -0.850958 m/s,
      LOS rate: -0.047844 deg/s,
      cmd heading: 268.807969 deg,
      new cmd heading: 268.771122 deg.

2025-08-21T19:37:57.324Z,1755805077.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690941 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:57.368Z,1755805077.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004113
2025-08-21T19:37:57.620Z,1755805077.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256020
2025-08-21T19:37:57.739Z,1755805077.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:57.742Z,1755805077.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 69.943047 m,
      bearing: 264.855853 deg,
      approach rate: -0.806940 m/s,
      LOS rate: -0.045225 deg/s,
      cmd heading: 268.771113 deg,
      new cmd heading: 268.733266 deg.

2025-08-21T19:37:57.743Z,1755805077.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.690280 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:57.875Z,1755805077.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510238
2025-08-21T19:37:58.124Z,1755805078.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759970
2025-08-21T19:37:58.206Z,1755805078.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:37:58.212Z,1755805078.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:58.215Z,1755805078.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 69.561592 m,
      bearing: 264.833441 deg,
      approach rate: -0.806468 m/s,
      LOS rate: -0.047643 deg/s,
      cmd heading: 268.733274 deg,
      new cmd heading: 268.688204 deg.

2025-08-21T19:37:58.220Z,1755805078.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.689494 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:58.377Z,1755805078.377 [DAT](INFO): DAT read: Rx Time:19:37:57.0022

2025-08-21T19:37:58.377Z,1755805078.377 [DAT](INFO): Rx dataTimestamp_ set to:1755805078.376846
2025-08-21T19:37:58.378Z,1755805078.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013508
2025-08-21T19:37:58.567Z,1755805078.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.33 m.
2025-08-21T19:37:58.570Z,1755805078.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.332588 m,
      nav range: 69.257393 m,
      bearing: 264.815470 deg,
      approach rate: -0.856248 m/s,
      LOS rate: -0.050805 deg/s,
      cmd heading: 268.688195 deg,
      new cmd heading: 268.652095 deg.

2025-08-21T19:37:58.571Z,1755805078.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.688864 target range: 72.332588 and range: 72.80 m.
2025-08-21T19:37:58.630Z,1755805078.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265505
2025-08-21T19:37:58.899Z,1755805078.899 [DAT](INFO): DAT read: 19:37:57.0022 LVL= 23472, 26497, 27266, 32755, AGC= 60, IDX= 407,-0.26,-2.556, 2.063,-2.252,-2.691, PHS= 0.237,-1.484, 0.395, RAW= 154.4,   9.5, CAL= 154.1,  10.2, ROT= 355.9, -10.2

2025-08-21T19:37:58.900Z,1755805078.900 [DAT](INFO): got valid direction response:
 19:37:57.0022 LVL= 23472, 26497, 27266, 32755, AGC= 60, IDX= 407,-0.26,-2.556, 2.063,-2.252,-2.691, PHS= 0.237,-1.484, 0.395, RAW= 154.4,   9.5, CAL= 154.1,  10.2, ROT= 355.9, -10.2

2025-08-21T19:37:58.901Z,1755805078.901 [DAT](INFO): DAT read: Bearing  56.2,  -6.1 (Local)

2025-08-21T19:37:58.902Z,1755805078.902 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.2,  -6.1 (Local)

2025-08-21T19:37:58.905Z,1755805078.905 [DAT](INFO): DAT read: Range 11 to 50 : 69.9 m  (Round-trip  93.2 ms) speed  0.6 m/s

2025-08-21T19:37:58.905Z,1755805078.905 [DAT](INFO): DAT read: user:4015>

2025-08-21T19:37:58.906Z,1755805078.906 [DAT](INFO): DAT read: Tx time:19:37:58.1048

2025-08-21T19:37:58.906Z,1755805078.906 [DAT](INFO): Ping request sent.
2025-08-21T19:37:58.907Z,1755805078.907 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:37:58.907Z,1755805078.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:37:58.908Z,1755805078.908 [DAT](INFO): direction in FSK: [0.981677,-0.070368,0.177085]
2025-08-21T19:37:58.908Z,1755805078.908 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:58.908Z,1755805078.908 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:58.928Z,1755805078.928 [DAT](INFO): publishing transmit ping time
2025-08-21T19:37:58.928Z,1755805078.928 [DAT](INFO): publishing direction and range info
2025-08-21T19:37:59.078Z,1755805079.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.900002 m,
      deltaT: 3.529533 s,
      deltaX: -2.900002 m,
      approachRate: -0.821639 m/s,
      rangeRepo size: 4

2025-08-21T19:37:59.084Z,1755805079.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.451057 m,
      bearing: 265.599729 deg,
      lat: 36.779395 deg,
      lon: -121.859687 deg,
      deltaT: 3.529533 s,
      deltaX: -2.881531 m,
      approachRate: -0.816406 m/s,
      posRepo size: 4

2025-08-21T19:37:59.085Z,1755805079.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:37:59.092Z,1755805079.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 68.840645 m,
      bearing: 265.049484 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050805 deg/s,
      cmd heading: 268.652104 deg,
      new cmd heading: 268.600268 deg.

2025-08-21T19:37:59.093Z,1755805079.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687959 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:37:59.381Z,1755805079.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:37:59.388Z,1755805079.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 68.590729 m,
      bearing: 265.034856 deg,
      approach rate: -0.822888 m/s,
      LOS rate: -0.048339 deg/s,
      cmd heading: 268.600276 deg,
      new cmd heading: 268.570915 deg.

2025-08-21T19:37:59.389Z,1755805079.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.687447 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:37:59.791Z,1755805079.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:37:59.793Z,1755805079.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 68.254013 m,
      bearing: 265.014979 deg,
      approach rate: -0.822337 m/s,
      LOS rate: -0.048785 deg/s,
      cmd heading: 268.570907 deg,
      new cmd heading: 268.530955 deg.

2025-08-21T19:37:59.794Z,1755805079.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.686749 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:00.232Z,1755805080.232 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:00.234Z,1755805080.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:00.237Z,1755805080.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 67.891022 m,
      bearing: 264.993396 deg,
      approach rate: -0.819188 m/s,
      LOS rate: -0.048968 deg/s,
      cmd heading: 268.530964 deg,
      new cmd heading: 268.487567 deg.

2025-08-21T19:38:00.237Z,1755805080.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685992 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:00.392Z,1755805080.392 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:00.392Z,1755805080.392 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:00.392Z,1755805080.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:00.576Z,1755805080.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:00.579Z,1755805080.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 67.615105 m,
      bearing: 264.977135 deg,
      approach rate: -0.805898 m/s,
      LOS rate: -0.047689 deg/s,
      cmd heading: 268.487578 deg,
      new cmd heading: 268.454923 deg.

2025-08-21T19:38:00.580Z,1755805080.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.685422 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:00.645Z,1755805080.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738100
2025-08-21T19:38:00.899Z,1755805080.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992234
2025-08-21T19:38:01.017Z,1755805081.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:01.020Z,1755805081.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 67.266541 m,
      bearing: 264.953505 deg,
      approach rate: -0.790266 m/s,
      LOS rate: -0.053851 deg/s,
      cmd heading: 268.454930 deg,
      new cmd heading: 268.407426 deg.

2025-08-21T19:38:01.021Z,1755805081.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.684593 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:01.153Z,1755805081.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246421
2025-08-21T19:38:01.387Z,1755805081.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:01.390Z,1755805081.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 66.974846 m,
      bearing: 264.933605 deg,
      approach rate: -0.788515 m/s,
      LOS rate: -0.054029 deg/s,
      cmd heading: 268.407419 deg,
      new cmd heading: 268.367445 deg.

2025-08-21T19:38:01.391Z,1755805081.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683896 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:01.404Z,1755805081.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497719
2025-08-21T19:38:01.656Z,1755805081.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749634
2025-08-21T19:38:01.813Z,1755805081.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:01.816Z,1755805081.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 66.648674 m,
      bearing: 264.911146 deg,
      approach rate: -0.766077 m/s,
      LOS rate: -0.053007 deg/s,
      cmd heading: 268.367449 deg,
      new cmd heading: 268.322311 deg.

2025-08-21T19:38:01.817Z,1755805081.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.683108 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:01.912Z,1755805081.912 [DAT](INFO): DAT read: Rx Time:19:38:00.5982

2025-08-21T19:38:01.914Z,1755805081.914 [DAT](INFO): Rx dataTimestamp_ set to:1755805081.912424
2025-08-21T19:38:01.917Z,1755805081.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009777
2025-08-21T19:38:02.161Z,1755805082.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254625
2025-08-21T19:38:02.244Z,1755805082.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:02.246Z,1755805082.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.45 m.
2025-08-21T19:38:02.265Z,1755805082.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.451057 m,
      nav range: 66.301727 m,
      bearing: 264.887482 deg,
      approach rate: -0.801363 m/s,
      LOS rate: -0.054944 deg/s,
      cmd heading: 268.322315 deg,
      new cmd heading: 268.274740 deg.

2025-08-21T19:38:02.266Z,1755805082.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.682278 target range: 69.451057 and range: 69.90 m.
2025-08-21T19:38:02.418Z,1755805082.418 [DAT](INFO): DAT read: 19:38:00.5982 LVL= 24304, 30705, 25154, 32755, AGC= 62, IDX= 398,-0.09, 2.870, 1.204,-3.115, 2.733, PHS= 0.239,-1.484, 0.391, RAW= 154.2,   9.5, CAL= 153.9,  10.3, ROT= 356.1, -10.3

2025-08-21T19:38:02.424Z,1755805082.424 [DAT](INFO): got valid direction response:
 19:38:00.5982 LVL= 24304, 30705, 25154, 32755, AGC= 62, IDX= 398,-0.09, 2.870, 1.204,-3.115, 2.733, PHS= 0.239,-1.484, 0.391, RAW= 154.2,   9.5, CAL= 153.9,  10.3, ROT= 356.1, -10.3

2025-08-21T19:38:02.426Z,1755805082.426 [DAT](INFO): DAT read: Bearing  56.1,  -5.4 (Local)

2025-08-21T19:38:02.426Z,1755805082.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.1,  -5.4 (Local)

2025-08-21T19:38:02.429Z,1755805082.429 [DAT](INFO): DAT read: Range 11 to 50 : 66.9 m  (Round-trip  89.2 ms) speed  0.7 m/s

2025-08-21T19:38:02.431Z,1755805082.431 [DAT](INFO): DAT read: user:4016>

2025-08-21T19:38:02.440Z,1755805082.440 [DAT](INFO): DAT read: Tx time:19:38:01.7048

2025-08-21T19:38:02.441Z,1755805082.441 [DAT](INFO): Ping request sent.
2025-08-21T19:38:02.441Z,1755805082.441 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:02.442Z,1755805082.442 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:02.457Z,1755805082.457 [DAT](INFO): direction in FSK: [0.981607,-0.066919,0.178802]
2025-08-21T19:38:02.457Z,1755805082.457 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:02.457Z,1755805082.457 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:02.473Z,1755805082.473 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:02.473Z,1755805082.473 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:02.642Z,1755805082.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.900002 m,
      deltaT: 3.530536 s,
      deltaX: -3.000000 m,
      approachRate: -0.849729 m/s,
      rangeRepo size: 4

2025-08-21T19:38:02.644Z,1755805082.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.469994 m,
      bearing: 265.652209 deg,
      lat: 36.779395 deg,
      lon: -121.859687 deg,
      deltaT: 3.530536 s,
      deltaX: -2.981064 m,
      approachRate: -0.844366 m/s,
      posRepo size: 4

2025-08-21T19:38:02.645Z,1755805082.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:02.659Z,1755805082.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 65.996666 m,
      bearing: 264.866469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054944 deg/s,
      cmd heading: 268.274750 deg,
      new cmd heading: 268.231320 deg.

2025-08-21T19:38:02.660Z,1755805082.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.681520 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:03.046Z,1755805083.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:03.049Z,1755805083.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 65.672859 m,
      bearing: 264.846373 deg,
      approach rate: -0.799807 m/s,
      LOS rate: -0.049881 deg/s,
      cmd heading: 268.231310 deg,
      new cmd heading: 268.190920 deg.

2025-08-21T19:38:03.050Z,1755805083.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680815 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:03.458Z,1755805083.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:03.470Z,1755805083.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 65.370346 m,
      bearing: 264.827567 deg,
      approach rate: -0.733072 m/s,
      LOS rate: -0.045783 deg/s,
      cmd heading: 268.190929 deg,
      new cmd heading: 268.153144 deg.

2025-08-21T19:38:03.471Z,1755805083.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.680155 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:03.827Z,1755805083.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:03.829Z,1755805083.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 65.053780 m,
      bearing: 264.807986 deg,
      approach rate: -0.859852 m/s,
      LOS rate: -0.053445 deg/s,
      cmd heading: 268.153145 deg,
      new cmd heading: 268.113792 deg.

2025-08-21T19:38:03.830Z,1755805083.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.679469 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:04.340Z,1755805084.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:04.343Z,1755805084.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:04.345Z,1755805084.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 64.648964 m,
      bearing: 264.782339 deg,
      approach rate: -0.784648 m/s,
      LOS rate: -0.050023 deg/s,
      cmd heading: 268.113803 deg,
      new cmd heading: 268.062188 deg.

2025-08-21T19:38:04.346Z,1755805084.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.678568 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:04.430Z,1755805084.430 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:04.430Z,1755805084.430 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:04.430Z,1755805084.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:04.680Z,1755805084.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239488
2025-08-21T19:38:04.710Z,1755805084.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:04.713Z,1755805084.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 64.359810 m,
      bearing: 264.764063 deg,
      approach rate: -0.785841 m/s,
      LOS rate: -0.049893 deg/s,
      cmd heading: 268.062194 deg,
      new cmd heading: 268.025477 deg.

2025-08-21T19:38:04.714Z,1755805084.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677927 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:04.936Z,1755805084.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494661
2025-08-21T19:38:05.184Z,1755805085.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743556
2025-08-21T19:38:05.198Z,1755805085.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:05.205Z,1755805085.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 63.980885 m,
      bearing: 264.743028 deg,
      approach rate: -0.777203 m/s,
      LOS rate: -0.043399 deg/s,
      cmd heading: 268.025475 deg,
      new cmd heading: 267.983157 deg.

2025-08-21T19:38:05.206Z,1755805085.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.677188 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:05.438Z,1755805085.438 [DAT](INFO): DAT read: Rx Time:19:38:04.1945

2025-08-21T19:38:05.438Z,1755805085.438 [DAT](INFO): Rx dataTimestamp_ set to:1755805085.437861
2025-08-21T19:38:05.442Z,1755805085.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000615
2025-08-21T19:38:05.548Z,1755805085.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.47 m.
2025-08-21T19:38:05.551Z,1755805085.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.469994 m,
      nav range: 63.686951 m,
      bearing: 264.726720 deg,
      approach rate: -0.839056 m/s,
      LOS rate: -0.046768 deg/s,
      cmd heading: 267.983155 deg,
      new cmd heading: 267.950388 deg.

2025-08-21T19:38:05.552Z,1755805085.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.676617 target range: 66.469994 and range: 66.90 m.
2025-08-21T19:38:05.688Z,1755805085.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247382
2025-08-21T19:38:06.004Z,1755805086.004 [DAT](INFO): DAT read: 19:38:04.1945 LVL= 29232, 32753, 25586, 32755, AGC= 61, IDX= 408,-0.12,-2.210, 2.438,-1.953,-2.334, PHS= 0.225,-1.467, 0.337, RAW= 153.2,  10.4, CAL= 153.0,  11.3, ROT= 357.0, -11.3

2025-08-21T19:38:06.007Z,1755805086.007 [DAT](INFO): got valid direction response:
 19:38:04.1945 LVL= 29232, 32753, 25586, 32755, AGC= 61, IDX= 408,-0.12,-2.210, 2.438,-1.953,-2.334, PHS= 0.225,-1.467, 0.337, RAW= 153.2,  10.4, CAL= 153.0,  11.3, ROT= 357.0, -11.3

2025-08-21T19:38:06.017Z,1755805086.017 [DAT](INFO): DAT read: Bearing  56.6,  -4.2 (Local)

2025-08-21T19:38:06.017Z,1755805086.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.6,  -4.2 (Local)

2025-08-21T19:38:06.019Z,1755805086.019 [DAT](INFO): DAT read: Range 11 to 50 : 64.1 m  (Round-trip  85.5 ms) speed  0.8 m/s

2025-08-21T19:38:06.024Z,1755805086.024 [DAT](INFO): DAT read: user:4017>

2025-08-21T19:38:06.024Z,1755805086.024 [DAT](INFO): DAT read: Tx time:19:38:05.3048

2025-08-21T19:38:06.025Z,1755805086.025 [DAT](INFO): Ping request sent.
2025-08-21T19:38:06.025Z,1755805086.025 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:06.025Z,1755805086.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:06.026Z,1755805086.026 [DAT](INFO): direction in FSK: [0.979271,-0.051321,0.195946]
2025-08-21T19:38:06.026Z,1755805086.026 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:06.026Z,1755805086.026 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:06.034Z,1755805086.034 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:06.034Z,1755805086.034 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:06.183Z,1755805086.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.099998 m,
      deltaT: 3.529815 s,
      deltaX: -2.800003 m,
      approachRate: -0.793244 m/s,
      rangeRepo size: 4

2025-08-21T19:38:06.185Z,1755805086.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.688076 m,
      bearing: 266.088734 deg,
      lat: 36.779401 deg,
      lon: -121.859687 deg,
      deltaT: 3.529815 s,
      deltaX: -2.781918 m,
      approachRate: -0.788120 m/s,
      posRepo size: 4

2025-08-21T19:38:06.186Z,1755805086.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:06.194Z,1755805086.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 63.174015 m,
      bearing: 265.291876 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046768 deg/s,
      cmd heading: 267.950398 deg,
      new cmd heading: 267.891534 deg.

2025-08-21T19:38:06.199Z,1755805086.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675589 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:06.488Z,1755805086.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:06.490Z,1755805086.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:06.493Z,1755805086.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 62.896347 m,
      bearing: 265.277144 deg,
      approach rate: -0.888148 m/s,
      LOS rate: -0.047332 deg/s,
      cmd heading: 267.891521 deg,
      new cmd heading: 267.861926 deg.

2025-08-21T19:38:06.494Z,1755805086.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.675073 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:06.696Z,1755805086.696 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:06.696Z,1755805086.696 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:06.697Z,1755805086.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:06.873Z,1755805086.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:06.876Z,1755805086.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 62.597988 m,
      bearing: 265.261528 deg,
      approach rate: -0.779123 m/s,
      LOS rate: -0.040972 deg/s,
      cmd heading: 267.861933 deg,
      new cmd heading: 267.830553 deg.

2025-08-21T19:38:06.877Z,1755805086.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674525 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:06.949Z,1755805086.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.924232
2025-08-21T19:38:07.200Z,1755805087.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.175528
2025-08-21T19:38:07.304Z,1755805087.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:07.307Z,1755805087.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 62.246918 m,
      bearing: 265.249091 deg,
      approach rate: -0.814773 m/s,
      LOS rate: -0.029026 deg/s,
      cmd heading: 267.830541 deg,
      new cmd heading: 267.805527 deg.

2025-08-21T19:38:07.308Z,1755805087.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.674088 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:07.452Z,1755805087.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.427524
2025-08-21T19:38:07.674Z,1755805087.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:07.676Z,1755805087.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 61.946526 m,
      bearing: 265.238688 deg,
      approach rate: -0.812996 m/s,
      LOS rate: -0.028293 deg/s,
      cmd heading: 267.805516 deg,
      new cmd heading: 267.784608 deg.

2025-08-21T19:38:07.677Z,1755805087.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673723 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:07.704Z,1755805087.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.679647
2025-08-21T19:38:07.956Z,1755805087.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.931464
2025-08-21T19:38:08.109Z,1755805088.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:08.112Z,1755805088.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 61.596237 m,
      bearing: 265.220504 deg,
      approach rate: -0.805159 m/s,
      LOS rate: -0.042034 deg/s,
      cmd heading: 267.784615 deg,
      new cmd heading: 267.748041 deg.

2025-08-21T19:38:08.113Z,1755805088.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.673085 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:08.208Z,1755805088.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.183623
2025-08-21T19:38:08.463Z,1755805088.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.438021
2025-08-21T19:38:08.504Z,1755805088.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:08.506Z,1755805088.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:08.509Z,1755805088.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 61.277706 m,
      bearing: 265.204149 deg,
      approach rate: -0.801818 m/s,
      LOS rate: -0.041383 deg/s,
      cmd heading: 267.748033 deg,
      new cmd heading: 267.715153 deg.

2025-08-21T19:38:08.510Z,1755805088.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.672511 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:08.717Z,1755805088.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691773
2025-08-21T19:38:08.883Z,1755805088.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:08.886Z,1755805088.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 60.972908 m,
      bearing: 265.188775 deg,
      approach rate: -0.807710 m/s,
      LOS rate: -0.040945 deg/s,
      cmd heading: 267.715166 deg,
      new cmd heading: 267.684263 deg.

2025-08-21T19:38:08.887Z,1755805088.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671972 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:08.970Z,1755805088.970 [DAT](INFO): DAT read: Rx Time:19:38:07.7906

2025-08-21T19:38:08.971Z,1755805088.971 [DAT](INFO): Rx dataTimestamp_ set to:1755805088.970051
2025-08-21T19:38:08.972Z,1755805088.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946580
2025-08-21T19:38:09.220Z,1755805089.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195526
2025-08-21T19:38:09.320Z,1755805089.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:09.323Z,1755805089.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 60.610779 m,
      bearing: 265.169898 deg,
      approach rate: -0.828954 m/s,
      LOS rate: -0.043471 deg/s,
      cmd heading: 267.684266 deg,
      new cmd heading: 267.646286 deg.

2025-08-21T19:38:09.324Z,1755805089.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.671309 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:09.472Z,1755805089.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.447461
2025-08-21T19:38:09.711Z,1755805089.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.69 m.
2025-08-21T19:38:09.714Z,1755805089.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.688076 m,
      nav range: 60.285427 m,
      bearing: 265.153252 deg,
      approach rate: -0.832080 m/s,
      LOS rate: -0.042800 deg/s,
      cmd heading: 267.646290 deg,
      new cmd heading: 267.612819 deg.

2025-08-21T19:38:09.715Z,1755805089.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.670725 target range: 63.688076 and range: 64.10 m.
2025-08-21T19:38:09.730Z,1755805089.730 [DAT](INFO): DAT read: 19:38:07.7906 LVL= 24112, 28561, 23794, 32611, AGC= 60, IDX= 400,-0.22,-0.825,-2.622,-0.620,-1.060, PHS= 0.337,-1.517, 0.397, RAW= 151.6,   8.4, CAL= 151.1,   9.0, ROT= 358.9,  -9.0

2025-08-21T19:38:09.731Z,1755805089.731 [DAT](INFO): got valid direction response:
 19:38:07.7906 LVL= 24112, 28561, 23794, 32611, AGC= 60, IDX= 400,-0.22,-0.825,-2.622,-0.620,-1.060, PHS= 0.337,-1.517, 0.397, RAW= 151.6,   8.4, CAL= 151.1,   9.0, ROT= 358.9,  -9.0

2025-08-21T19:38:09.732Z,1755805089.732 [DAT](INFO): DAT read: Bearing  53.6,  -1.6 (Local)

2025-08-21T19:38:09.733Z,1755805089.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.6,  -1.6 (Local)

2025-08-21T19:38:09.734Z,1755805089.734 [DAT](INFO): DAT read: Range 11 to 50 : 61.2 m  (Round-trip  81.6 ms) speed  0.7 m/s

2025-08-21T19:38:09.735Z,1755805089.735 [DAT](INFO): DAT read: user:4018>

2025-08-21T19:38:09.735Z,1755805089.735 [DAT](INFO): DAT read: Tx time:19:38:08.9048

2025-08-21T19:38:09.736Z,1755805089.736 [DAT](INFO): Ping request sent.
2025-08-21T19:38:09.736Z,1755805089.736 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:09.736Z,1755805089.736 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:09.737Z,1755805089.737 [DAT](INFO): direction in FSK: [0.987506,-0.018961,0.156434]
2025-08-21T19:38:09.737Z,1755805089.737 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:09.738Z,1755805089.738 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:09.741Z,1755805089.741 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:09.742Z,1755805089.742 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:10.204Z,1755805090.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.200001 m,
      deltaT: 3.782258 s,
      deltaX: -2.899998 m,
      approachRate: -0.766737 m/s,
      rangeRepo size: 4

2025-08-21T19:38:10.206Z,1755805090.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.806747 m,
      bearing: 267.133690 deg,
      lat: 36.779403 deg,
      lon: -121.859688 deg,
      deltaT: 3.782258 s,
      deltaX: -2.881329 m,
      approachRate: -0.761801 m/s,
      posRepo size: 4

2025-08-21T19:38:10.207Z,1755805090.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:10.210Z,1755805090.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 59.917290 m,
      bearing: 265.385744 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.042800 deg/s,
      cmd heading: 267.612822 deg,
      new cmd heading: 267.570684 deg.

2025-08-21T19:38:10.211Z,1755805090.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669990 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:10.582Z,1755805090.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:10.588Z,1755805090.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:10.591Z,1755805090.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 59.601528 m,
      bearing: 265.374870 deg,
      approach rate: -0.820548 m/s,
      LOS rate: -0.028409 deg/s,
      cmd heading: 267.570694 deg,
      new cmd heading: 267.548829 deg.

2025-08-21T19:38:10.596Z,1755805090.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669608 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:10.732Z,1755805090.732 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:10.732Z,1755805090.732 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:10.733Z,1755805090.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:10.984Z,1755805090.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248342
2025-08-21T19:38:11.058Z,1755805091.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:11.079Z,1755805091.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 59.233063 m,
      bearing: 265.362577 deg,
      approach rate: -0.795835 m/s,
      LOS rate: -0.026716 deg/s,
      cmd heading: 267.548837 deg,
      new cmd heading: 267.524099 deg.

2025-08-21T19:38:11.080Z,1755805091.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.669177 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:11.236Z,1755805091.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500302
2025-08-21T19:38:11.458Z,1755805091.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:11.461Z,1755805091.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 58.869080 m,
      bearing: 265.350864 deg,
      approach rate: -0.894228 m/s,
      LOS rate: -0.028953 deg/s,
      cmd heading: 267.524112 deg,
      new cmd heading: 267.500542 deg.

2025-08-21T19:38:11.462Z,1755805091.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668765 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:11.505Z,1755805091.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769144
2025-08-21T19:38:11.756Z,1755805091.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020282
2025-08-21T19:38:11.807Z,1755805091.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:11.810Z,1755805091.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 58.582649 m,
      bearing: 265.341858 deg,
      approach rate: -0.820830 m/s,
      LOS rate: -0.025937 deg/s,
      cmd heading: 267.500534 deg,
      new cmd heading: 267.482432 deg.

2025-08-21T19:38:11.811Z,1755805091.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668449 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:12.008Z,1755805092.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272599
2025-08-21T19:38:12.260Z,1755805092.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524437
2025-08-21T19:38:12.287Z,1755805092.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:12.290Z,1755805092.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 58.189075 m,
      bearing: 265.329818 deg,
      approach rate: -0.819862 m/s,
      LOS rate: -0.025250 deg/s,
      cmd heading: 267.482420 deg,
      new cmd heading: 267.458178 deg.

2025-08-21T19:38:12.291Z,1755805092.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.668026 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:12.513Z,1755805092.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777112
2025-08-21T19:38:12.615Z,1755805092.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:12.617Z,1755805092.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:12.620Z,1755805092.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 57.919010 m,
      bearing: 265.322040 deg,
      approach rate: -0.818834 m/s,
      LOS rate: -0.023693 deg/s,
      cmd heading: 267.458187 deg,
      new cmd heading: 267.442558 deg.

2025-08-21T19:38:12.621Z,1755805092.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667753 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:12.764Z,1755805092.764 [DAT](INFO): DAT read: Rx Time:19:38:11.3864

2025-08-21T19:38:12.765Z,1755805092.765 [DAT](INFO): Rx dataTimestamp_ set to:1755805092.764498
2025-08-21T19:38:12.765Z,1755805092.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029445
2025-08-21T19:38:13.016Z,1755805093.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280452
2025-08-21T19:38:13.045Z,1755805093.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.81 m.
2025-08-21T19:38:13.074Z,1755805093.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.806747 m,
      nav range: 57.589333 m,
      bearing: 265.312711 deg,
      approach rate: -0.780690 m/s,
      LOS rate: -0.022219 deg/s,
      cmd heading: 267.442559 deg,
      new cmd heading: 267.423793 deg.

2025-08-21T19:38:13.088Z,1755805093.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667426 target range: 60.806747 and range: 61.20 m.
2025-08-21T19:38:13.274Z,1755805093.274 [DAT](INFO): DAT read: 19:38:11.3864 LVL= 25312, 28273, 24114, 30787, AGC= 62, IDX= 406, 0.15, 0.984,-0.821, 1.176, 0.754, PHS= 0.332,-1.531, 0.377, RAW= 151.2,   8.8, CAL= 150.8,   9.4, ROT= 359.2,  -9.4

2025-08-21T19:38:13.276Z,1755805093.276 [DAT](INFO): got valid direction response:
 19:38:11.3864 LVL= 25312, 28273, 24114, 30787, AGC= 62, IDX= 406, 0.15, 0.984,-0.821, 1.176, 0.754, PHS= 0.332,-1.531, 0.377, RAW= 151.2,   8.8, CAL= 150.8,   9.4, ROT= 359.2,  -9.4

2025-08-21T19:38:13.276Z,1755805093.276 [DAT](INFO): DAT read: Bearing  53.3,  -0.3 (Local)

2025-08-21T19:38:13.277Z,1755805093.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing  53.3,  -0.3 (Local)

2025-08-21T19:38:13.278Z,1755805093.278 [DAT](INFO): DAT read: Range 11 to 50 : 58.1 m  (Round-trip  77.5 ms) speed  0.8 m/s

2025-08-21T19:38:13.280Z,1755805093.280 [DAT](INFO): DAT read: user:4019>

2025-08-21T19:38:13.280Z,1755805093.280 [DAT](INFO): DAT read: Tx time:19:38:12.5047

2025-08-21T19:38:13.281Z,1755805093.281 [DAT](INFO): Ping request sent.
2025-08-21T19:38:13.281Z,1755805093.281 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:13.281Z,1755805093.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:13.282Z,1755805093.282 [DAT](INFO): direction in FSK: [0.986476,-0.013775,0.163326]
2025-08-21T19:38:13.282Z,1755805093.282 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:13.282Z,1755805093.282 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:13.286Z,1755805093.286 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:13.286Z,1755805093.286 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:13.565Z,1755805093.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.099998 m,
      deltaT: 3.543862 s,
      deltaX: -3.100002 m,
      approachRate: -0.874753 m/s,
      rangeRepo size: 4

2025-08-21T19:38:13.569Z,1755805093.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.726673 m,
      bearing: 266.862688 deg,
      lat: 36.779409 deg,
      lon: -121.859687 deg,
      deltaT: 3.543862 s,
      deltaX: -3.080074 m,
      approachRate: -0.869129 m/s,
      posRepo size: 4

2025-08-21T19:38:13.569Z,1755805093.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:13.570Z,1755805093.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:13.581Z,1755805093.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 57.006863 m,
      bearing: 265.942181 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022219 deg/s,
      cmd heading: 267.423790 deg,
      new cmd heading: 267.400459 deg.

2025-08-21T19:38:13.582Z,1755805093.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.667018 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:13.604Z,1755805093.604 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T19:38:13.964Z,1755805093.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:13.964Z,1755805093.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:13.967Z,1755805093.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 56.661125 m,
      bearing: 265.941113 deg,
      approach rate: -0.866469 m/s,
      LOS rate: -0.002694 deg/s,
      cmd heading: 267.400458 deg,
      new cmd heading: 267.398308 deg.

2025-08-21T19:38:13.984Z,1755805093.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666981 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:14.398Z,1755805094.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:14.398Z,1755805094.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:14.402Z,1755805094.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 56.312069 m,
      bearing: 265.935813 deg,
      approach rate: -0.803697 m/s,
      LOS rate: -0.012277 deg/s,
      cmd heading: 267.398300 deg,
      new cmd heading: 267.387635 deg.

2025-08-21T19:38:14.404Z,1755805094.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666795 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:14.772Z,1755805094.772 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:14.774Z,1755805094.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:14.774Z,1755805094.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:14.777Z,1755805094.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 56.010006 m,
      bearing: 265.931507 deg,
      approach rate: -0.803543 m/s,
      LOS rate: -0.011519 deg/s,
      cmd heading: 267.387645 deg,
      new cmd heading: 267.378985 deg.

2025-08-21T19:38:14.778Z,1755805094.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666644 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:14.780Z,1755805094.780 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:14.780Z,1755805094.780 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:14.780Z,1755805094.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:15.032Z,1755805095.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751518
2025-08-21T19:38:15.186Z,1755805095.186 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -113.40,     +1743.  +13.54,   8.62,  0.00
2025-08-21T19:38:15.206Z,1755805095.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:15.206Z,1755805095.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:15.209Z,1755805095.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 55.665791 m,
      bearing: 265.926822 deg,
      approach rate: -0.796920 m/s,
      LOS rate: -0.010913 deg/s,
      cmd heading: 267.378984 deg,
      new cmd heading: 267.369557 deg.

2025-08-21T19:38:15.210Z,1755805095.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666479 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:15.284Z,1755805095.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003680
2025-08-21T19:38:15.536Z,1755805095.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255437
2025-08-21T19:38:15.572Z,1755805095.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:15.572Z,1755805095.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:15.583Z,1755805095.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 55.368614 m,
      bearing: 265.923030 deg,
      approach rate: -0.811660 m/s,
      LOS rate: -0.010412 deg/s,
      cmd heading: 267.369558 deg,
      new cmd heading: 267.361934 deg.

2025-08-21T19:38:15.584Z,1755805095.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666346 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:15.788Z,1755805095.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507492
2025-08-21T19:38:15.980Z,1755805095.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:15.981Z,1755805095.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:15.984Z,1755805095.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 55.040264 m,
      bearing: 265.918993 deg,
      approach rate: -0.803887 m/s,
      LOS rate: -0.009943 deg/s,
      cmd heading: 267.361936 deg,
      new cmd heading: 267.353813 deg.

2025-08-21T19:38:15.985Z,1755805095.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.666204 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:16.040Z,1755805096.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759772
2025-08-21T19:38:16.292Z,1755805096.292 [DAT](INFO): DAT read: Rx Time:19:38:14.9825

2025-08-21T19:38:16.293Z,1755805096.293 [DAT](INFO): Rx dataTimestamp_ set to:1755805096.292405
2025-08-21T19:38:16.293Z,1755805096.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012529
2025-08-21T19:38:16.426Z,1755805096.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.73 m.
2025-08-21T19:38:16.428Z,1755805096.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.10 m.
2025-08-21T19:38:16.448Z,1755805096.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.726673 m,
      nav range: 54.686111 m,
      bearing: 265.911767 deg,
      approach rate: -0.795327 m/s,
      LOS rate: -0.016332 deg/s,
      cmd heading: 267.353821 deg,
      new cmd heading: 267.339276 deg.

2025-08-21T19:38:16.449Z,1755805096.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665951 target range: 57.726673 and range: 58.10 m.
2025-08-21T19:38:16.545Z,1755805096.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264029
2025-08-21T19:38:16.802Z,1755805096.802 [DAT](INFO): DAT read: 19:38:14.9825 LVL= 22880, 29553, 25586, 32755, AGC= 58, IDX= 398,-0.05,-0.685,-2.457,-0.519,-0.964, PHS= 0.381,-1.447, 0.401, RAW= 150.5,   7.3, CAL= 150.0,   7.8, ROT=   0.0,  -7.8

2025-08-21T19:38:16.803Z,1755805096.803 [DAT](INFO): got valid direction response:
 19:38:14.9825 LVL= 22880, 29553, 25586, 32755, AGC= 58, IDX= 398,-0.05,-0.685,-2.457,-0.519,-0.964, PHS= 0.381,-1.447, 0.401, RAW= 150.5,   7.3, CAL= 150.0,   7.8, ROT=   0.0,  -7.8

2025-08-21T19:38:16.804Z,1755805096.804 [DAT](INFO): DAT read: Bearing  50.9,   1.3 (Local)

2025-08-21T19:38:16.804Z,1755805096.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.9,   1.3 (Local)

2025-08-21T19:38:16.806Z,1755805096.806 [DAT](INFO): DAT read: Range 11 to 50 : 55.2 m  (Round-trip  73.6 ms) speed  0.7 m/s

2025-08-21T19:38:16.806Z,1755805096.806 [DAT](INFO): DAT read: user:4020>

2025-08-21T19:38:16.808Z,1755805096.808 [DAT](INFO): DAT read: Tx time:19:38:16.1047

2025-08-21T19:38:16.808Z,1755805096.808 [DAT](INFO): Ping request sent.
2025-08-21T19:38:16.808Z,1755805096.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:16.808Z,1755805096.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:16.809Z,1755805096.809 [DAT](INFO): direction in FSK: [0.990748,0.000000,0.135716]
2025-08-21T19:38:16.809Z,1755805096.809 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:16.810Z,1755805096.810 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:16.829Z,1755805096.829 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:16.829Z,1755805096.829 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:16.903Z,1755805096.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.200001 m,
      deltaT: 3.528064 s,
      deltaX: -2.899998 m,
      approachRate: -0.821980 m/s,
      rangeRepo size: 4

2025-08-21T19:38:16.911Z,1755805096.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.845337 m,
      bearing: 267.229052 deg,
      lat: 36.779417 deg,
      lon: -121.859686 deg,
      deltaT: 3.528064 s,
      deltaX: -2.881336 m,
      approachRate: -0.816690 m/s,
      posRepo size: 4

2025-08-21T19:38:16.917Z,1755805096.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:16.917Z,1755805096.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:16.931Z,1755805096.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 54.242741 m,
      bearing: 266.869752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016332 deg/s,
      cmd heading: 267.339287 deg,
      new cmd heading: 267.323772 deg.

2025-08-21T19:38:16.932Z,1755805096.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665680 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:17.296Z,1755805097.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:17.298Z,1755805097.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:17.300Z,1755805097.300 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:17.300Z,1755805097.300 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:17.300Z,1755805097.300 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:17.301Z,1755805097.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:17.305Z,1755805097.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 53.890163 m,
      bearing: 266.866848 deg,
      approach rate: -0.885850 m/s,
      LOS rate: -0.007343 deg/s,
      cmd heading: 267.323769 deg,
      new cmd heading: 267.317923 deg.

2025-08-21T19:38:17.306Z,1755805097.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665578 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:17.552Z,1755805097.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744270
2025-08-21T19:38:17.659Z,1755805097.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:17.659Z,1755805097.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:17.662Z,1755805097.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 53.594055 m,
      bearing: 266.864673 deg,
      approach rate: -0.821986 m/s,
      LOS rate: -0.006072 deg/s,
      cmd heading: 267.317922 deg,
      new cmd heading: 267.313547 deg.

2025-08-21T19:38:17.663Z,1755805097.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665502 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:17.804Z,1755805097.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996129
2025-08-21T19:38:18.056Z,1755805098.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248324
2025-08-21T19:38:18.061Z,1755805098.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:18.061Z,1755805098.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:18.064Z,1755805098.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 53.266293 m,
      bearing: 266.862266 deg,
      approach rate: -0.815119 m/s,
      LOS rate: -0.006022 deg/s,
      cmd heading: 267.313551 deg,
      new cmd heading: 267.308708 deg.

2025-08-21T19:38:18.065Z,1755805098.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665417 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:18.309Z,1755805098.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500754
2025-08-21T19:38:18.492Z,1755805098.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:18.492Z,1755805098.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:18.495Z,1755805098.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 52.918350 m,
      bearing: 266.860382 deg,
      approach rate: -0.808007 m/s,
      LOS rate: -0.004405 deg/s,
      cmd heading: 267.308715 deg,
      new cmd heading: 267.304921 deg.

2025-08-21T19:38:18.496Z,1755805098.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665351 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:18.560Z,1755805098.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752340
2025-08-21T19:38:18.812Z,1755805098.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004201
2025-08-21T19:38:18.872Z,1755805098.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:18.873Z,1755805098.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:18.876Z,1755805098.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 52.612041 m,
      bearing: 266.858692 deg,
      approach rate: -0.803848 m/s,
      LOS rate: -0.004459 deg/s,
      cmd heading: 267.304917 deg,
      new cmd heading: 267.301519 deg.

2025-08-21T19:38:18.877Z,1755805098.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665292 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:19.064Z,1755805099.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256287
2025-08-21T19:38:19.300Z,1755805099.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:19.302Z,1755805099.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:19.303Z,1755805099.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:19.310Z,1755805099.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 52.282928 m,
      bearing: 266.854944 deg,
      approach rate: -0.765995 m/s,
      LOS rate: -0.008780 deg/s,
      cmd heading: 267.301530 deg,
      new cmd heading: 267.293985 deg.

2025-08-21T19:38:19.311Z,1755805099.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665160 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:19.316Z,1755805099.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508328
2025-08-21T19:38:19.569Z,1755805099.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760504
2025-08-21T19:38:19.676Z,1755805099.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:19.676Z,1755805099.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.20 m.
2025-08-21T19:38:19.677Z,1755805099.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.20 m.
2025-08-21T19:38:19.677Z,1755805099.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-21T19:38:19.680Z,1755805099.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 51.972275 m,
      bearing: 266.851323 deg,
      approach rate: -0.832058 m/s,
      LOS rate: -0.009756 deg/s,
      cmd heading: 267.293989 deg,
      new cmd heading: 267.286704 deg.

2025-08-21T19:38:19.681Z,1755805099.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.665033 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:19.692Z,1755805099.692 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-21T19:38:19.692Z,1755805099.692 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-21T19:38:19.820Z,1755805099.820 [DAT](INFO): DAT read: Rx Time:19:38:18.5785

2025-08-21T19:38:19.821Z,1755805099.821 [DAT](INFO): Rx dataTimestamp_ set to:1755805099.820588
2025-08-21T19:38:19.821Z,1755805099.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013426
2025-08-21T19:38:20.072Z,1755805100.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264423
2025-08-21T19:38:20.097Z,1755805100.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.85 m.
2025-08-21T19:38:20.100Z,1755805100.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.845337 m,
      nav range: 51.636604 m,
      bearing: 266.847038 deg,
      approach rate: -0.796332 m/s,
      LOS rate: -0.010231 deg/s,
      cmd heading: 267.286694 deg,
      new cmd heading: 267.278069 deg.

2025-08-21T19:38:20.101Z,1755805100.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664882 target range: 54.845337 and range: 55.20 m.
2025-08-21T19:38:20.345Z,1755805100.345 [DAT](INFO): DAT read: 19:38:18.5785 LVL= 25936, 31281, 24642, 32755, AGC= 60, IDX= 405, 0.18,-0.267,-2.078,-0.063,-0.527, PHS= 0.361,-1.506, 0.420, RAW= 151.5,   7.7, CAL= 151.0,   8.2, ROT= 359.0,  -8.2

2025-08-21T19:38:20.346Z,1755805100.346 [DAT](INFO): got valid direction response:
 19:38:18.5785 LVL= 25936, 31281, 24642, 32755, AGC= 60, IDX= 405, 0.18,-0.267,-2.078,-0.063,-0.527, PHS= 0.361,-1.506, 0.420, RAW= 151.5,   7.7, CAL= 151.0,   8.2, ROT= 359.0,  -8.2

2025-08-21T19:38:20.348Z,1755805100.348 [DAT](INFO): DAT read: Bearing  50.8,   0.9 (Local)

2025-08-21T19:38:20.348Z,1755805100.348 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8,   0.9 (Local)

2025-08-21T19:38:20.349Z,1755805100.349 [DAT](INFO): DAT read: Range 11 to 50 : 52.2 m  (Round-trip  69.6 ms) speed  0.7 m/s

2025-08-21T19:38:20.350Z,1755805100.350 [DAT](INFO): DAT read: user:4021>

2025-08-21T19:38:20.351Z,1755805100.351 [DAT](INFO): DAT read: Tx time:19:38:19.7047

2025-08-21T19:38:20.352Z,1755805100.352 [DAT](INFO): Ping request sent.
2025-08-21T19:38:20.352Z,1755805100.352 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:20.352Z,1755805100.352 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:20.353Z,1755805100.353 [DAT](INFO): direction in FSK: [0.989625,-0.017274,0.142629]
2025-08-21T19:38:20.353Z,1755805100.353 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:20.354Z,1755805100.354 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:20.361Z,1755805100.361 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:20.361Z,1755805100.361 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:20.590Z,1755805100.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.200001 m,
      deltaT: 3.530404 s,
      deltaX: -3.000000 m,
      approachRate: -0.849761 m/s,
      rangeRepo size: 4

2025-08-21T19:38:20.596Z,1755805100.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.864574 m,
      bearing: 266.148278 deg,
      lat: 36.779417 deg,
      lon: -121.859686 deg,
      deltaT: 3.530404 s,
      deltaX: -2.980762 m,
      approachRate: -0.844312 m/s,
      posRepo size: 4

2025-08-21T19:38:20.597Z,1755805100.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:20.604Z,1755805100.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 51.264736 m,
      bearing: 266.840831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010231 deg/s,
      cmd heading: 267.278061 deg,
      new cmd heading: 267.267989 deg.

2025-08-21T19:38:20.605Z,1755805100.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664706 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:20.950Z,1755805100.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:20.953Z,1755805100.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 50.969948 m,
      bearing: 266.835646 deg,
      approach rate: -0.816753 m/s,
      LOS rate: -0.014448 deg/s,
      cmd heading: 267.267980 deg,
      new cmd heading: 267.257550 deg.

2025-08-21T19:38:20.954Z,1755805100.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664524 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:21.370Z,1755805101.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:21.372Z,1755805101.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:21.375Z,1755805101.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 50.654110 m,
      bearing: 266.830165 deg,
      approach rate: -0.748362 m/s,
      LOS rate: -0.013070 deg/s,
      cmd heading: 267.257543 deg,
      new cmd heading: 267.246511 deg.

2025-08-21T19:38:21.376Z,1755805101.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664331 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:21.585Z,1755805101.585 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:21.585Z,1755805101.585 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:21.585Z,1755805101.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:21.746Z,1755805101.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:21.749Z,1755805101.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 50.349773 m,
      bearing: 266.824424 deg,
      approach rate: -0.815227 m/s,
      LOS rate: -0.015471 deg/s,
      cmd heading: 267.246506 deg,
      new cmd heading: 267.234954 deg.

2025-08-21T19:38:21.750Z,1755805101.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.664130 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:21.837Z,1755805101.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485531
2025-08-21T19:38:22.088Z,1755805102.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736433
2025-08-21T19:38:22.146Z,1755805102.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:22.150Z,1755805102.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 50.038937 m,
      bearing: 266.818121 deg,
      approach rate: -0.777366 m/s,
      LOS rate: -0.015861 deg/s,
      cmd heading: 267.234949 deg,
      new cmd heading: 267.222265 deg.

2025-08-21T19:38:22.169Z,1755805102.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663908 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:22.341Z,1755805102.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989368
2025-08-21T19:38:22.548Z,1755805102.548 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:38:22.560Z,1755805102.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:22.563Z,1755805102.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 49.715168 m,
      bearing: 266.811119 deg,
      approach rate: -0.781167 m/s,
      LOS rate: -0.017005 deg/s,
      cmd heading: 267.222272 deg,
      new cmd heading: 267.208176 deg.

2025-08-21T19:38:22.585Z,1755805102.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663662 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:22.592Z,1755805102.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240529
2025-08-21T19:38:22.845Z,1755805102.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492877
2025-08-21T19:38:23.028Z,1755805103.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:23.030Z,1755805103.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 49.363270 m,
      bearing: 266.803031 deg,
      approach rate: -0.779921 m/s,
      LOS rate: -0.018053 deg/s,
      cmd heading: 267.208175 deg,
      new cmd heading: 267.191883 deg.

2025-08-21T19:38:23.032Z,1755805103.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663378 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:23.096Z,1755805103.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744342
2025-08-21T19:38:23.348Z,1755805103.348 [DAT](INFO): DAT read: Rx Time:19:38:22.1749

2025-08-21T19:38:23.349Z,1755805103.349 [DAT](INFO): Rx dataTimestamp_ set to:1755805103.348583
2025-08-21T19:38:23.349Z,1755805103.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997614
2025-08-21T19:38:23.439Z,1755805103.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:23.445Z,1755805103.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:23.452Z,1755805103.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 49.035904 m,
      bearing: 266.794677 deg,
      approach rate: -0.754160 m/s,
      LOS rate: -0.019372 deg/s,
      cmd heading: 267.191891 deg,
      new cmd heading: 267.175074 deg.

2025-08-21T19:38:23.453Z,1755805103.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.663085 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:23.551Z,1755805103.551 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:38:23.600Z,1755805103.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248512
2025-08-21T19:38:23.795Z,1755805103.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.86 m.
2025-08-21T19:38:23.798Z,1755805103.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.864574 m,
      nav range: 48.760151 m,
      bearing: 266.787102 deg,
      approach rate: -0.788346 m/s,
      LOS rate: -0.021779 deg/s,
      cmd heading: 267.175062 deg,
      new cmd heading: 267.159826 deg.

2025-08-21T19:38:23.799Z,1755805103.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662818 target range: 51.864574 and range: 52.20 m.
2025-08-21T19:38:23.853Z,1755805103.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501136
2025-08-21T19:38:24.110Z,1755805104.110 [DAT](INFO): DAT read: 19:38:22.1749 LVL= 25136, 31985, 25970, 32755, AGC= 60, IDX= 399, 0.43, 2.773, 0.979, 3.017, 2.529, PHS= 0.346,-1.505, 0.444, RAW= 152.6,   7.6, CAL= 152.0,   8.0, ROT= 358.0,  -8.0

2025-08-21T19:38:24.111Z,1755805104.111 [DAT](INFO): got valid direction response:
 19:38:22.1749 LVL= 25136, 31985, 25970, 32755, AGC= 60, IDX= 399, 0.43, 2.773, 0.979, 3.017, 2.529, PHS= 0.346,-1.505, 0.444, RAW= 152.6,   7.6, CAL= 152.0,   8.0, ROT= 358.0,  -8.0

2025-08-21T19:38:24.112Z,1755805104.112 [DAT](INFO): DAT read: Bearing  50.8,   0.4 (Local)

2025-08-21T19:38:24.112Z,1755805104.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.8,   0.4 (Local)

2025-08-21T19:38:24.114Z,1755805104.114 [DAT](INFO): DAT read: Range 11 to 50 : 49.5 m  (Round-trip  66.0 ms) speed  0.6 m/s

2025-08-21T19:38:24.114Z,1755805104.114 [DAT](INFO): DAT read: user:4022>

2025-08-21T19:38:24.115Z,1755805104.115 [DAT](INFO): DAT read: Tx time:19:38:23.3047

2025-08-21T19:38:24.116Z,1755805104.116 [DAT](INFO): Ping request sent.
2025-08-21T19:38:24.116Z,1755805104.116 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:24.116Z,1755805104.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:24.117Z,1755805104.117 [DAT](INFO): direction in FSK: [0.989665,-0.034560,0.139173]
2025-08-21T19:38:24.117Z,1755805104.117 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:24.117Z,1755805104.117 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:24.121Z,1755805104.121 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:24.121Z,1755805104.121 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:24.330Z,1755805104.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.500000 m,
      deltaT: 3.777564 s,
      deltaX: -2.700001 m,
      approachRate: -0.714747 m/s,
      rangeRepo size: 4

2025-08-21T19:38:24.336Z,1755805104.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.181938 m,
      bearing: 265.708671 deg,
      lat: 36.779417 deg,
      lon: -121.859687 deg,
      deltaT: 3.777564 s,
      deltaX: -2.682636 m,
      approachRate: -0.710150 m/s,
      posRepo size: 4

2025-08-21T19:38:24.339Z,1755805104.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:24.346Z,1755805104.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 48.389286 m,
      bearing: 266.776886 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021779 deg/s,
      cmd heading: 267.159817 deg,
      new cmd heading: 267.136558 deg.

2025-08-21T19:38:24.347Z,1755805104.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662413 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:24.730Z,1755805104.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:24.737Z,1755805104.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 48.055763 m,
      bearing: 266.767356 deg,
      approach rate: -0.832309 m/s,
      LOS rate: -0.023949 deg/s,
      cmd heading: 267.136567 deg,
      new cmd heading: 267.117373 deg.

2025-08-21T19:38:24.748Z,1755805104.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.662077 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:25.095Z,1755805105.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:25.098Z,1755805105.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 47.759369 m,
      bearing: 266.758528 deg,
      approach rate: -0.819061 m/s,
      LOS rate: -0.024545 deg/s,
      cmd heading: 267.117360 deg,
      new cmd heading: 267.099596 deg.

2025-08-21T19:38:25.098Z,1755805105.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661767 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:25.516Z,1755805105.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:25.518Z,1755805105.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:25.521Z,1755805105.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 47.418030 m,
      bearing: 266.748318 deg,
      approach rate: -0.799704 m/s,
      LOS rate: -0.024092 deg/s,
      cmd heading: 267.099602 deg,
      new cmd heading: 267.079035 deg.

2025-08-21T19:38:25.522Z,1755805105.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661408 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:25.617Z,1755805105.617 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:25.617Z,1755805105.617 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:25.617Z,1755805105.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:25.868Z,1755805105.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752624
2025-08-21T19:38:25.929Z,1755805105.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:25.932Z,1755805105.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 47.088970 m,
      bearing: 266.737986 deg,
      approach rate: -0.801955 m/s,
      LOS rate: -0.025357 deg/s,
      cmd heading: 267.079029 deg,
      new cmd heading: 267.058220 deg.

2025-08-21T19:38:25.933Z,1755805105.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.661045 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:26.120Z,1755805106.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004406
2025-08-21T19:38:26.368Z,1755805106.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:26.372Z,1755805106.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256679
2025-08-21T19:38:26.398Z,1755805106.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 46.734867 m,
      bearing: 266.727932 deg,
      approach rate: -0.805201 m/s,
      LOS rate: -0.023035 deg/s,
      cmd heading: 267.058211 deg,
      new cmd heading: 267.037951 deg.

2025-08-21T19:38:26.400Z,1755805106.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660691 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:26.625Z,1755805106.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509015
2025-08-21T19:38:26.735Z,1755805106.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:26.738Z,1755805106.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 46.439560 m,
      bearing: 266.719430 deg,
      approach rate: -0.805692 m/s,
      LOS rate: -0.023343 deg/s,
      cmd heading: 267.037939 deg,
      new cmd heading: 267.020827 deg.

2025-08-21T19:38:26.740Z,1755805106.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660393 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:26.876Z,1755805106.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760564
2025-08-21T19:38:27.128Z,1755805107.128 [DAT](INFO): DAT read: Rx Time:19:38:25.7709

2025-08-21T19:38:27.129Z,1755805107.129 [DAT](INFO): Rx dataTimestamp_ set to:1755805107.128511
2025-08-21T19:38:27.129Z,1755805107.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013659
2025-08-21T19:38:27.190Z,1755805107.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.18 m.
2025-08-21T19:38:27.222Z,1755805107.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.181938 m,
      nav range: 46.085194 m,
      bearing: 266.709084 deg,
      approach rate: -0.779154 m/s,
      LOS rate: -0.022923 deg/s,
      cmd heading: 267.020836 deg,
      new cmd heading: 266.999985 deg.

2025-08-21T19:38:27.227Z,1755805107.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.660029 target range: 49.181938 and range: 49.50 m.
2025-08-21T19:38:27.386Z,1755805107.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269746
2025-08-21T19:38:27.638Z,1755805107.638 [DAT](INFO): DAT read: 19:38:25.7709 LVL= 22624, 31473, 24562, 32755, AGC= 58, IDX= 408, 0.31, 1.194,-0.545, 1.455, 0.970, PHS= 0.326,-1.470, 0.441, RAW= 153.1,   7.6, CAL= 152.6,   8.1, ROT= 357.4,  -8.1

2025-08-21T19:38:27.639Z,1755805107.639 [DAT](INFO): got valid direction response:
 19:38:25.7709 LVL= 22624, 31473, 24562, 32755, AGC= 58, IDX= 408, 0.31, 1.194,-0.545, 1.455, 0.970, PHS= 0.326,-1.470, 0.441, RAW= 153.1,   7.6, CAL= 152.6,   8.1, ROT= 357.4,  -8.1

2025-08-21T19:38:27.640Z,1755805107.640 [DAT](INFO): DAT read: Bearing  51.6,   0.3 (Local)

2025-08-21T19:38:27.640Z,1755805107.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,   0.3 (Local)

2025-08-21T19:38:27.642Z,1755805107.642 [DAT](INFO): DAT read: Range 11 to 50 : 46.5 m  (Round-trip  62.1 ms) speed  0.8 m/s

2025-08-21T19:38:27.643Z,1755805107.643 [DAT](INFO): DAT read: user:4023>

2025-08-21T19:38:27.643Z,1755805107.643 [DAT](INFO): DAT read: Tx time:19:38:26.9047

2025-08-21T19:38:27.644Z,1755805107.644 [DAT](INFO): Ping request sent.
2025-08-21T19:38:27.644Z,1755805107.644 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:27.644Z,1755805107.644 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:27.645Z,1755805107.645 [DAT](INFO): direction in FSK: [0.989004,-0.044910,0.140901]
2025-08-21T19:38:27.646Z,1755805107.646 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:27.646Z,1755805107.646 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:27.649Z,1755805107.649 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:27.649Z,1755805107.649 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:27.700Z,1755805107.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.500000 m,
      deltaT: 3.528089 s,
      deltaX: -3.000000 m,
      approachRate: -0.850319 m/s,
      rangeRepo size: 4

2025-08-21T19:38:27.702Z,1755805107.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.201378 m,
      bearing: 265.371717 deg,
      lat: 36.779411 deg,
      lon: -121.859686 deg,
      deltaT: 3.528089 s,
      deltaX: -2.980560 m,
      approachRate: -0.844809 m/s,
      posRepo size: 4

2025-08-21T19:38:27.703Z,1755805107.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:27.710Z,1755805107.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 45.717918 m,
      bearing: 265.934335 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022923 deg/s,
      cmd heading: 266.999990 deg,
      new cmd heading: 266.978144 deg.

2025-08-21T19:38:27.711Z,1755805107.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659647 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:28.014Z,1755805108.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:28.021Z,1755805108.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:28.028Z,1755805108.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 45.452103 m,
      bearing: 265.921593 deg,
      approach rate: -0.750417 m/s,
      LOS rate: -0.036183 deg/s,
      cmd heading: 266.978134 deg,
      new cmd heading: 266.952500 deg.

2025-08-21T19:38:28.029Z,1755805108.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.659200 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:28.136Z,1755805108.136 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:28.136Z,1755805108.136 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:28.136Z,1755805108.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:28.389Z,1755805108.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745356
2025-08-21T19:38:28.467Z,1755805108.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:28.478Z,1755805108.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 45.090694 m,
      bearing: 265.901382 deg,
      approach rate: -0.809693 m/s,
      LOS rate: -0.045642 deg/s,
      cmd heading: 266.952507 deg,
      new cmd heading: 266.911762 deg.

2025-08-21T19:38:28.479Z,1755805108.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.658489 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:28.640Z,1755805108.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996400
2025-08-21T19:38:28.850Z,1755805108.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:28.853Z,1755805108.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 44.788860 m,
      bearing: 265.884084 deg,
      approach rate: -0.793684 m/s,
      LOS rate: -0.045793 deg/s,
      cmd heading: 266.911772 deg,
      new cmd heading: 266.876942 deg.

2025-08-21T19:38:28.854Z,1755805108.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657881 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:28.893Z,1755805108.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249471
2025-08-21T19:38:29.148Z,1755805109.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503702
2025-08-21T19:38:29.235Z,1755805109.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:29.238Z,1755805109.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 44.468430 m,
      bearing: 265.865096 deg,
      approach rate: -0.826432 m/s,
      LOS rate: -0.049325 deg/s,
      cmd heading: 266.876938 deg,
      new cmd heading: 266.838689 deg.

2025-08-21T19:38:29.239Z,1755805109.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.657214 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:29.397Z,1755805109.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753679
2025-08-21T19:38:29.653Z,1755805109.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008388
2025-08-21T19:38:29.744Z,1755805109.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:29.747Z,1755805109.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 44.061970 m,
      bearing: 265.840206 deg,
      approach rate: -0.798232 m/s,
      LOS rate: -0.049333 deg/s,
      cmd heading: 266.838689 deg,
      new cmd heading: 266.788448 deg.

2025-08-21T19:38:29.748Z,1755805109.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.656337 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:29.901Z,1755805109.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256952
2025-08-21T19:38:30.110Z,1755805110.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:30.140Z,1755805110.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:30.148Z,1755805110.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 43.768082 m,
      bearing: 265.821578 deg,
      approach rate: -0.742808 m/s,
      LOS rate: -0.047398 deg/s,
      cmd heading: 266.788446 deg,
      new cmd heading: 266.750940 deg.

2025-08-21T19:38:30.149Z,1755805110.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655682 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:30.154Z,1755805110.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509515
2025-08-21T19:38:30.405Z,1755805110.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761631
2025-08-21T19:38:30.576Z,1755805110.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:30.579Z,1755805110.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 43.410984 m,
      bearing: 265.805717 deg,
      approach rate: -0.819480 m/s,
      LOS rate: -0.036698 deg/s,
      cmd heading: 266.750934 deg,
      new cmd heading: 266.718952 deg.

2025-08-21T19:38:30.581Z,1755805110.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.655124 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:30.657Z,1755805110.657 [DAT](INFO): DAT read: Rx Time:19:38:29.3670

2025-08-21T19:38:30.658Z,1755805110.658 [DAT](INFO): Rx dataTimestamp_ set to:1755805110.657453
2025-08-21T19:38:30.659Z,1755805110.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014829
2025-08-21T19:38:30.909Z,1755805110.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264717
2025-08-21T19:38:30.952Z,1755805110.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.20 m.
2025-08-21T19:38:30.954Z,1755805110.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.201378 m,
      nav range: 43.121349 m,
      bearing: 265.792269 deg,
      approach rate: -0.770705 m/s,
      LOS rate: -0.036025 deg/s,
      cmd heading: 266.718942 deg,
      new cmd heading: 266.691865 deg.

2025-08-21T19:38:30.956Z,1755805110.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654651 target range: 46.201378 and range: 46.50 m.
2025-08-21T19:38:31.169Z,1755805111.169 [DAT](INFO): DAT read: 19:38:29.3670 LVL= 27440, 31265, 24178, 32755, AGC= 58, IDX= 400,-0.17, 0.556,-1.229, 0.821, 0.314, PHS= 0.345,-1.497, 0.464, RAW= 153.1,   7.3, CAL= 152.5,   7.7, ROT= 357.5,  -7.7

2025-08-21T19:38:31.170Z,1755805111.170 [DAT](INFO): got valid direction response:
 19:38:29.3670 LVL= 27440, 31265, 24178, 32755, AGC= 58, IDX= 400,-0.17, 0.556,-1.229, 0.821, 0.314, PHS= 0.345,-1.497, 0.464, RAW= 153.1,   7.3, CAL= 152.5,   7.7, ROT= 357.5,  -7.7

2025-08-21T19:38:31.172Z,1755805111.172 [DAT](INFO): DAT read: Bearing  51.5,   0.9 (Local)

2025-08-21T19:38:31.172Z,1755805111.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.5,   0.9 (Local)

2025-08-21T19:38:31.174Z,1755805111.174 [DAT](INFO): DAT read: Range 11 to 50 : 43.6 m  (Round-trip  58.2 ms) speed  0.8 m/s

2025-08-21T19:38:31.182Z,1755805111.182 [DAT](INFO): DAT read: user:4024>

2025-08-21T19:38:31.184Z,1755805111.184 [DAT](INFO): DAT read: Tx time:19:38:30.4547

2025-08-21T19:38:31.184Z,1755805111.184 [DAT](INFO): Ping request sent.
2025-08-21T19:38:31.184Z,1755805111.184 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:31.184Z,1755805111.184 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:31.185Z,1755805111.185 [DAT](INFO): direction in FSK: [0.990040,-0.043226,0.133986]
2025-08-21T19:38:31.185Z,1755805111.185 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:31.186Z,1755805111.186 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:31.189Z,1755805111.189 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:31.190Z,1755805111.190 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:31.457Z,1755805111.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.599998 m,
      deltaT: 3.528419 s,
      deltaX: -2.900002 m,
      approachRate: -0.821898 m/s,
      rangeRepo size: 4

2025-08-21T19:38:31.459Z,1755805111.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.320480 m,
      bearing: 266.021797 deg,
      lat: 36.779411 deg,
      lon: -121.859684 deg,
      deltaT: 3.528419 s,
      deltaX: -2.880898 m,
      approachRate: -0.816484 m/s,
      posRepo size: 4

2025-08-21T19:38:31.460Z,1755805111.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:31.462Z,1755805111.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 42.568256 m,
      bearing: 265.757292 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036025 deg/s,
      cmd heading: 266.691867 deg,
      new cmd heading: 266.655506 deg.

2025-08-21T19:38:31.464Z,1755805111.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.654016 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:31.764Z,1755805111.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:31.766Z,1755805111.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 42.327316 m,
      bearing: 265.745258 deg,
      approach rate: -0.783629 m/s,
      LOS rate: -0.039361 deg/s,
      cmd heading: 266.655503 deg,
      new cmd heading: 266.631299 deg.

2025-08-21T19:38:31.768Z,1755805111.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653594 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:32.189Z,1755805112.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:32.191Z,1755805112.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:32.198Z,1755805112.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 42.016762 m,
      bearing: 265.729034 deg,
      approach rate: -0.727015 m/s,
      LOS rate: -0.038263 deg/s,
      cmd heading: 266.631297 deg,
      new cmd heading: 266.598608 deg.

2025-08-21T19:38:32.199Z,1755805112.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.653024 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:32.421Z,1755805112.421 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:32.421Z,1755805112.421 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:32.421Z,1755805112.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:32.584Z,1755805112.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:32.586Z,1755805112.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 41.698032 m,
      bearing: 265.708965 deg,
      approach rate: -0.811398 m/s,
      LOS rate: -0.051480 deg/s,
      cmd heading: 266.598621 deg,
      new cmd heading: 266.558177 deg.

2025-08-21T19:38:32.588Z,1755805112.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.652318 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:32.674Z,1755805112.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489565
2025-08-21T19:38:32.924Z,1755805112.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740190
2025-08-21T19:38:32.970Z,1755805112.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:32.973Z,1755805112.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 41.403320 m,
      bearing: 265.689635 deg,
      approach rate: -0.761587 m/s,
      LOS rate: -0.050306 deg/s,
      cmd heading: 266.558186 deg,
      new cmd heading: 266.519252 deg.

2025-08-21T19:38:32.974Z,1755805112.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.651639 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:33.178Z,1755805113.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993226
2025-08-21T19:38:33.419Z,1755805113.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:33.422Z,1755805113.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 41.061878 m,
      bearing: 265.666280 deg,
      approach rate: -0.761481 m/s,
      LOS rate: -0.052521 deg/s,
      cmd heading: 266.519254 deg,
      new cmd heading: 266.472154 deg.

2025-08-21T19:38:33.423Z,1755805113.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650816 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:33.428Z,1755805113.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244391
2025-08-21T19:38:33.681Z,1755805113.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496785
2025-08-21T19:38:33.797Z,1755805113.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:33.816Z,1755805113.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 40.772446 m,
      bearing: 265.645814 deg,
      approach rate: -0.765053 m/s,
      LOS rate: -0.054481 deg/s,
      cmd heading: 266.472153 deg,
      new cmd heading: 266.430931 deg.

2025-08-21T19:38:33.817Z,1755805113.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.650097 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:33.932Z,1755805113.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748476
2025-08-21T19:38:34.184Z,1755805114.184 [DAT](INFO): DAT read: Rx Time:19:38:32.9133

2025-08-21T19:38:34.185Z,1755805114.185 [DAT](INFO): Rx dataTimestamp_ set to:1755805114.184638
2025-08-21T19:38:34.185Z,1755805114.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001494
2025-08-21T19:38:34.206Z,1755805114.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:34.212Z,1755805114.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:34.215Z,1755805114.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 40.472569 m,
      bearing: 265.624277 deg,
      approach rate: -0.722618 m/s,
      LOS rate: -0.052281 deg/s,
      cmd heading: 266.430926 deg,
      new cmd heading: 266.387534 deg.

2025-08-21T19:38:34.221Z,1755805114.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.649340 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:34.437Z,1755805114.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252883
2025-08-21T19:38:34.630Z,1755805114.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.32 m.
2025-08-21T19:38:34.659Z,1755805114.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.320480 m,
      nav range: 40.153198 m,
      bearing: 265.596802 deg,
      approach rate: -0.776248 m/s,
      LOS rate: -0.067313 deg/s,
      cmd heading: 266.387541 deg,
      new cmd heading: 266.332152 deg.

2025-08-21T19:38:34.672Z,1755805114.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.648373 target range: 43.320480 and range: 43.60 m.
2025-08-21T19:38:34.694Z,1755805114.694 [DAT](INFO): DAT read: 19:38:32.9133 LVL= 22112, 28817, 21298, 32755, AGC= 58, IDX= 410,-0.00,-2.178, 2.385,-1.904,-2.401, PHS= 0.324,-1.453, 0.453, RAW= 153.5,   7.4, CAL= 152.9,   7.7, ROT= 357.1,  -7.7

2025-08-21T19:38:34.695Z,1755805114.695 [DAT](INFO): got valid direction response:
 19:38:32.9133 LVL= 22112, 28817, 21298, 32755, AGC= 58, IDX= 410,-0.00,-2.178, 2.385,-1.904,-2.401, PHS= 0.324,-1.453, 0.453, RAW= 153.5,   7.4, CAL= 152.9,   7.7, ROT= 357.1,  -7.7

2025-08-21T19:38:34.696Z,1755805114.696 [DAT](INFO): DAT read: Bearing  52.0,   0.6 (Local)

2025-08-21T19:38:34.696Z,1755805114.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.0,   0.6 (Local)

2025-08-21T19:38:34.698Z,1755805114.698 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m  (Round-trip  54.4 ms) speed  0.7 m/s

2025-08-21T19:38:34.698Z,1755805114.698 [DAT](INFO): DAT read: user:4025>

2025-08-21T19:38:34.699Z,1755805114.699 [DAT](INFO): DAT read: Tx time:19:38:34.0047

2025-08-21T19:38:34.700Z,1755805114.700 [DAT](INFO): Ping request sent.
2025-08-21T19:38:34.700Z,1755805114.700 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:34.700Z,1755805114.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:34.701Z,1755805114.701 [DAT](INFO): direction in FSK: [0.989714,-0.050137,0.133986]
2025-08-21T19:38:34.701Z,1755805114.701 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:34.702Z,1755805114.702 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:34.705Z,1755805114.705 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:34.705Z,1755805114.705 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:35.010Z,1755805115.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.799999 m,
      deltaT: 3.527549 s,
      deltaX: -2.799999 m,
      approachRate: -0.793752 m/s,
      rangeRepo size: 4

2025-08-21T19:38:35.012Z,1755805115.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.538509 m,
      bearing: 266.011863 deg,
      lat: 36.779411 deg,
      lon: -121.859684 deg,
      deltaT: 3.527549 s,
      deltaX: -2.781971 m,
      approachRate: -0.788641 m/s,
      posRepo size: 4

2025-08-21T19:38:35.013Z,1755805115.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:35.015Z,1755805115.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 39.855270 m,
      bearing: 265.570811 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.067313 deg/s,
      cmd heading: 266.332162 deg,
      new cmd heading: 266.280286 deg.

2025-08-21T19:38:35.017Z,1755805115.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.647468 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:35.452Z,1755805115.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:35.455Z,1755805115.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 39.496475 m,
      bearing: 265.539152 deg,
      approach rate: -0.809012 m/s,
      LOS rate: -0.072034 deg/s,
      cmd heading: 266.280280 deg,
      new cmd heading: 266.216386 deg.

2025-08-21T19:38:35.456Z,1755805115.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.646352 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:35.812Z,1755805115.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:35.815Z,1755805115.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 39.218056 m,
      bearing: 265.515480 deg,
      approach rate: -0.773671 m/s,
      LOS rate: -0.066247 deg/s,
      cmd heading: 266.216376 deg,
      new cmd heading: 266.168696 deg.

2025-08-21T19:38:35.816Z,1755805115.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.645520 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:36.265Z,1755805116.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:36.267Z,1755805116.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:36.270Z,1755805116.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 38.867779 m,
      bearing: 265.485413 deg,
      approach rate: -0.770832 m/s,
      LOS rate: -0.066762 deg/s,
      cmd heading: 266.168702 deg,
      new cmd heading: 266.108026 deg.

2025-08-21T19:38:36.271Z,1755805116.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.644461 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:36.454Z,1755805116.454 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:36.455Z,1755805116.455 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:36.456Z,1755805116.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:36.673Z,1755805116.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:36.680Z,1755805116.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 38.566616 m,
      bearing: 265.452425 deg,
      approach rate: -0.741134 m/s,
      LOS rate: -0.081816 deg/s,
      cmd heading: 266.108022 deg,
      new cmd heading: 266.041530 deg.

2025-08-21T19:38:36.681Z,1755805116.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.643301 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:36.704Z,1755805116.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004537
2025-08-21T19:38:36.956Z,1755805116.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256699
2025-08-21T19:38:37.056Z,1755805117.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:37.059Z,1755805117.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 38.258629 m,
      bearing: 265.418416 deg,
      approach rate: -0.803955 m/s,
      LOS rate: -0.089489 deg/s,
      cmd heading: 266.041524 deg,
      new cmd heading: 265.972959 deg.

2025-08-21T19:38:37.060Z,1755805117.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.642104 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:37.209Z,1755805117.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509005
2025-08-21T19:38:37.464Z,1755805117.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763099
2025-08-21T19:38:37.534Z,1755805117.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:37.537Z,1755805117.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 37.904423 m,
      bearing: 265.380188 deg,
      approach rate: -0.740977 m/s,
      LOS rate: -0.080717 deg/s,
      cmd heading: 265.972948 deg,
      new cmd heading: 265.895779 deg.

2025-08-21T19:38:37.538Z,1755805117.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.640757 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:37.712Z,1755805117.712 [DAT](INFO): DAT read: Rx Time:19:38:36.4597

2025-08-21T19:38:37.713Z,1755805117.713 [DAT](INFO): Rx dataTimestamp_ set to:1755805117.712387
2025-08-21T19:38:37.713Z,1755805117.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013481
2025-08-21T19:38:37.852Z,1755805117.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.54 m.
2025-08-21T19:38:37.855Z,1755805117.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.538509 m,
      nav range: 37.668587 m,
      bearing: 265.354748 deg,
      approach rate: -0.742141 m/s,
      LOS rate: -0.080558 deg/s,
      cmd heading: 265.895767 deg,
      new cmd heading: 265.844568 deg.

2025-08-21T19:38:37.856Z,1755805117.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.639863 target range: 40.538509 and range: 40.80 m.
2025-08-21T19:38:37.964Z,1755805117.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264518
2025-08-21T19:38:38.224Z,1755805118.224 [DAT](INFO): DAT read: 19:38:36.4597 LVL= 28240, 32753, 25138, 32755, AGC= 57, IDX= 405, 0.02,-2.368, 2.224,-2.070,-2.577, PHS= 0.311,-1.437, 0.463, RAW= 154.1,   7.3, CAL= 153.6,   7.6, ROT= 356.4,  -7.6

2025-08-21T19:38:38.226Z,1755805118.226 [DAT](INFO): got valid direction response:
 19:38:36.4597 LVL= 28240, 32753, 25138, 32755, AGC= 57, IDX= 405, 0.02,-2.368, 2.224,-2.070,-2.577, PHS= 0.311,-1.437, 0.463, RAW= 154.1,   7.3, CAL= 153.6,   7.6, ROT= 356.4,  -7.6

2025-08-21T19:38:38.226Z,1755805118.226 [DAT](INFO): DAT read: Bearing  51.6,  -0.4 (Local)

2025-08-21T19:38:38.227Z,1755805118.227 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,  -0.4 (Local)

2025-08-21T19:38:38.233Z,1755805118.233 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.9 m/s

2025-08-21T19:38:38.234Z,1755805118.234 [DAT](INFO): DAT read: user:4026>

2025-08-21T19:38:38.236Z,1755805118.236 [DAT](INFO): DAT read: Tx time:19:38:37.5547

2025-08-21T19:38:38.236Z,1755805118.236 [DAT](INFO): Ping request sent.
2025-08-21T19:38:38.236Z,1755805118.236 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:38.237Z,1755805118.237 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:38.238Z,1755805118.238 [DAT](INFO): direction in FSK: [0.989260,-0.062239,0.132256]
2025-08-21T19:38:38.238Z,1755805118.238 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:38.240Z,1755805118.240 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:38.245Z,1755805118.245 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:38.245Z,1755805118.245 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:38.392Z,1755805118.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.529043 s,
      deltaX: -2.700001 m,
      approachRate: -0.765080 m/s,
      rangeRepo size: 4

2025-08-21T19:38:38.394Z,1755805118.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.857235 m,
      bearing: 265.118292 deg,
      lat: 36.779410 deg,
      lon: -121.859684 deg,
      deltaT: 3.529043 s,
      deltaX: -2.681274 m,
      approachRate: -0.759774 m/s,
      posRepo size: 4

2025-08-21T19:38:38.399Z,1755805118.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:38.402Z,1755805118.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 37.313290 m,
      bearing: 265.128449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080558 deg/s,
      cmd heading: 265.844568 deg,
      new cmd heading: 265.758975 deg.

2025-08-21T19:38:38.407Z,1755805118.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.638369 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:38.957Z,1755805118.957 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-21T19:38:38.957Z,1755805118.957 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-21T19:38:38.958Z,1755805118.958 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-21T19:38:38.959Z,1755805118.959 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-08-21T19:38:38.979Z,1755805118.979 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-21T19:38:38.979Z,1755805118.979 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-21T19:38:38.980Z,1755805118.980 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:38.982Z,1755805118.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:38.989Z,1755805118.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 36.849152 m,
      bearing: 265.084532 deg,
      approach rate: -0.775114 m/s,
      LOS rate: -0.074264 deg/s,
      cmd heading: 265.758972 deg,
      new cmd heading: 265.670033 deg.

2025-08-21T19:38:38.990Z,1755805118.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.636817 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:39.224Z,1755805119.224 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:39.224Z,1755805119.224 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:39.224Z,1755805119.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:38:39.480Z,1755805119.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242625
2025-08-21T19:38:39.510Z,1755805119.510 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-21T19:38:39.510Z,1755805119.510 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-21T19:38:39.513Z,1755805119.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:39.516Z,1755805119.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 36.431221 m,
      bearing: 265.044028 deg,
      approach rate: -0.787392 m/s,
      LOS rate: -0.077186 deg/s,
      cmd heading: 265.670043 deg,
      new cmd heading: 265.588106 deg.

2025-08-21T19:38:39.517Z,1755805119.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.635387 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:39.729Z,1755805119.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493062
2025-08-21T19:38:39.890Z,1755805119.890 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-21T19:38:39.890Z,1755805119.890 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-21T19:38:39.896Z,1755805119.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:39.903Z,1755805119.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 36.147694 m,
      bearing: 265.017230 deg,
      approach rate: -0.738841 m/s,
      LOS rate: -0.070382 deg/s,
      cmd heading: 265.588108 deg,
      new cmd heading: 265.534091 deg.

2025-08-21T19:38:39.904Z,1755805119.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.634444 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:39.981Z,1755805119.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744746
2025-08-21T19:38:40.232Z,1755805120.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996102
2025-08-21T19:38:40.256Z,1755805120.256 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-21T19:38:40.256Z,1755805120.256 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-21T19:38:40.256Z,1755805120.256 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-21T19:38:40.256Z,1755805120.256 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-21T19:38:40.258Z,1755805120.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:40.261Z,1755805120.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 35.855984 m,
      bearing: 264.989321 deg,
      approach rate: -0.806669 m/s,
      LOS rate: -0.077803 deg/s,
      cmd heading: 265.534095 deg,
      new cmd heading: 265.477824 deg.

2025-08-21T19:38:40.262Z,1755805120.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.633462 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:40.488Z,1755805120.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251170
2025-08-21T19:38:40.677Z,1755805120.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:40.680Z,1755805120.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 35.530602 m,
      bearing: 264.961156 deg,
      approach rate: -0.776975 m/s,
      LOS rate: -0.067872 deg/s,
      cmd heading: 265.477814 deg,
      new cmd heading: 265.420968 deg.

2025-08-21T19:38:40.681Z,1755805120.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.632470 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:40.738Z,1755805120.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501018
2025-08-21T19:38:40.988Z,1755805120.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752072
2025-08-21T19:38:41.062Z,1755805121.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:41.064Z,1755805121.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:41.067Z,1755805121.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 35.230412 m,
      bearing: 264.934827 deg,
      approach rate: -0.775170 m/s,
      LOS rate: -0.068567 deg/s,
      cmd heading: 265.420960 deg,
      new cmd heading: 265.367854 deg.

2025-08-21T19:38:41.068Z,1755805121.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.631543 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:41.248Z,1755805121.248 [DAT](INFO): DAT read: Rx Time:19:38:40.0062

2025-08-21T19:38:41.249Z,1755805121.249 [DAT](INFO): Rx dataTimestamp_ set to:1755805121.248288
2025-08-21T19:38:41.249Z,1755805121.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012917
2025-08-21T19:38:41.496Z,1755805121.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259091
2025-08-21T19:38:41.529Z,1755805121.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.86 m.
2025-08-21T19:38:41.536Z,1755805121.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.857235 m,
      nav range: 34.905811 m,
      bearing: 264.906095 deg,
      approach rate: -0.698675 m/s,
      LOS rate: -0.062419 deg/s,
      cmd heading: 265.367848 deg,
      new cmd heading: 265.309849 deg.

2025-08-21T19:38:41.537Z,1755805121.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.630530 target range: 37.857235 and range: 38.10 m.
2025-08-21T19:38:41.761Z,1755805121.761 [DAT](INFO): DAT read: 19:38:40.0061 LVL= 30384, 32753, 24722, 32755, AGC= 59, IDX= 400, 0.45,-2.060, 2.446,-1.749,-2.292, PHS= 0.333,-1.500, 0.499, RAW= 154.3,   7.0, CAL= 153.7,   7.3, ROT= 356.3,  -7.3

2025-08-21T19:38:41.762Z,1755805121.762 [DAT](INFO): got valid direction response:
 19:38:40.0061 LVL= 30384, 32753, 24722, 32755, AGC= 59, IDX= 400, 0.45,-2.060, 2.446,-1.749,-2.292, PHS= 0.333,-1.500, 0.499, RAW= 154.3,   7.0, CAL= 153.7,   7.3, ROT= 356.3,  -7.3

2025-08-21T19:38:41.772Z,1755805121.772 [DAT](INFO): DAT read: Bearing  50.7,  -0.8 (Local)

2025-08-21T19:38:41.772Z,1755805121.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.7,  -0.8 (Local)

2025-08-21T19:38:41.774Z,1755805121.774 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m  (Round-trip  47.3 ms) speed  0.7 m/s

2025-08-21T19:38:41.775Z,1755805121.775 [DAT](INFO): DAT read: user:4027>

2025-08-21T19:38:41.775Z,1755805121.775 [DAT](INFO): DAT read: Tx time:19:38:41.1046

2025-08-21T19:38:41.776Z,1755805121.776 [DAT](INFO): Ping request sent.
2025-08-21T19:38:41.776Z,1755805121.776 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:41.776Z,1755805121.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:41.777Z,1755805121.777 [DAT](INFO): direction in FSK: [0.989827,-0.064009,0.127065]
2025-08-21T19:38:41.777Z,1755805121.777 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:41.778Z,1755805121.778 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:41.789Z,1755805121.789 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:41.790Z,1755805121.790 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:42.030Z,1755805122.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.400002 m,
      deltaT: 3.528388 s,
      deltaX: -2.699997 m,
      approachRate: -0.765221 m/s,
      rangeRepo size: 4

2025-08-21T19:38:42.036Z,1755805122.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.174423 m,
      bearing: 264.778707 deg,
      lat: 36.779410 deg,
      lon: -121.859684 deg,
      deltaT: 3.528388 s,
      deltaX: -2.682812 m,
      approachRate: -0.760351 m/s,
      posRepo size: 4

2025-08-21T19:38:42.037Z,1755805122.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:42.044Z,1755805122.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 34.486160 m,
      bearing: 264.871127 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062419 deg/s,
      cmd heading: 265.309846 deg,
      new cmd heading: 265.247345 deg.

2025-08-21T19:38:42.045Z,1755805122.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.629439 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:42.378Z,1755805122.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:42.384Z,1755805122.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 34.205101 m,
      bearing: 264.847524 deg,
      approach rate: -0.807823 m/s,
      LOS rate: -0.068396 deg/s,
      cmd heading: 265.247336 deg,
      new cmd heading: 265.199743 deg.

2025-08-21T19:38:42.385Z,1755805122.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.628609 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:42.789Z,1755805122.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:42.792Z,1755805122.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 33.869938 m,
      bearing: 264.812742 deg,
      approach rate: -0.813708 m/s,
      LOS rate: -0.085280 deg/s,
      cmd heading: 265.199744 deg,
      new cmd heading: 265.129490 deg.

2025-08-21T19:38:42.793Z,1755805122.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.627383 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:43.188Z,1755805123.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:43.190Z,1755805123.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:43.197Z,1755805123.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 33.569317 m,
      bearing: 264.781454 deg,
      approach rate: -0.750564 m/s,
      LOS rate: -0.078815 deg/s,
      cmd heading: 265.129502 deg,
      new cmd heading: 265.066367 deg.

2025-08-21T19:38:43.198Z,1755805123.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.626281 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:43.261Z,1755805123.261 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:38:43.261Z,1755805123.261 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:38:43.262Z,1755805123.262 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-21T19:38:43.515Z,1755805123.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738521
2025-08-21T19:38:43.617Z,1755805123.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:43.620Z,1755805123.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 33.209995 m,
      bearing: 264.755357 deg,
      approach rate: -0.840711 m/s,
      LOS rate: -0.061721 deg/s,
      cmd heading: 265.066364 deg,
      new cmd heading: 265.013604 deg.

2025-08-21T19:38:43.621Z,1755805123.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.625360 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:43.764Z,1755805123.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988264
2025-08-21T19:38:43.992Z,1755805123.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:43.996Z,1755805123.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 32.911110 m,
      bearing: 264.733214 deg,
      approach rate: -0.796206 m/s,
      LOS rate: -0.059522 deg/s,
      cmd heading: 265.013607 deg,
      new cmd heading: 264.968920 deg.

2025-08-21T19:38:43.997Z,1755805123.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.624580 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:44.016Z,1755805124.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240417
2025-08-21T19:38:44.268Z,1755805124.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492287
2025-08-21T19:38:44.417Z,1755805124.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:44.424Z,1755805124.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 32.579525 m,
      bearing: 264.709112 deg,
      approach rate: -0.780705 m/s,
      LOS rate: -0.057325 deg/s,
      cmd heading: 264.968911 deg,
      new cmd heading: 264.920216 deg.

2025-08-21T19:38:44.425Z,1755805124.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.623730 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:44.523Z,1755805124.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746813
2025-08-21T19:38:44.772Z,1755805124.772 [DAT](INFO): DAT read: Rx Time:19:38:43.5523

2025-08-21T19:38:44.773Z,1755805124.773 [DAT](INFO): Rx dataTimestamp_ set to:1755805124.772596
2025-08-21T19:38:44.773Z,1755805124.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997546
2025-08-21T19:38:44.857Z,1755805124.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:44.866Z,1755805124.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 32.234859 m,
      bearing: 264.684464 deg,
      approach rate: -0.784981 m/s,
      LOS rate: -0.056737 deg/s,
      cmd heading: 264.920225 deg,
      new cmd heading: 264.870402 deg.

2025-08-21T19:38:44.873Z,1755805124.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622860 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:45.024Z,1755805125.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248273
2025-08-21T19:38:45.222Z,1755805125.222 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:45.224Z,1755805125.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.17 m.
2025-08-21T19:38:45.227Z,1755805125.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.174423 m,
      nav range: 31.949106 m,
      bearing: 264.664103 deg,
      approach rate: -0.777314 m/s,
      LOS rate: -0.055882 deg/s,
      cmd heading: 264.870392 deg,
      new cmd heading: 264.829306 deg.

2025-08-21T19:38:45.232Z,1755805125.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.622143 target range: 35.174423 and range: 35.40 m.
2025-08-21T19:38:45.282Z,1755805125.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505218
2025-08-21T19:38:45.550Z,1755805125.550 [DAT](INFO): DAT read: 19:38:43.5523 LVL= 28256, 32753, 27010, 32755, AGC= 55, IDX= 410, 0.10,-2.920, 1.710,-2.581,-3.085, PHS= 0.267,-1.443, 0.460, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-21T19:38:45.572Z,1755805125.572 [DAT](INFO): got valid direction response:
 19:38:43.5523 LVL= 28256, 32753, 27010, 32755, AGC= 55, IDX= 410, 0.10,-2.920, 1.710,-2.581,-3.085, PHS= 0.267,-1.443, 0.460, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-21T19:38:45.574Z,1755805125.574 [DAT](INFO): DAT read: Bearing  51.5,  -2.6 (Local)

2025-08-21T19:38:45.587Z,1755805125.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.5,  -2.6 (Local)

2025-08-21T19:38:45.589Z,1755805125.589 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m  (Round-trip  43.5 ms) speed  0.8 m/s

2025-08-21T19:38:45.590Z,1755805125.590 [DAT](INFO): DAT read: user:4028>

2025-08-21T19:38:45.590Z,1755805125.590 [DAT](INFO): DAT read: Tx time:19:38:44.6546

2025-08-21T19:38:45.591Z,1755805125.591 [DAT](INFO): Ping request sent.
2025-08-21T19:38:45.591Z,1755805125.591 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:45.603Z,1755805125.603 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:38:45.604Z,1755805125.604 [DAT](INFO): direction in FSK: [0.986055,-0.082801,0.144356]
2025-08-21T19:38:45.604Z,1755805125.604 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:45.605Z,1755805125.605 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:45.616Z,1755805125.616 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:45.616Z,1755805125.616 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:45.628Z,1755805125.628 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.036985
2025-08-21T19:38:45.772Z,1755805125.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 3.783897 s,
      deltaX: -2.800003 m,
      approachRate: -0.739979 m/s,
      rangeRepo size: 4

2025-08-21T19:38:45.774Z,1755805125.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.391586 m,
      bearing: 263.200936 deg,
      lat: 36.779410 deg,
      lon: -121.859684 deg,
      deltaT: 3.783897 s,
      deltaX: -2.782837 m,
      approachRate: -0.735442 m/s,
      posRepo size: 4

2025-08-21T19:38:45.775Z,1755805125.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:45.780Z,1755805125.780 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.189599
2025-08-21T19:38:45.787Z,1755805125.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 31.540125 m,
      bearing: 264.616401 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055882 deg/s,
      cmd heading: 264.829302 deg,
      new cmd heading: 264.769473 deg.

2025-08-21T19:38:45.789Z,1755805125.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.621099 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:46.032Z,1755805126.032 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.441517
2025-08-21T19:38:46.129Z,1755805126.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:46.133Z,1755805126.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 31.250261 m,
      bearing: 264.582824 deg,
      approach rate: -0.783053 m/s,
      LOS rate: -0.091548 deg/s,
      cmd heading: 264.769469 deg,
      new cmd heading: 264.701692 deg.

2025-08-21T19:38:46.134Z,1755805126.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.619916 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:46.284Z,1755805126.284 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.693540
2025-08-21T19:38:46.517Z,1755805126.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:46.539Z,1755805126.539 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.947703
2025-08-21T19:38:46.540Z,1755805126.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 30.938652 m,
      bearing: 264.546507 deg,
      approach rate: -0.804568 m/s,
      LOS rate: -0.094714 deg/s,
      cmd heading: 264.701686 deg,
      new cmd heading: 264.628321 deg.

2025-08-21T19:38:46.541Z,1755805126.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.618636 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:46.788Z,1755805126.788 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.197543
2025-08-21T19:38:46.965Z,1755805126.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:46.984Z,1755805126.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 30.591061 m,
      bearing: 264.507612 deg,
      approach rate: -0.774791 m/s,
      LOS rate: -0.087682 deg/s,
      cmd heading: 264.628330 deg,
      new cmd heading: 264.549658 deg.

2025-08-21T19:38:46.985Z,1755805126.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.617262 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:47.040Z,1755805127.040 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.449651
2025-08-21T19:38:47.292Z,1755805127.292 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.701462
2025-08-21T19:38:47.340Z,1755805127.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:47.344Z,1755805127.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:47.365Z,1755805127.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 30.299696 m,
      bearing: 264.475211 deg,
      approach rate: -0.772500 m/s,
      LOS rate: -0.086733 deg/s,
      cmd heading: 264.549646 deg,
      new cmd heading: 264.484220 deg.

2025-08-21T19:38:47.372Z,1755805127.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.616120 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:47.544Z,1755805127.544 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.953737
2025-08-21T19:38:47.791Z,1755805127.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:47.794Z,1755805127.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 29.971682 m,
      bearing: 264.443664 deg,
      approach rate: -0.737303 m/s,
      LOS rate: -0.071687 deg/s,
      cmd heading: 264.484213 deg,
      new cmd heading: 264.420429 deg.

2025-08-21T19:38:47.797Z,1755805127.797 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.205787
2025-08-21T19:38:47.797Z,1755805127.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.615007 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:48.048Z,1755805128.048 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.457380
2025-08-21T19:38:48.153Z,1755805128.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:48.157Z,1755805128.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 29.681934 m,
      bearing: 264.415763 deg,
      approach rate: -0.796221 m/s,
      LOS rate: -0.077419 deg/s,
      cmd heading: 264.420419 deg,
      new cmd heading: 264.364073 deg.

2025-08-21T19:38:48.159Z,1755805128.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.614024 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:48.300Z,1755805128.300 [DAT](INFO): DAT read: Rx Time:19:38:47.0986

2025-08-21T19:38:48.301Z,1755805128.301 [DAT](INFO): Rx dataTimestamp_ set to:1755805128.300523
2025-08-21T19:38:48.301Z,1755805128.301 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.710622
2025-08-21T19:38:48.544Z,1755805128.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:48.547Z,1755805128.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 29.379322 m,
      bearing: 264.386278 deg,
      approach rate: -0.771769 m/s,
      LOS rate: -0.075973 deg/s,
      cmd heading: 264.364084 deg,
      new cmd heading: 264.304506 deg.

2025-08-21T19:38:48.548Z,1755805128.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.612984 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:48.552Z,1755805128.552 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.961660
2025-08-21T19:38:48.808Z,1755805128.808 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.216688
2025-08-21T19:38:48.972Z,1755805128.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.39 m.
2025-08-21T19:38:48.975Z,1755805128.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.391586 m,
      nav range: 29.058302 m,
      bearing: 264.335736 deg,
      approach rate: -0.749053 m/s,
      LOS rate: -0.119234 deg/s,
      cmd heading: 264.304497 deg,
      new cmd heading: 264.202298 deg.

2025-08-21T19:38:48.976Z,1755805128.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.611200 target range: 32.391586 and range: 32.60 m.
2025-08-21T19:38:49.065Z,1755805129.065 [DAT](INFO): DAT read: 19:38:47.0986 LVL= 27824, 26993, 21362, 32755, AGC= 56, IDX= 404, 0.01,-2.885, 1.717,-2.492,-3.037, PHS= 0.254,-1.484, 0.500, RAW= 156.5,   7.8, CAL= 156.1,   8.1, ROT= 353.9,  -8.1

2025-08-21T19:38:49.066Z,1755805129.066 [DAT](INFO): got valid direction response:
 19:38:47.0986 LVL= 27824, 26993, 21362, 32755, AGC= 56, IDX= 404, 0.01,-2.885, 1.717,-2.492,-3.037, PHS= 0.254,-1.484, 0.500, RAW= 156.5,   7.8, CAL= 156.1,   8.1, ROT= 353.9,  -8.1

2025-08-21T19:38:49.067Z,1755805129.067 [DAT](INFO): DAT read: Bearing  51.0,  -4.5 (Local)

2025-08-21T19:38:49.067Z,1755805129.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.0,  -4.5 (Local)

2025-08-21T19:38:49.069Z,1755805129.069 [DAT](INFO): DAT read: Range 11 to 50 : 29.8 m  (Round-trip  39.8 ms) speed  0.8 m/s

2025-08-21T19:38:49.069Z,1755805129.069 [DAT](INFO): DAT read: user:4029>

2025-08-21T19:38:49.070Z,1755805129.070 [DAT](INFO): DAT read: Tx time:19:38:48.2046

2025-08-21T19:38:49.070Z,1755805129.070 [DAT](INFO): Ping request sent.
2025-08-21T19:38:49.070Z,1755805129.070 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:49.071Z,1755805129.071 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T19:38:49.072Z,1755805129.072 [DAT](INFO): direction in FSK: [0.984418,-0.105204,0.140901]
2025-08-21T19:38:49.072Z,1755805129.072 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:49.072Z,1755805129.072 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:49.076Z,1755805129.076 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:49.076Z,1755805129.076 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:49.083Z,1755805129.083 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.008619
2025-08-21T19:38:49.308Z,1755805129.308 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.237835
2025-08-21T19:38:49.422Z,1755805129.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.799999 m,
      deltaT: 3.527909 s,
      deltaX: -2.799999 m,
      approachRate: -0.793671 m/s,
      rangeRepo size: 4

2025-08-21T19:38:49.424Z,1755805129.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.609327 m,
      bearing: 261.561379 deg,
      lat: 36.779410 deg,
      lon: -121.859687 deg,
      deltaT: 3.527909 s,
      deltaX: -2.782259 m,
      approachRate: -0.788643 m/s,
      posRepo size: 4

2025-08-21T19:38:49.425Z,1755805129.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:49.432Z,1755805129.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 28.932194 m,
      bearing: 264.178011 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119234 deg/s,
      cmd heading: 264.202290 deg,
      new cmd heading: 264.095127 deg.

2025-08-21T19:38:49.433Z,1755805129.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.609330 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:49.560Z,1755805129.560 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.489818
2025-08-21T19:38:49.800Z,1755805129.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:49.802Z,1755805129.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:49.812Z,1755805129.812 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.741643
2025-08-21T19:38:49.825Z,1755805129.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 28.625637 m,
      bearing: 264.138573 deg,
      approach rate: -0.805846 m/s,
      LOS rate: -0.104782 deg/s,
      cmd heading: 264.095138 deg,
      new cmd heading: 264.015417 deg.

2025-08-21T19:38:49.826Z,1755805129.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.607938 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:50.064Z,1755805130.064 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.993788
2025-08-21T19:38:50.217Z,1755805130.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:50.236Z,1755805130.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 28.312027 m,
      bearing: 264.097889 deg,
      approach rate: -0.754879 m/s,
      LOS rate: -0.099013 deg/s,
      cmd heading: 264.015416 deg,
      new cmd heading: 263.933148 deg.

2025-08-21T19:38:50.237Z,1755805130.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.606503 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:50.318Z,1755805130.318 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.246715
2025-08-21T19:38:50.568Z,1755805130.568 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.497755
2025-08-21T19:38:50.690Z,1755805130.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:50.693Z,1755805130.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 27.955391 m,
      bearing: 264.051001 deg,
      approach rate: -0.754642 m/s,
      LOS rate: -0.100481 deg/s,
      cmd heading: 263.933153 deg,
      new cmd heading: 263.838181 deg.

2025-08-21T19:38:50.694Z,1755805130.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.604845 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:50.820Z,1755805130.820 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.749773
2025-08-21T19:38:51.051Z,1755805131.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:51.054Z,1755805131.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 27.674343 m,
      bearing: 264.008898 deg,
      approach rate: -0.778761 m/s,
      LOS rate: -0.117849 deg/s,
      cmd heading: 263.838187 deg,
      new cmd heading: 263.753125 deg.

2025-08-21T19:38:51.055Z,1755805131.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.603361 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:51.072Z,1755805131.072 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.001813
2025-08-21T19:38:51.325Z,1755805131.325 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.254485
2025-08-21T19:38:51.441Z,1755805131.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:51.460Z,1755805131.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 27.374813 m,
      bearing: 263.963662 deg,
      approach rate: -0.778969 m/s,
      LOS rate: -0.118928 deg/s,
      cmd heading: 263.753137 deg,
      new cmd heading: 263.661676 deg.

2025-08-21T19:38:51.461Z,1755805131.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.601764 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:51.577Z,1755805131.577 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.506516
2025-08-21T19:38:51.828Z,1755805131.828 [DAT](INFO): DAT read: Rx Time:19:38:50.6450

2025-08-21T19:38:51.829Z,1755805131.829 [DAT](INFO): Rx dataTimestamp_ set to:1755805131.828488
2025-08-21T19:38:51.829Z,1755805131.829 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.758864
2025-08-21T19:38:51.914Z,1755805131.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:51.925Z,1755805131.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:51.936Z,1755805131.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 27.014740 m,
      bearing: 263.902594 deg,
      approach rate: -0.735586 m/s,
      LOS rate: -0.126419 deg/s,
      cmd heading: 263.661667 deg,
      new cmd heading: 263.537902 deg.

2025-08-21T19:38:51.937Z,1755805131.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.599604 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:52.080Z,1755805132.080 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.009683
2025-08-21T19:38:52.284Z,1755805132.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.61 m.
2025-08-21T19:38:52.287Z,1755805132.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.609327 m,
      nav range: 26.729042 m,
      bearing: 263.853729 deg,
      approach rate: -0.795103 m/s,
      LOS rate: -0.137446 deg/s,
      cmd heading: 263.537904 deg,
      new cmd heading: 263.439129 deg.

2025-08-21T19:38:52.288Z,1755805132.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.597880 target range: 29.609327 and range: 29.80 m.
2025-08-21T19:38:52.337Z,1755805132.337 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.265678
2025-08-21T19:38:52.590Z,1755805132.590 [DAT](INFO): DAT read: 19:38:50.6450 LVL= 27200, 28097, 23458, 32179, AGC= 59, IDX= 399,-0.24, 1.401,-0.259, 1.844, 1.288, PHS= 0.215,-1.503, 0.512, RAW= 157.8,   8.3, CAL= 157.5,   8.6, ROT= 352.5,  -8.6

2025-08-21T19:38:52.591Z,1755805132.591 [DAT](INFO): got valid direction response:
 19:38:50.6450 LVL= 27200, 28097, 23458, 32179, AGC= 59, IDX= 399,-0.24, 1.401,-0.259, 1.844, 1.288, PHS= 0.215,-1.503, 0.512, RAW= 157.8,   8.3, CAL= 157.5,   8.6, ROT= 352.5,  -8.6

2025-08-21T19:38:52.592Z,1755805132.592 [DAT](INFO): DAT read: Bearing  51.0,  -6.3 (Local)

2025-08-21T19:38:52.592Z,1755805132.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.0,  -6.3 (Local)

2025-08-21T19:38:52.594Z,1755805132.594 [DAT](INFO): DAT read: Range 11 to 50 : 27.1 m  (Round-trip  36.2 ms) speed  0.9 m/s

2025-08-21T19:38:52.594Z,1755805132.594 [DAT](INFO): DAT read: user:4030>

2025-08-21T19:38:52.595Z,1755805132.595 [DAT](INFO): DAT read: Tx time:19:38:51.7546

2025-08-21T19:38:52.596Z,1755805132.596 [DAT](INFO): Ping request sent.
2025-08-21T19:38:52.596Z,1755805132.596 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:52.596Z,1755805132.596 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T19:38:52.597Z,1755805132.597 [DAT](INFO): direction in FSK: [0.980297,-0.129059,0.149535]
2025-08-21T19:38:52.597Z,1755805132.597 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:52.598Z,1755805132.598 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:52.601Z,1755805132.601 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:52.601Z,1755805132.601 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:52.604Z,1755805132.604 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.008787
2025-08-21T19:38:52.808Z,1755805132.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.100000 m,
      deltaT: 3.526665 s,
      deltaX: -2.699999 m,
      approachRate: -0.765595 m/s,
      rangeRepo size: 4

2025-08-21T19:38:52.811Z,1755805132.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.926329 m,
      bearing: 259.879587 deg,
      lat: 36.779403 deg,
      lon: -121.859687 deg,
      deltaT: 3.526665 s,
      deltaX: -2.682999 m,
      approachRate: -0.760775 m/s,
      posRepo size: 4

2025-08-21T19:38:52.815Z,1755805132.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:52.818Z,1755805132.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 26.428549 m,
      bearing: 262.199089 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.137446 deg/s,
      cmd heading: 263.439140 deg,
      new cmd heading: 263.295160 deg.

2025-08-21T19:38:52.823Z,1755805132.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.595367 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:52.838Z,1755805132.838 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.241947
2025-08-21T19:38:53.088Z,1755805133.088 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.492571
2025-08-21T19:38:53.214Z,1755805133.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:53.217Z,1755805133.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 26.106480 m,
      bearing: 262.139423 deg,
      approach rate: -0.798822 m/s,
      LOS rate: -0.149816 deg/s,
      cmd heading: 263.295159 deg,
      new cmd heading: 263.174354 deg.

2025-08-21T19:38:53.218Z,1755805133.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.593259 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:53.341Z,1755805133.341 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.744687
2025-08-21T19:38:53.592Z,1755805133.592 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.996636
2025-08-21T19:38:53.601Z,1755805133.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:53.604Z,1755805133.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 25.790476 m,
      bearing: 262.079426 deg,
      approach rate: -0.810827 m/s,
      LOS rate: -0.155830 deg/s,
      cmd heading: 263.174347 deg,
      new cmd heading: 263.052883 deg.

2025-08-21T19:38:53.605Z,1755805133.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.591139 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:53.677Z,1755805133.677 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:38:53.846Z,1755805133.846 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.249836
2025-08-21T19:38:54.042Z,1755805134.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:54.049Z,1755805134.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:54.056Z,1755805134.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 25.450199 m,
      bearing: 261.999460 deg,
      approach rate: -0.759234 m/s,
      LOS rate: -0.180809 deg/s,
      cmd heading: 263.052879 deg,
      new cmd heading: 262.890808 deg.

2025-08-21T19:38:54.057Z,1755805134.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.588310 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:54.097Z,1755805134.097 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.501346
2025-08-21T19:38:54.349Z,1755805134.349 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.753222
2025-08-21T19:38:54.434Z,1755805134.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:54.437Z,1755805134.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 25.151541 m,
      bearing: 261.928513 deg,
      approach rate: -0.774770 m/s,
      LOS rate: -0.186234 deg/s,
      cmd heading: 262.890812 deg,
      new cmd heading: 262.747234 deg.

2025-08-21T19:38:54.438Z,1755805134.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.585804 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:54.600Z,1755805134.600 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.004563
2025-08-21T19:38:54.680Z,1755805134.680 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:38:54.854Z,1755805134.854 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.257805
2025-08-21T19:38:54.870Z,1755805134.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:54.873Z,1755805134.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 24.815672 m,
      bearing: 261.862157 deg,
      approach rate: -0.771008 m/s,
      LOS rate: -0.154385 deg/s,
      cmd heading: 262.747241 deg,
      new cmd heading: 262.612734 deg.

2025-08-21T19:38:54.874Z,1755805134.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.583457 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:55.105Z,1755805135.105 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.509168
2025-08-21T19:38:55.231Z,1755805135.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:55.234Z,1755805135.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 24.536226 m,
      bearing: 261.806734 deg,
      approach rate: -0.773531 m/s,
      LOS rate: -0.155165 deg/s,
      cmd heading: 262.612741 deg,
      new cmd heading: 262.500632 deg.

2025-08-21T19:38:55.235Z,1755805135.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.581501 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:55.357Z,1755805135.357 [DAT](INFO): DAT read: Rx Time:19:38:54.1913

2025-08-21T19:38:55.358Z,1755805135.358 [DAT](INFO): Rx dataTimestamp_ set to:1755805135.357813
2025-08-21T19:38:55.364Z,1755805135.364 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.768027
2025-08-21T19:38:55.608Z,1755805135.608 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012422
2025-08-21T19:38:55.661Z,1755805135.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:55.664Z,1755805135.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 24.208717 m,
      bearing: 261.740142 deg,
      approach rate: -0.762693 m/s,
      LOS rate: -0.157174 deg/s,
      cmd heading: 262.500644 deg,
      new cmd heading: 262.365660 deg.

2025-08-21T19:38:55.665Z,1755805135.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.579144 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:55.860Z,1755805135.860 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264609
2025-08-21T19:38:56.082Z,1755805136.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:56.088Z,1755805136.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.93 m.
2025-08-21T19:38:56.095Z,1755805136.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.926329 m,
      nav range: 23.890749 m,
      bearing: 261.679974 deg,
      approach rate: -0.743560 m/s,
      LOS rate: -0.142573 deg/s,
      cmd heading: 262.365652 deg,
      new cmd heading: 262.243715 deg.

2025-08-21T19:38:56.103Z,1755805136.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.577016 target range: 26.926329 and range: 27.10 m.
2025-08-21T19:38:56.118Z,1755805136.118 [DAT](INFO): DAT read: 19:38:54.1913 LVL= 25536, 32753, 22002, 29555, AGC= 58, IDX= 409, 0.13,-0.978,-2.632,-0.539,-1.090, PHS= 0.214,-1.497, 0.507, RAW= 157.8,   8.3, CAL= 157.4,   8.7, ROT= 352.6,  -8.7

2025-08-21T19:38:56.119Z,1755805136.119 [DAT](INFO): got valid direction response:
 19:38:54.1913 LVL= 25536, 32753, 22002, 29555, AGC= 58, IDX= 409, 0.13,-0.978,-2.632,-0.539,-1.090, PHS= 0.214,-1.497, 0.507, RAW= 157.8,   8.3, CAL= 157.4,   8.7, ROT= 352.6,  -8.7

2025-08-21T19:38:56.120Z,1755805136.120 [DAT](INFO): DAT read: Bearing  50.3,  -6.7 (Local)

2025-08-21T19:38:56.121Z,1755805136.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing  50.3,  -6.7 (Local)

2025-08-21T19:38:56.122Z,1755805136.122 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m  (Round-trip  32.5 ms) speed  0.7 m/s

2025-08-21T19:38:56.123Z,1755805136.123 [DAT](INFO): DAT read: user:4031>

2025-08-21T19:38:56.123Z,1755805136.123 [DAT](INFO): DAT read: Tx time:19:38:55.3046

2025-08-21T19:38:56.124Z,1755805136.124 [DAT](INFO): Ping request sent.
2025-08-21T19:38:56.124Z,1755805136.124 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:56.124Z,1755805136.124 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T19:38:56.125Z,1755805136.125 [DAT](INFO): direction in FSK: [0.980261,-0.127313,0.151261]
2025-08-21T19:38:56.125Z,1755805136.125 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:56.126Z,1755805136.126 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:56.163Z,1755805136.163 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:56.164Z,1755805136.164 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:56.188Z,1755805136.188 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.064307
2025-08-21T19:38:56.365Z,1755805136.365 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.240856
2025-08-21T19:38:56.487Z,1755805136.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 3.528178 s,
      deltaX: -2.800001 m,
      approachRate: -0.793611 m/s,
      rangeRepo size: 4

2025-08-21T19:38:56.489Z,1755805136.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.144104 m,
      bearing: 259.030749 deg,
      lat: 36.779398 deg,
      lon: -121.859687 deg,
      deltaT: 3.528178 s,
      deltaX: -2.782225 m,
      approachRate: -0.788573 m/s,
      posRepo size: 4

2025-08-21T19:38:56.490Z,1755805136.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:56.493Z,1755805136.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 23.751785 m,
      bearing: 260.190953 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.142573 deg/s,
      cmd heading: 262.243720 deg,
      new cmd heading: 262.130232 deg.

2025-08-21T19:38:56.494Z,1755805136.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.575036 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:56.616Z,1755805136.616 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.492549
2025-08-21T19:38:56.868Z,1755805136.868 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.744579
2025-08-21T19:38:56.918Z,1755805136.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:56.921Z,1755805136.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 23.419437 m,
      bearing: 260.094486 deg,
      approach rate: -0.769521 m/s,
      LOS rate: -0.226529 deg/s,
      cmd heading: 262.130229 deg,
      new cmd heading: 261.934559 deg.

2025-08-21T19:38:56.922Z,1755805136.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.571620 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:57.124Z,1755805137.124 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.999818
2025-08-21T19:38:57.295Z,1755805137.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:57.298Z,1755805137.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 23.131924 m,
      bearing: 260.010314 deg,
      approach rate: -0.763018 m/s,
      LOS rate: -0.226158 deg/s,
      cmd heading: 261.934558 deg,
      new cmd heading: 261.764121 deg.

2025-08-21T19:38:57.299Z,1755805137.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.568646 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:57.375Z,1755805137.375 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.250980
2025-08-21T19:38:57.628Z,1755805137.628 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.504362
2025-08-21T19:38:57.700Z,1755805137.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:57.709Z,1755805137.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 22.824615 m,
      bearing: 259.919692 deg,
      approach rate: -0.761152 m/s,
      LOS rate: -0.227478 deg/s,
      cmd heading: 261.764131 deg,
      new cmd heading: 261.580447 deg.

2025-08-21T19:38:57.713Z,1755805137.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.565440 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:57.880Z,1755805137.880 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.756444
2025-08-21T19:38:58.115Z,1755805138.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:38:58.117Z,1755805138.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:58.120Z,1755805138.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 22.500156 m,
      bearing: 259.849642 deg,
      approach rate: -0.774885 m/s,
      LOS rate: -0.169706 deg/s,
      cmd heading: 261.580454 deg,
      new cmd heading: 261.438336 deg.

2025-08-21T19:38:58.121Z,1755805138.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.562960 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:58.133Z,1755805138.133 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.008697
2025-08-21T19:38:58.384Z,1755805138.384 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.260591
2025-08-21T19:38:58.498Z,1755805138.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:58.501Z,1755805138.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 22.204937 m,
      bearing: 259.785402 deg,
      approach rate: -0.775452 m/s,
      LOS rate: -0.170985 deg/s,
      cmd heading: 261.438331 deg,
      new cmd heading: 261.308142 deg.

2025-08-21T19:38:58.502Z,1755805138.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.560688 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:58.636Z,1755805138.636 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.512292
2025-08-21T19:38:58.889Z,1755805138.889 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.764672
2025-08-21T19:38:58.938Z,1755805138.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:58.941Z,1755805138.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 21.867046 m,
      bearing: 259.699240 deg,
      approach rate: -0.768075 m/s,
      LOS rate: -0.198883 deg/s,
      cmd heading: 261.308148 deg,
      new cmd heading: 261.133163 deg.

2025-08-21T19:38:58.942Z,1755805138.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.557633 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:59.144Z,1755805139.144 [DAT](INFO): DAT read: Rx Time:19:38:57.7377

2025-08-21T19:38:59.144Z,1755805139.144 [DAT](INFO): Rx dataTimestamp_ set to:1755805139.144183
2025-08-21T19:38:59.145Z,1755805139.145 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.021478
2025-08-21T19:38:59.307Z,1755805139.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.14 m.
2025-08-21T19:38:59.310Z,1755805139.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.144104 m,
      nav range: 21.583698 m,
      bearing: 259.626111 deg,
      approach rate: -0.767498 m/s,
      LOS rate: -0.200683 deg/s,
      cmd heading: 261.133158 deg,
      new cmd heading: 260.984980 deg.

2025-08-21T19:38:59.311Z,1755805139.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.555047 target range: 24.144104 and range: 24.30 m.
2025-08-21T19:38:59.393Z,1755805139.393 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.269174
2025-08-21T19:38:59.650Z,1755805139.650 [DAT](INFO): DAT read: 19:38:57.7377 LVL= 20464, 28897, 22114, 32755, AGC= 52, IDX= 405,-0.32, 1.756, 0.144, 2.194, 1.693, PHS= 0.165,-1.504, 0.457, RAW= 157.9,   9.7, CAL= 157.8,  10.4, ROT= 352.2, -10.4

2025-08-21T19:38:59.651Z,1755805139.651 [DAT](INFO): got valid direction response:
 19:38:57.7377 LVL= 20464, 28897, 22114, 32755, AGC= 52, IDX= 405,-0.32, 1.756, 0.144, 2.194, 1.693, PHS= 0.165,-1.504, 0.457, RAW= 157.9,   9.7, CAL= 157.8,  10.4, ROT= 352.2, -10.4

2025-08-21T19:38:59.652Z,1755805139.652 [DAT](INFO): DAT read: Bearing  51.0,  -7.4 (Local)

2025-08-21T19:38:59.652Z,1755805139.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.0,  -7.4 (Local)

2025-08-21T19:38:59.654Z,1755805139.654 [DAT](INFO): DAT read: Range 11 to 50 : 21.7 m  (Round-trip  29.0 ms) speed  0.8 m/s

2025-08-21T19:38:59.654Z,1755805139.654 [DAT](INFO): DAT read: user:4032>

2025-08-21T19:38:59.655Z,1755805139.655 [DAT](INFO): DAT read: Tx time:19:38:58.8546

2025-08-21T19:38:59.656Z,1755805139.656 [DAT](INFO): Ping request sent.
2025-08-21T19:38:59.656Z,1755805139.656 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:38:59.656Z,1755805139.656 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T19:38:59.657Z,1755805139.657 [DAT](INFO): direction in FSK: [0.974471,-0.133486,0.180519]
2025-08-21T19:38:59.657Z,1755805139.657 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:59.657Z,1755805139.657 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:59.661Z,1755805139.661 [DAT](INFO): publishing transmit ping time
2025-08-21T19:38:59.661Z,1755805139.661 [DAT](INFO): publishing direction and range info
2025-08-21T19:38:59.664Z,1755805139.664 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.008685
2025-08-21T19:38:59.866Z,1755805139.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.700001 m,
      deltaT: 3.531862 s,
      deltaX: -2.599998 m,
      approachRate: -0.736155 m/s,
      rangeRepo size: 4

2025-08-21T19:38:59.869Z,1755805139.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.560894 m,
      bearing: 257.812350 deg,
      lat: 36.779393 deg,
      lon: -121.859687 deg,
      deltaT: 3.531862 s,
      deltaX: -2.583210 m,
      approachRate: -0.731402 m/s,
      posRepo size: 4

2025-08-21T19:38:59.870Z,1755805139.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:38:59.873Z,1755805139.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 21.279743 m,
      bearing: 258.269007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.200683 deg/s,
      cmd heading: 260.984971 deg,
      new cmd heading: 260.761139 deg.

2025-08-21T19:38:59.874Z,1755805139.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.551140 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:38:59.896Z,1755805139.896 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.240717
2025-08-21T19:39:00.149Z,1755805140.149 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.493163
2025-08-21T19:39:00.175Z,1755805140.175 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:00.178Z,1755805140.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:00.182Z,1755805140.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 21.002359 m,
      bearing: 258.165835 deg,
      approach rate: -0.887253 m/s,
      LOS rate: -0.334370 deg/s,
      cmd heading: 260.761132 deg,
      new cmd heading: 260.552063 deg.

2025-08-21T19:39:00.183Z,1755805140.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.547492 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:00.400Z,1755805140.400 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.744563
2025-08-21T19:39:00.547Z,1755805140.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:00.550Z,1755805140.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 20.707195 m,
      bearing: 258.054798 deg,
      approach rate: -0.799340 m/s,
      LOS rate: -0.304987 deg/s,
      cmd heading: 260.552073 deg,
      new cmd heading: 260.326835 deg.

2025-08-21T19:39:00.552Z,1755805140.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.543561 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:00.652Z,1755805140.652 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.996711
2025-08-21T19:39:00.904Z,1755805140.904 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.248553
2025-08-21T19:39:00.989Z,1755805140.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:00.992Z,1755805140.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 20.372026 m,
      bearing: 257.927018 deg,
      approach rate: -0.758810 m/s,
      LOS rate: -0.294049 deg/s,
      cmd heading: 260.326841 deg,
      new cmd heading: 260.067078 deg.

2025-08-21T19:39:00.993Z,1755805140.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539027 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:01.157Z,1755805141.157 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.501240
2025-08-21T19:39:01.366Z,1755805141.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:01.369Z,1755805141.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 20.085665 m,
      bearing: 257.818284 deg,
      approach rate: -0.759369 m/s,
      LOS rate: -0.292449 deg/s,
      cmd heading: 260.067075 deg,
      new cmd heading: 259.846509 deg.

2025-08-21T19:39:01.370Z,1755805141.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535177 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:01.409Z,1755805141.409 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.753299
2025-08-21T19:39:01.660Z,1755805141.660 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.004550
2025-08-21T19:39:01.816Z,1755805141.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:01.834Z,1755805141.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 19.783918 m,
      bearing: 257.702428 deg,
      approach rate: -0.679534 m/s,
      LOS rate: -0.264887 deg/s,
      cmd heading: 259.846515 deg,
      new cmd heading: 259.611270 deg.

2025-08-21T19:39:01.840Z,1755805141.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531072 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:01.913Z,1755805141.913 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.257290
2025-08-21T19:39:02.165Z,1755805142.165 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.508985
2025-08-21T19:39:02.254Z,1755805142.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:02.272Z,1755805142.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:02.275Z,1755805142.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 19.423603 m,
      bearing: 257.559383 deg,
      approach rate: -0.779439 m/s,
      LOS rate: -0.315176 deg/s,
      cmd heading: 259.611283 deg,
      new cmd heading: 259.319889 deg.

2025-08-21T19:39:02.276Z,1755805142.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525986 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:02.416Z,1755805142.416 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.760552
2025-08-21T19:39:02.603Z,1755805142.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:02.606Z,1755805142.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 19.137609 m,
      bearing: 257.444049 deg,
      approach rate: -0.864993 m/s,
      LOS rate: -0.354045 deg/s,
      cmd heading: 259.319880 deg,
      new cmd heading: 259.085765 deg.

2025-08-21T19:39:02.606Z,1755805142.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521900 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:02.671Z,1755805142.671 [DAT](INFO): DAT read: Rx Time:19:39:01.2839

2025-08-21T19:39:02.671Z,1755805142.671 [DAT](INFO): Rx dataTimestamp_ set to:1755805142.671112
2025-08-21T19:39:02.672Z,1755805142.672 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.016299
2025-08-21T19:39:02.924Z,1755805142.924 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.268568
2025-08-21T19:39:03.078Z,1755805143.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.56 m.
2025-08-21T19:39:03.081Z,1755805143.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.560894 m,
      nav range: 18.773550 m,
      bearing: 257.295435 deg,
      approach rate: -0.765009 m/s,
      LOS rate: -0.318342 deg/s,
      cmd heading: 259.085768 deg,
      new cmd heading: 258.782780 deg.

2025-08-21T19:39:03.082Z,1755805143.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516612 target range: 21.560894 and range: 21.70 m.
2025-08-21T19:39:03.188Z,1755805143.188 [DAT](INFO): DAT read: 19:39:01.2839 LVL= 22080, 28561, 23282, 32755, AGC= 51, IDX= 399,-0.15, 2.863, 1.290,-3.036, 2.777, PHS= 0.188,-1.442, 0.426, RAW= 156.7,   9.4, CAL= 156.5,  10.1, ROT= 353.5, -10.1

2025-08-21T19:39:03.189Z,1755805143.189 [DAT](INFO): got valid direction response:
 19:39:01.2839 LVL= 22080, 28561, 23282, 32755, AGC= 51, IDX= 399,-0.15, 2.863, 1.290,-3.036, 2.777, PHS= 0.188,-1.442, 0.426, RAW= 156.7,   9.4, CAL= 156.5,  10.1, ROT= 353.5, -10.1

2025-08-21T19:39:03.190Z,1755805143.190 [DAT](INFO): DAT read: Bearing  49.5,  -6.4 (Local)

2025-08-21T19:39:03.190Z,1755805143.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.5,  -6.4 (Local)

2025-08-21T19:39:03.192Z,1755805143.192 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m  (Round-trip  25.2 ms) speed  0.7 m/s

2025-08-21T19:39:03.192Z,1755805143.192 [DAT](INFO): DAT read: user:4033>

2025-08-21T19:39:03.193Z,1755805143.193 [DAT](INFO): DAT read: Tx time:19:39:02.4045

2025-08-21T19:39:03.193Z,1755805143.193 [DAT](INFO): Ping request sent.
2025-08-21T19:39:03.193Z,1755805143.193 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:03.194Z,1755805143.194 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T19:39:03.195Z,1755805143.195 [DAT](INFO): direction in FSK: [0.978175,-0.111449,0.175367]
2025-08-21T19:39:03.195Z,1755805143.195 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:03.196Z,1755805143.196 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:03.199Z,1755805143.199 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:03.199Z,1755805143.199 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:03.202Z,1755805143.202 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.008974
2025-08-21T19:39:03.428Z,1755805143.428 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.234945
2025-08-21T19:39:03.442Z,1755805143.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 3.532775 s,
      deltaX: -2.800001 m,
      approachRate: -0.792578 m/s,
      rangeRepo size: 4

2025-08-21T19:39:03.448Z,1755805143.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.778879 m,
      bearing: 257.792022 deg,
      lat: 36.779393 deg,
      lon: -121.859688 deg,
      deltaT: 3.532775 s,
      deltaX: -2.782015 m,
      approachRate: -0.787487 m/s,
      posRepo size: 4

2025-08-21T19:39:03.449Z,1755805143.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:03.457Z,1755805143.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 18.526762 m,
      bearing: 257.198988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.318342 deg/s,
      cmd heading: 258.782781 deg,
      new cmd heading: 258.551731 deg.

2025-08-21T19:39:03.458Z,1755805143.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512579 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:03.681Z,1755805143.681 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.487321
2025-08-21T19:39:03.874Z,1755805143.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:03.878Z,1755805143.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 18.183619 m,
      bearing: 257.056407 deg,
      approach rate: -0.793102 m/s,
      LOS rate: -0.335762 deg/s,
      cmd heading: 258.551729 deg,
      new cmd heading: 258.261190 deg.

2025-08-21T19:39:03.879Z,1755805143.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507508 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:03.933Z,1755805143.933 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.739732
2025-08-21T19:39:04.184Z,1755805144.184 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.991080
2025-08-21T19:39:04.255Z,1755805144.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:04.261Z,1755805144.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:04.268Z,1755805144.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 17.893280 m,
      bearing: 256.927849 deg,
      approach rate: -0.750652 m/s,
      LOS rate: -0.337773 deg/s,
      cmd heading: 258.261200 deg,
      new cmd heading: 257.999914 deg.

2025-08-21T19:39:04.269Z,1755805144.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.502948 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:04.436Z,1755805144.436 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.242882
2025-08-21T19:39:04.623Z,1755805144.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:04.626Z,1755805144.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 17.615036 m,
      bearing: 256.803929 deg,
      approach rate: -0.768564 m/s,
      LOS rate: -0.347697 deg/s,
      cmd heading: 257.999905 deg,
      new cmd heading: 257.748152 deg.

2025-08-21T19:39:04.627Z,1755805144.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498554 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:04.690Z,1755805144.690 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.496283
2025-08-21T19:39:04.940Z,1755805144.940 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.747106
2025-08-21T19:39:05.056Z,1755805145.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:05.059Z,1755805145.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 17.299639 m,
      bearing: 256.662683 deg,
      approach rate: -0.727914 m/s,
      LOS rate: -0.331928 deg/s,
      cmd heading: 257.748144 deg,
      new cmd heading: 257.460505 deg.

2025-08-21T19:39:05.060Z,1755805145.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.493534 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:05.192Z,1755805145.192 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.998965
2025-08-21T19:39:05.433Z,1755805145.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:05.436Z,1755805145.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 17.024132 m,
      bearing: 256.537408 deg,
      approach rate: -0.730927 m/s,
      LOS rate: -0.337738 deg/s,
      cmd heading: 257.460511 deg,
      new cmd heading: 257.205907 deg.

2025-08-21T19:39:05.437Z,1755805145.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489090 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:05.444Z,1755805145.444 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.251073
2025-08-21T19:39:05.697Z,1755805145.697 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.503220
2025-08-21T19:39:05.905Z,1755805145.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:05.912Z,1755805145.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 16.686100 m,
      bearing: 256.381970 deg,
      approach rate: -0.716951 m/s,
      LOS rate: -0.336354 deg/s,
      cmd heading: 257.205909 deg,
      new cmd heading: 256.888740 deg.

2025-08-21T19:39:05.913Z,1755805145.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483554 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:05.948Z,1755805145.948 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.755106
2025-08-21T19:39:06.200Z,1755805146.200 [DAT](INFO): DAT read: Rx Time:19:39:04.8302

2025-08-21T19:39:06.201Z,1755805146.201 [DAT](INFO): Rx dataTimestamp_ set to:1755805146.200452
2025-08-21T19:39:06.201Z,1755805146.201 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.007916
2025-08-21T19:39:06.274Z,1755805146.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:06.297Z,1755805146.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:06.301Z,1755805146.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 16.400593 m,
      bearing: 256.262780 deg,
      approach rate: -0.728045 m/s,
      LOS rate: -0.309226 deg/s,
      cmd heading: 256.888742 deg,
      new cmd heading: 256.646214 deg.

2025-08-21T19:39:06.302Z,1755805146.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479321 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:06.453Z,1755805146.453 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.259329
2025-08-21T19:39:06.653Z,1755805146.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-21T19:39:06.656Z,1755805146.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.778879 m,
      nav range: 16.116459 m,
      bearing: 256.143056 deg,
      approach rate: -0.798412 m/s,
      LOS rate: -0.342355 deg/s,
      cmd heading: 256.646216 deg,
      new cmd heading: 256.402547 deg.

2025-08-21T19:39:06.657Z,1755805146.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475069 target range: 18.778879 and range: 18.90 m.
2025-08-21T19:39:06.713Z,1755805146.713 [DAT](INFO): DAT read: 19:39:04.8302 LVL= 22000, 30017, 21026, 32755, AGC= 51, IDX= 409, 0.28, 2.324, 0.674, 2.677, 2.239, PHS= 0.187,-1.520, 0.394, RAW= 155.7,  10.4, CAL= 155.6,  11.3, ROT= 354.4, -11.3

2025-08-21T19:39:06.715Z,1755805146.715 [DAT](INFO): got valid direction response:
 19:39:04.8302 LVL= 22000, 30017, 21026, 32755, AGC= 51, IDX= 409, 0.28, 2.324, 0.674, 2.677, 2.239, PHS= 0.187,-1.520, 0.394, RAW= 155.7,  10.4, CAL= 155.6,  11.3, ROT= 354.4, -11.3

2025-08-21T19:39:06.716Z,1755805146.716 [DAT](INFO): DAT read: Bearing  48.9,  -5.5 (Local)

2025-08-21T19:39:06.716Z,1755805146.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing  48.9,  -5.5 (Local)

2025-08-21T19:39:06.717Z,1755805146.717 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m  (Round-trip  21.5 ms) speed  0.6 m/s

2025-08-21T19:39:06.718Z,1755805146.718 [DAT](INFO): DAT read: user:4034>

2025-08-21T19:39:06.719Z,1755805146.719 [DAT](INFO): DAT read: Tx time:19:39:05.9545

2025-08-21T19:39:06.727Z,1755805146.727 [DAT](INFO): Ping request sent.
2025-08-21T19:39:06.752Z,1755805146.752 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:06.753Z,1755805146.753 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T19:39:06.754Z,1755805146.754 [DAT](INFO): direction in FSK: [0.975935,-0.095691,0.195946]
2025-08-21T19:39:06.754Z,1755805146.754 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:06.754Z,1755805146.754 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:06.766Z,1755805146.766 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:06.766Z,1755805146.766 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:06.769Z,1755805146.769 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.042816
2025-08-21T19:39:06.956Z,1755805146.956 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.229926
2025-08-21T19:39:07.115Z,1755805147.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 3.527777 s,
      deltaX: -2.799999 m,
      approachRate: -0.793701 m/s,
      rangeRepo size: 4

2025-08-21T19:39:07.117Z,1755805147.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.996851 m,
      bearing: 257.332030 deg,
      lat: 36.779393 deg,
      lon: -121.859688 deg,
      deltaT: 3.527777 s,
      deltaX: -2.782028 m,
      approachRate: -0.788607 m/s,
      posRepo size: 4

2025-08-21T19:39:07.118Z,1755805147.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:07.125Z,1755805147.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 15.788712 m,
      bearing: 255.964701 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.342355 deg/s,
      cmd heading: 256.402542 deg,
      new cmd heading: 256.089081 deg.

2025-08-21T19:39:07.126Z,1755805147.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469598 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:07.209Z,1755805147.209 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.482649
2025-08-21T19:39:07.461Z,1755805147.461 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.734220
2025-08-21T19:39:07.474Z,1755805147.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:07.477Z,1755805147.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 15.495199 m,
      bearing: 255.807056 deg,
      approach rate: -0.806638 m/s,
      LOS rate: -0.441451 deg/s,
      cmd heading: 256.089091 deg,
      new cmd heading: 255.767832 deg.

2025-08-21T19:39:07.478Z,1755805147.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463991 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:07.712Z,1755805147.712 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.985791
2025-08-21T19:39:07.938Z,1755805147.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:07.941Z,1755805147.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 15.155636 m,
      bearing: 255.616972 deg,
      approach rate: -0.732026 m/s,
      LOS rate: -0.418960 deg/s,
      cmd heading: 255.767826 deg,
      new cmd heading: 255.379148 deg.

2025-08-21T19:39:07.942Z,1755805147.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457207 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:07.964Z,1755805147.964 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.237877
2025-08-21T19:39:08.216Z,1755805148.216 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.489889
2025-08-21T19:39:08.321Z,1755805148.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:08.328Z,1755805148.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:08.341Z,1755805148.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 14.872705 m,
      bearing: 255.481148 deg,
      approach rate: -0.725420 m/s,
      LOS rate: -0.354871 deg/s,
      cmd heading: 255.379161 deg,
      new cmd heading: 255.102348 deg.

2025-08-21T19:39:08.342Z,1755805148.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452376 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:08.469Z,1755805148.469 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.742276
2025-08-21T19:39:08.720Z,1755805148.720 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.993936
2025-08-21T19:39:08.724Z,1755805148.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:08.727Z,1755805148.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 14.544680 m,
      bearing: 255.317006 deg,
      approach rate: -0.828603 m/s,
      LOS rate: -0.423979 deg/s,
      cmd heading: 255.102347 deg,
      new cmd heading: 254.766663 deg.

2025-08-21T19:39:08.728Z,1755805148.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446517 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:08.972Z,1755805148.972 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.245887
2025-08-21T19:39:09.135Z,1755805149.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:09.138Z,1755805149.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 14.228068 m,
      bearing: 255.179355 deg,
      approach rate: -0.770520 m/s,
      LOS rate: -0.342446 deg/s,
      cmd heading: 254.766657 deg,
      new cmd heading: 254.485233 deg.

2025-08-21T19:39:09.139Z,1755805149.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441605 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:09.224Z,1755805149.224 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.497780
2025-08-21T19:39:09.476Z,1755805149.476 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.749771
2025-08-21T19:39:09.530Z,1755805149.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:09.537Z,1755805149.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 13.931122 m,
      bearing: 255.049593 deg,
      approach rate: -0.751990 m/s,
      LOS rate: -0.335615 deg/s,
      cmd heading: 254.485226 deg,
      new cmd heading: 254.220172 deg.

2025-08-21T19:39:09.538Z,1755805149.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.436979 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:09.728Z,1755805149.728 [DAT](INFO): DAT read: Rx Time:19:39:08.3766

2025-08-21T19:39:09.729Z,1755805149.729 [DAT](INFO): Rx dataTimestamp_ set to:1755805149.728474
2025-08-21T19:39:09.729Z,1755805149.729 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.002926
2025-08-21T19:39:09.980Z,1755805149.980 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.253898
2025-08-21T19:39:09.987Z,1755805149.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.00 m.
2025-08-21T19:39:09.994Z,1755805149.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.996851 m,
      nav range: 13.576148 m,
      bearing: 254.857051 deg,
      approach rate: -0.778564 m/s,
      LOS rate: -0.433345 deg/s,
      cmd heading: 254.220160 deg,
      new cmd heading: 253.825013 deg.

2025-08-21T19:39:09.995Z,1755805149.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.430082 target range: 15.996851 and range: 16.10 m.
2025-08-21T19:39:10.238Z,1755805150.238 [DAT](INFO): DAT read: 19:39:08.3766 LVL= 22896, 25041, 21170, 31811, AGC= 49, IDX= 404, 0.16,-2.271, 2.349,-2.070,-2.348, PHS= 0.179,-1.540, 0.234, RAW= 151.6,  12.8, CAL= 151.6,  14.3, ROT= 358.4, -14.3

2025-08-21T19:39:10.239Z,1755805150.239 [DAT](INFO): got valid direction response:
 19:39:08.3766 LVL= 22896, 25041, 21170, 31811, AGC= 49, IDX= 404, 0.16,-2.271, 2.349,-2.070,-2.348, PHS= 0.179,-1.540, 0.234, RAW= 151.6,  12.8, CAL= 151.6,  14.3, ROT= 358.4, -14.3

2025-08-21T19:39:10.240Z,1755805150.240 [DAT](INFO): DAT read: Bearing  49.8,  -2.0 (Local)

2025-08-21T19:39:10.241Z,1755805150.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.8,  -2.0 (Local)

2025-08-21T19:39:10.242Z,1755805150.242 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m  (Round-trip  17.9 ms) speed  0.6 m/s

2025-08-21T19:39:10.243Z,1755805150.243 [DAT](INFO): DAT read: user:4035>

2025-08-21T19:39:10.246Z,1755805150.246 [DAT](INFO): DAT read: Tx time:19:39:09.5045

2025-08-21T19:39:10.248Z,1755805150.248 [DAT](INFO): Ping request sent.
2025-08-21T19:39:10.248Z,1755805150.248 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:10.250Z,1755805150.250 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T19:39:10.252Z,1755805150.252 [DAT](INFO): direction in FSK: [0.968638,-0.027057,0.246999]
2025-08-21T19:39:10.253Z,1755805150.253 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:10.253Z,1755805150.253 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:10.256Z,1755805150.256 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:10.257Z,1755805150.257 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:10.260Z,1755805150.260 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.012210
2025-08-21T19:39:10.461Z,1755805150.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 3.527711 s,
      deltaX: -2.700001 m,
      approachRate: -0.765369 m/s,
      rangeRepo size: 4

2025-08-21T19:39:10.463Z,1755805150.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.314120 m,
      bearing: 259.377484 deg,
      lat: 36.779395 deg,
      lon: -121.859688 deg,
      deltaT: 3.527711 s,
      deltaX: -2.682731 m,
      approachRate: -0.760473 m/s,
      posRepo size: 4

2025-08-21T19:39:10.464Z,1755805150.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:10.467Z,1755805150.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 13.204500 m,
      bearing: 255.488413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.433345 deg/s,
      cmd heading: 253.825020 deg,
      new cmd heading: 253.414156 deg.

2025-08-21T19:39:10.476Z,1755805150.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422911 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:10.484Z,1755805150.484 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.236603
2025-08-21T19:39:10.737Z,1755805150.737 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.489209
2025-08-21T19:39:10.846Z,1755805150.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:10.853Z,1755805150.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:10.860Z,1755805150.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 12.892697 m,
      bearing: 255.332202 deg,
      approach rate: -0.793897 m/s,
      LOS rate: -0.407355 deg/s,
      cmd heading: 253.414143 deg,
      new cmd heading: 253.094169 deg.

2025-08-21T19:39:10.861Z,1755805150.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417326 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:10.989Z,1755805150.989 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.740980
2025-08-21T19:39:11.240Z,1755805151.240 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.992363
2025-08-21T19:39:11.288Z,1755805151.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:11.295Z,1755805151.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 12.533209 m,
      bearing: 255.180835 deg,
      approach rate: -0.824971 m/s,
      LOS rate: -0.357325 deg/s,
      cmd heading: 253.094162 deg,
      new cmd heading: 252.782750 deg.

2025-08-21T19:39:11.296Z,1755805151.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411891 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:11.492Z,1755805151.492 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.244508
2025-08-21T19:39:11.675Z,1755805151.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:11.678Z,1755805151.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 12.232059 m,
      bearing: 255.054396 deg,
      approach rate: -0.778651 m/s,
      LOS rate: -0.334969 deg/s,
      cmd heading: 252.782760 deg,
      new cmd heading: 252.523659 deg.

2025-08-21T19:39:11.680Z,1755805151.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407369 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:11.744Z,1755805151.744 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.496602
2025-08-21T19:39:11.996Z,1755805151.996 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.748535
2025-08-21T19:39:12.120Z,1755805152.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:12.122Z,1755805152.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 11.889457 m,
      bearing: 254.885609 deg,
      approach rate: -0.771074 m/s,
      LOS rate: -0.390825 deg/s,
      cmd heading: 252.523650 deg,
      new cmd heading: 252.176353 deg.

2025-08-21T19:39:12.124Z,1755805152.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401308 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:12.250Z,1755805152.250 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.001905
2025-08-21T19:39:12.501Z,1755805152.501 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.252779
2025-08-21T19:39:12.504Z,1755805152.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:12.506Z,1755805152.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 11.609962 m,
      bearing: 254.753118 deg,
      approach rate: -0.728044 m/s,
      LOS rate: -0.353426 deg/s,
      cmd heading: 252.176349 deg,
      new cmd heading: 251.904991 deg.

2025-08-21T19:39:12.507Z,1755805152.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.396572 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:12.752Z,1755805152.752 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.504460
2025-08-21T19:39:12.877Z,1755805152.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:12.879Z,1755805152.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:12.882Z,1755805152.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 11.303575 m,
      bearing: 254.607354 deg,
      approach rate: -0.815197 m/s,
      LOS rate: -0.398344 deg/s,
      cmd heading: 251.904999 deg,
      new cmd heading: 251.605571 deg.

2025-08-21T19:39:12.883Z,1755805152.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391346 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:13.006Z,1755805153.006 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.758442
2025-08-21T19:39:13.256Z,1755805153.256 [DAT](INFO): DAT read: Rx Time:19:39:11.9230

2025-08-21T19:39:13.257Z,1755805153.257 [DAT](INFO): Rx dataTimestamp_ set to:1755805153.256539
2025-08-21T19:39:13.257Z,1755805153.257 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.009590
2025-08-21T19:39:13.342Z,1755805153.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:13.346Z,1755805153.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 10.945197 m,
      bearing: 254.416191 deg,
      approach rate: -0.773492 m/s,
      LOS rate: -0.426099 deg/s,
      cmd heading: 251.605564 deg,
      new cmd heading: 251.210726 deg.

2025-08-21T19:39:13.347Z,1755805153.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.384454 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:13.508Z,1755805153.508 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.260417
2025-08-21T19:39:13.723Z,1755805153.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.31 m.
2025-08-21T19:39:13.726Z,1755805153.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.314120 m,
      nav range: 10.650892 m,
      bearing: 254.249530 deg,
      approach rate: -0.773194 m/s,
      LOS rate: -0.449948 deg/s,
      cmd heading: 251.210724 deg,
      new cmd heading: 250.868196 deg.

2025-08-21T19:39:13.727Z,1755805153.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378476 target range: 13.314120 and range: 13.40 m.
2025-08-21T19:39:13.770Z,1755805153.770 [DAT](INFO): DAT read: 19:39:11.9230 LVL= 29280, 32753, 23570, 32755, AGC= 48, IDX= 400,-0.15, 2.941, 1.196, 2.996, 2.839, PHS= 0.204,-1.598, 0.113, RAW= 147.4,  14.4, CAL= 147.3,  15.9, ROT=   2.7, -15.9

2025-08-21T19:39:13.771Z,1755805153.771 [DAT](INFO): got valid direction response:
 19:39:11.9230 LVL= 29280, 32753, 23570, 32755, AGC= 48, IDX= 400,-0.15, 2.941, 1.196, 2.996, 2.839, PHS= 0.204,-1.598, 0.113, RAW= 147.4,  14.4, CAL= 147.3,  15.9, ROT=   2.7, -15.9

2025-08-21T19:39:13.773Z,1755805153.773 [DAT](INFO): DAT read: Bearing  49.1,   2.1 (Local)

2025-08-21T19:39:13.773Z,1755805153.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing  49.1,   2.1 (Local)

2025-08-21T19:39:13.775Z,1755805153.775 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m  (Round-trip  14.3 ms) speed  0.6 m/s

2025-08-21T19:39:13.776Z,1755805153.776 [DAT](INFO): DAT read: user:4036>

2025-08-21T19:39:13.778Z,1755805153.778 [DAT](INFO): DAT read: Tx time:19:39:13.0045

2025-08-21T19:39:13.778Z,1755805153.778 [DAT](INFO): Ping request sent.
2025-08-21T19:39:13.778Z,1755805153.778 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:13.779Z,1755805153.779 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T19:39:13.782Z,1755805153.782 [DAT](INFO): direction in FSK: [0.960674,0.045304,0.273959]
2025-08-21T19:39:13.782Z,1755805153.782 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:13.783Z,1755805153.783 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:13.786Z,1755805153.786 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:13.787Z,1755805153.787 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:13.790Z,1755805153.790 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.011800
2025-08-21T19:39:14.013Z,1755805154.013 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.234366
2025-08-21T19:39:14.141Z,1755805154.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 3.528066 s,
      deltaX: -2.700000 m,
      approachRate: -0.765292 m/s,
      rangeRepo size: 4

2025-08-21T19:39:14.145Z,1755805154.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.631410 m,
      bearing: 261.060208 deg,
      lat: 36.779397 deg,
      lon: -121.859688 deg,
      deltaT: 3.528066 s,
      deltaX: -2.682711 m,
      approachRate: -0.760391 m/s,
      posRepo size: 4

2025-08-21T19:39:14.146Z,1755805154.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:14.150Z,1755805154.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 10.289602 m,
      bearing: 255.099223 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.449948 deg/s,
      cmd heading: 250.868204 deg,
      new cmd heading: 250.492455 deg.

2025-08-21T19:39:14.168Z,1755805154.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371918 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:14.264Z,1755805154.264 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.486228
2025-08-21T19:39:14.510Z,1755805154.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:14.513Z,1755805154.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 10.006065 m,
      bearing: 254.960929 deg,
      approach rate: -0.768026 m/s,
      LOS rate: -0.385217 deg/s,
      cmd heading: 250.492461 deg,
      new cmd heading: 250.208038 deg.

2025-08-21T19:39:14.514Z,1755805154.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366954 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:14.516Z,1755805154.516 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.738139
2025-08-21T19:39:14.768Z,1755805154.768 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.990031
2025-08-21T19:39:14.916Z,1755805154.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:14.918Z,1755805154.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:14.921Z,1755805154.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 9.696828 m,
      bearing: 254.809757 deg,
      approach rate: -0.757855 m/s,
      LOS rate: -0.382294 deg/s,
      cmd heading: 250.208025 deg,
      new cmd heading: 249.896043 deg.

2025-08-21T19:39:14.922Z,1755805154.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361509 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:15.025Z,1755805155.025 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.244831
2025-08-21T19:39:15.272Z,1755805155.272 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.493977
2025-08-21T19:39:15.360Z,1755805155.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:15.363Z,1755805155.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 9.359329 m,
      bearing: 254.623041 deg,
      approach rate: -0.763677 m/s,
      LOS rate: -0.437728 deg/s,
      cmd heading: 249.896049 deg,
      new cmd heading: 249.509157 deg.

2025-08-21T19:39:15.364Z,1755805155.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354756 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:15.524Z,1755805155.524 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.745960
2025-08-21T19:39:15.723Z,1755805155.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:15.726Z,1755805155.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 9.082415 m,
      bearing: 254.468711 deg,
      approach rate: -0.763351 m/s,
      LOS rate: -0.438400 deg/s,
      cmd heading: 249.509160 deg,
      new cmd heading: 249.191094 deg.

2025-08-21T19:39:15.726Z,1755805155.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.349205 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:15.777Z,1755805155.777 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.998812
2025-08-21T19:39:16.031Z,1755805156.031 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.252266
2025-08-21T19:39:16.174Z,1755805156.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:16.182Z,1755805156.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 8.763511 m,
      bearing: 254.283196 deg,
      approach rate: -0.706559 m/s,
      LOS rate: -0.425982 deg/s,
      cmd heading: 249.191092 deg,
      new cmd heading: 248.806566 deg.

2025-08-21T19:39:16.183Z,1755805156.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342494 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:16.281Z,1755805156.281 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.502320
2025-08-21T19:39:16.532Z,1755805156.532 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.754196
2025-08-21T19:39:16.539Z,1755805156.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:16.542Z,1755805156.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 8.469831 m,
      bearing: 254.110642 deg,
      approach rate: -0.804336 m/s,
      LOS rate: -0.488979 deg/s,
      cmd heading: 248.806552 deg,
      new cmd heading: 248.449484 deg.

2025-08-21T19:39:16.543Z,1755805156.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336262 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:16.784Z,1755805156.784 [DAT](INFO): DAT read: Rx Time:19:39:15.4195

2025-08-21T19:39:16.785Z,1755805156.785 [DAT](INFO): Rx dataTimestamp_ set to:1755805156.784364
2025-08-21T19:39:16.785Z,1755805156.785 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.007033
2025-08-21T19:39:16.942Z,1755805156.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:16.944Z,1755805156.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.63 m.
2025-08-21T19:39:16.948Z,1755805156.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.631410 m,
      nav range: 8.164438 m,
      bearing: 253.929730 deg,
      approach rate: -0.753754 m/s,
      LOS rate: -0.463219 deg/s,
      cmd heading: 248.449497 deg,
      new cmd heading: 248.074144 deg.

2025-08-21T19:39:16.949Z,1755805156.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.329710 target range: 10.631410 and range: 10.70 m.
2025-08-21T19:39:17.040Z,1755805157.040 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.261615
2025-08-21T19:39:17.317Z,1755805157.317 [DAT](INFO): DAT read: 19:39:15.4195 LVL= 30416, 32753, 24050, 32755, AGC= 48, IDX= 411,-0.05,-1.109,-2.848,-0.906,-1.145, PHS= 0.137,-1.659, 0.195, RAW= 151.6,  14.4, CAL= 151.8,  16.1, ROT= 358.2, -16.1

2025-08-21T19:39:17.319Z,1755805157.319 [DAT](INFO): got valid direction response:
 19:39:15.4195 LVL= 30416, 32753, 24050, 32755, AGC= 48, IDX= 411,-0.05,-1.109,-2.848,-0.906,-1.145, PHS= 0.137,-1.659, 0.195, RAW= 151.6,  14.4, CAL= 151.8,  16.1, ROT= 358.2, -16.1

2025-08-21T19:39:17.320Z,1755805157.320 [DAT](INFO): DAT read: Bearing  46.6,  -2.3 (Local)

2025-08-21T19:39:17.320Z,1755805157.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing  46.6,  -2.3 (Local)

2025-08-21T19:39:17.321Z,1755805157.321 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m  (Round-trip  10.8 ms) speed  0.7 m/s

2025-08-21T19:39:17.322Z,1755805157.322 [DAT](INFO): DAT read: user:4037>

2025-08-21T19:39:17.323Z,1755805157.323 [DAT](INFO): DAT read: Tx time:19:39:16.5545

2025-08-21T19:39:17.331Z,1755805157.331 [DAT](INFO): Ping request sent.
2025-08-21T19:39:17.332Z,1755805157.332 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:17.332Z,1755805157.332 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T19:39:17.333Z,1755805157.333 [DAT](INFO): direction in FSK: [0.960305,-0.030179,0.277315]
2025-08-21T19:39:17.333Z,1755805157.333 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:17.333Z,1755805157.333 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:17.337Z,1755805157.337 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:17.337Z,1755805157.337 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:17.344Z,1755805157.344 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.012827
2025-08-21T19:39:17.469Z,1755805157.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 3.528581 s,
      deltaX: -2.599999 m,
      approachRate: -0.736840 m/s,
      rangeRepo size: 4

2025-08-21T19:39:17.476Z,1755805157.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.048103 m,
      bearing: 254.271965 deg,
      lat: 36.779397 deg,
      lon: -121.859688 deg,
      deltaT: 3.528581 s,
      deltaX: -2.583306 m,
      approachRate: -0.732109 m/s,
      posRepo size: 4

2025-08-21T19:39:17.476Z,1755805157.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m.
2025-08-21T19:39:17.477Z,1755805157.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 8.10 m.
2025-08-21T19:39:17.477Z,1755805157.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-21T19:39:17.484Z,1755805157.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 7.760508 m,
      bearing: 254.281844 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.463219 deg/s,
      cmd heading: 248.074137 deg,
      new cmd heading: 247.588237 deg.

2025-08-21T19:39:17.485Z,1755805157.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.321230 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:17.541Z,1755805157.541 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.209325
2025-08-21T19:39:17.793Z,1755805157.793 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.461677
2025-08-21T19:39:17.863Z,1755805157.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:17.866Z,1755805157.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 7.445451 m,
      bearing: 254.120545 deg,
      approach rate: -0.799499 m/s,
      LOS rate: -0.426639 deg/s,
      cmd heading: 247.588238 deg,
      new cmd heading: 247.251992 deg.

2025-08-21T19:39:17.867Z,1755805157.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315361 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:18.049Z,1755805158.049 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.716369
2025-08-21T19:39:18.244Z,1755805158.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:18.247Z,1755805158.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 7.154929 m,
      bearing: 253.951579 deg,
      approach rate: -0.761775 m/s,
      LOS rate: -0.461032 deg/s,
      cmd heading: 247.252001 deg,
      new cmd heading: 246.900352 deg.

2025-08-21T19:39:18.248Z,1755805158.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309224 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:18.298Z,1755805158.298 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.965959
2025-08-21T19:39:18.548Z,1755805158.548 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.216702
2025-08-21T19:39:18.639Z,1755805158.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:18.641Z,1755805158.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 6.853156 m,
      bearing: 253.775094 deg,
      approach rate: -0.765621 m/s,
      LOS rate: -0.467473 deg/s,
      cmd heading: 246.900356 deg,
      new cmd heading: 246.531848 deg.

2025-08-21T19:39:18.642Z,1755805158.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302793 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:18.802Z,1755805158.802 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.470301
2025-08-21T19:39:19.057Z,1755805159.057 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.725396
2025-08-21T19:39:19.076Z,1755805159.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:19.091Z,1755805159.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:19.102Z,1755805159.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 6.552237 m,
      bearing: 253.598607 deg,
      approach rate: -0.668402 m/s,
      LOS rate: -0.410015 deg/s,
      cmd heading: 246.531853 deg,
      new cmd heading: 246.162675 deg.

2025-08-21T19:39:19.103Z,1755805159.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296349 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:19.310Z,1755805159.310 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.977681
2025-08-21T19:39:19.469Z,1755805159.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:19.475Z,1755805159.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 6.238263 m,
      bearing: 253.453779 deg,
      approach rate: -0.826805 m/s,
      LOS rate: -0.400578 deg/s,
      cmd heading: 246.162668 deg,
      new cmd heading: 245.858436 deg.

2025-08-21T19:39:19.476Z,1755805159.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.291039 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:19.562Z,1755805159.562 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.230334
2025-08-21T19:39:19.813Z,1755805159.813 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.481728
2025-08-21T19:39:19.853Z,1755805159.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:19.856Z,1755805159.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 5.938999 m,
      bearing: 253.319648 deg,
      approach rate: -0.778872 m/s,
      LOS rate: -0.366685 deg/s,
      cmd heading: 245.858424 deg,
      new cmd heading: 245.576646 deg.

2025-08-21T19:39:19.857Z,1755805159.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.286121 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:20.068Z,1755805160.068 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.736596
2025-08-21T19:39:20.285Z,1755805160.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:20.290Z,1755805160.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 5.610113 m,
      bearing: 253.098540 deg,
      approach rate: -0.764110 m/s,
      LOS rate: -0.543819 deg/s,
      cmd heading: 245.576638 deg,
      new cmd heading: 245.108509 deg.

2025-08-21T19:39:20.292Z,1755805160.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277950 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:20.317Z,1755805160.317 [DAT](INFO): DAT read: Rx Time:19:39:18.9663

2025-08-21T19:39:20.317Z,1755805160.317 [DAT](INFO): Rx dataTimestamp_ set to:1755805160.316714
2025-08-21T19:39:20.318Z,1755805160.318 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.986040
2025-08-21T19:39:20.568Z,1755805160.568 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.236877
2025-08-21T19:39:20.730Z,1755805160.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:20.737Z,1755805160.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 5.284073 m,
      bearing: 252.894637 deg,
      approach rate: -0.729796 m/s,
      LOS rate: -0.484570 deg/s,
      cmd heading: 245.108496 deg,
      new cmd heading: 244.675537 deg.

2025-08-21T19:39:20.738Z,1755805160.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270394 target range: 8.048103 and range: 8.10 m.
2025-08-21T19:39:20.829Z,1755805160.829 [DAT](INFO): DAT read: 19:39:18.9663 LVL= 20800, 28145, 24914, 32755, AGC= 47, IDX= 408, 0.35,-2.608, 1.694,-2.422,-2.859, PHS= 0.353,-1.685, 0.393, RAW= 151.0,   9.2, CAL= 150.6,   9.9, ROT= 359.4,  -9.9

2025-08-21T19:39:20.831Z,1755805160.831 [DAT](INFO): got valid direction response:
 19:39:18.9663 LVL= 20800, 28145, 24914, 32755, AGC= 47, IDX= 408, 0.35,-2.608, 1.694,-2.422,-2.859, PHS= 0.353,-1.685, 0.393, RAW= 151.0,   9.2, CAL= 150.6,   9.9, ROT= 359.4,  -9.9

2025-08-21T19:39:20.832Z,1755805160.832 [DAT](INFO): DAT read: Bearing  37.5,  -1.1 (Local)

2025-08-21T19:39:20.833Z,1755805160.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.5,  -1.1 (Local)

2025-08-21T19:39:20.834Z,1755805160.834 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m  (Round-trip  7.6 ms) speed  0.5 m/s

2025-08-21T19:39:20.835Z,1755805160.835 [DAT](INFO): DAT read: user:4038>

2025-08-21T19:39:20.852Z,1755805160.852 [DAT](INFO): DAT read: Tx time:19:39:20.0545

2025-08-21T19:39:20.852Z,1755805160.852 [DAT](INFO): Ping request sent.
2025-08-21T19:39:20.852Z,1755805160.852 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:20.853Z,1755805160.853 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-21T19:39:20.854Z,1755805160.854 [DAT](INFO): direction in FSK: [0.985055,-0.010316,0.171929]
2025-08-21T19:39:20.854Z,1755805160.854 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:20.854Z,1755805160.854 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:20.878Z,1755805160.878 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:20.879Z,1755805160.879 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:20.893Z,1755805160.893 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.040187
2025-08-21T19:39:21.076Z,1755805161.076 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.222637
2025-08-21T19:39:21.160Z,1755805161.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 3.531548 s,
      deltaX: -2.400001 m,
      approachRate: -0.679589 m/s,
      rangeRepo size: 4

2025-08-21T19:39:21.167Z,1755805161.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.663509 m,
      bearing: 252.442949 deg,
      lat: 36.779397 deg,
      lon: -121.859688 deg,
      deltaT: 3.531548 s,
      deltaX: -2.384594 m,
      approachRate: -0.675226 m/s,
      posRepo size: 4

2025-08-21T19:39:21.169Z,1755805161.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.66 m. 8.05 m.
2025-08-21T19:39:21.178Z,1755805161.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 4.969276 m,
      bearing: 252.694602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.463219 deg/s,
      cmd heading: 244.675544 deg,
      new cmd heading: 244.281987 deg.

2025-08-21T19:39:21.179Z,1755805161.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263525 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:21.324Z,1755805161.324 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.472008
2025-08-21T19:39:21.559Z,1755805161.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:21.562Z,1755805161.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:21.565Z,1755805161.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 4.628002 m,
      bearing: 252.503331 deg,
      approach rate: -0.838478 m/s,
      LOS rate: -0.504588 deg/s,
      cmd heading: 244.281989 deg,
      new cmd heading: 243.871244 deg.

2025-08-21T19:39:21.566Z,1755805161.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256356 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:21.576Z,1755805161.576 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.723992
2025-08-21T19:39:21.828Z,1755805161.828 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.975873
2025-08-21T19:39:21.929Z,1755805161.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:21.932Z,1755805161.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 4.346767 m,
      bearing: 252.344736 deg,
      approach rate: -0.765029 m/s,
      LOS rate: -0.459330 deg/s,
      cmd heading: 243.871249 deg,
      new cmd heading: 243.533541 deg.

2025-08-21T19:39:21.933Z,1755805161.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250462 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:22.083Z,1755805162.083 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.229942
2025-08-21T19:39:22.333Z,1755805162.333 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.480217
2025-08-21T19:39:22.373Z,1755805162.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:22.376Z,1755805162.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 4.003241 m,
      bearing: 252.174999 deg,
      approach rate: -0.774825 m/s,
      LOS rate: -0.415695 deg/s,
      cmd heading: 243.533537 deg,
      new cmd heading: 243.164937 deg.

2025-08-21T19:39:22.377Z,1755805162.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244029 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:22.586Z,1755805162.586 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.733063
2025-08-21T19:39:22.748Z,1755805162.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:22.750Z,1755805162.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 3.712672 m,
      bearing: 252.034420 deg,
      approach rate: -0.775307 m/s,
      LOS rate: -0.404454 deg/s,
      cmd heading: 243.164925 deg,
      new cmd heading: 242.861767 deg.

2025-08-21T19:39:22.751Z,1755805162.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238738 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:22.836Z,1755805162.836 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.984015
2025-08-21T19:39:23.090Z,1755805163.090 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.237517
2025-08-21T19:39:23.226Z,1755805163.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:23.233Z,1755805163.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 3.361814 m,
      bearing: 251.921842 deg,
      approach rate: -0.733748 m/s,
      LOS rate: -0.260006 deg/s,
      cmd heading: 242.861774 deg,
      new cmd heading: 242.613120 deg.

2025-08-21T19:39:23.234Z,1755805163.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234398 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:23.341Z,1755805163.341 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.488333
2025-08-21T19:39:23.561Z,1755805163.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:23.563Z,1755805163.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 3.108353 m,
      bearing: 251.852876 deg,
      approach rate: -0.756749 m/s,
      LOS rate: -0.222699 deg/s,
      cmd heading: 242.613128 deg,
      new cmd heading: 242.463949 deg.

2025-08-21T19:39:23.564Z,1755805163.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231794 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:23.592Z,1755805163.592 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.740025
2025-08-21T19:39:23.845Z,1755805163.845 [DAT](INFO): DAT read: Rx Time:19:39:22.4630

2025-08-21T19:39:23.845Z,1755805163.845 [DAT](INFO): Rx dataTimestamp_ set to:1755805163.844754
2025-08-21T19:39:23.846Z,1755805163.846 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.993271
2025-08-21T19:39:23.973Z,1755805163.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:23.975Z,1755805163.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:23.978Z,1755805163.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 2.808585 m,
      bearing: 251.792627 deg,
      approach rate: -0.722986 m/s,
      LOS rate: -0.160817 deg/s,
      cmd heading: 242.463956 deg,
      new cmd heading: 242.330599 deg.

2025-08-21T19:39:23.979Z,1755805163.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.229467 target range: 8.048103 and range: 5.70 m.
2025-08-21T19:39:24.099Z,1755805164.099 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.246153
2025-08-21T19:39:24.354Z,1755805164.354 [DAT](INFO): DAT read: 19:39:22.4630 LVL= 15296, 11825, 13810, 22067, AGC= 44, IDX= 409, 0.21, 1.263, 2.661, 0.985, 2.815, PHS=-1.450,-0.110,-1.874, RAW= 343.3,  37.3, CAL= 342.0,  42.3, ROT= 168.0, -42.3

2025-08-21T19:39:24.355Z,1755805164.355 [DAT](INFO): got valid direction response:
 19:39:22.4630 LVL= 15296, 11825, 13810, 22067, AGC= 44, IDX= 409, 0.21, 1.263, 2.661, 0.985, 2.815, PHS=-1.450,-0.110,-1.874, RAW= 343.3,  37.3, CAL= 342.0,  42.3, ROT= 168.0, -42.3

2025-08-21T19:39:24.356Z,1755805164.356 [DAT](INFO): DAT read: Bearing 161.7,   8.2 (Local)

2025-08-21T19:39:24.356Z,1755805164.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.7,   8.2 (Local)

2025-08-21T19:39:24.357Z,1755805164.357 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m  (Round-trip  4.3 ms) speed  0.4 m/s

2025-08-21T19:39:24.358Z,1755805164.358 [DAT](INFO): DAT read: user:4039>

2025-08-21T19:39:24.359Z,1755805164.359 [DAT](INFO): DAT read: Tx time:19:39:23.5545

2025-08-21T19:39:24.359Z,1755805164.359 [DAT](INFO): Ping request sent.
2025-08-21T19:39:24.359Z,1755805164.359 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:24.360Z,1755805164.360 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-21T19:39:24.361Z,1755805164.361 [DAT](INFO): direction in FSK: [-0.723468,0.153778,0.673013]
2025-08-21T19:39:24.361Z,1755805164.361 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:24.361Z,1755805164.361 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:24.364Z,1755805164.364 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:24.364Z,1755805164.364 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:24.368Z,1755805164.368 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.008333
2025-08-21T19:39:24.512Z,1755805164.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 3.527411 s,
      deltaX: -2.500000 m,
      approachRate: -0.708735 m/s,
      rangeRepo size: 4

2025-08-21T19:39:24.514Z,1755805164.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.179492 m,
      bearing: 56.932726 deg,
      lat: 36.779403 deg,
      lon: -121.859688 deg,
      deltaT: 7.058959 s,
      deltaX: -4.868611 m,
      approachRate: -0.689707 m/s,
      posRepo size: 4

2025-08-21T19:39:24.528Z,1755805164.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 8.05 m.
2025-08-21T19:39:24.530Z,1755805164.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 2.409380 m,
      bearing: 251.602471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.463219 deg/s,
      cmd heading: 242.330604 deg,
      new cmd heading: 241.837333 deg.

2025-08-21T19:39:24.535Z,1755805164.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220858 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:24.601Z,1755805164.601 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.241564
2025-08-21T19:39:24.824Z,1755805164.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:39:24.826Z,1755805164.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:24.833Z,1755805164.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 2.146875 m,
      bearing: 251.483338 deg,
      approach rate: -0.823944 m/s,
      LOS rate: -0.419655 deg/s,
      cmd heading: 241.837328 deg,
      new cmd heading: 241.569929 deg.

2025-08-21T19:39:24.834Z,1755805164.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216191 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:24.852Z,1755805164.852 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.493048
2025-08-21T19:39:25.107Z,1755805165.107 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.747249
2025-08-21T19:39:25.247Z,1755805165.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:25.250Z,1755805165.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 1.811911 m,
      bearing: 251.609480 deg,
      approach rate: -0.795818 m/s,
      LOS rate: 0.355095 deg/s,
      cmd heading: 241.569939 deg,
      new cmd heading: 241.868860 deg.

2025-08-21T19:39:25.251Z,1755805165.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.221408 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:25.357Z,1755805165.357 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.998119
2025-08-21T19:39:25.590Z,1755805165.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:25.593Z,1755805165.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 1.544871 m,
      bearing: 251.840748 deg,
      approach rate: -0.778918 m/s,
      LOS rate: 0.791181 deg/s,
      cmd heading: 241.868856 deg,
      new cmd heading: 242.411327 deg.

2025-08-21T19:39:25.594Z,1755805165.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.230876 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:25.610Z,1755805165.610 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.250196
2025-08-21T19:39:25.828Z,1755805165.828 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:39:25.860Z,1755805165.860 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.500887
2025-08-21T19:39:25.995Z,1755805165.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:25.997Z,1755805165.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:26.000Z,1755805166.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 1.228303 m,
      bearing: 252.494045 deg,
      approach rate: -0.777409 m/s,
      LOS rate: 2.017759 deg/s,
      cmd heading: 242.411337 deg,
      new cmd heading: 244.054190 deg.

2025-08-21T19:39:26.001Z,1755805166.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259549 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:26.112Z,1755805166.112 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.752970
2025-08-21T19:39:26.365Z,1755805166.365 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.005834
2025-08-21T19:39:26.520Z,1755805166.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:26.523Z,1755805166.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 8.048103 m,
      nav range: 0.866574 m,
      bearing: 254.914799 deg,
      approach rate: -0.692277 m/s,
      LOS rate: 6.564752 deg/s,
      cmd heading: 244.054188 deg,
      new cmd heading: 250.882110 deg.

2025-08-21T19:39:26.524Z,1755805166.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.378719 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:26.616Z,1755805166.616 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.257116
2025-08-21T19:39:26.868Z,1755805166.868 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.508987
2025-08-21T19:39:26.912Z,1755805166.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:26.913Z,1755805166.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.258095 deg/s. Setting heading cmd to target acoustic bearing of 254.271965 deg.
2025-08-21T19:39:26.914Z,1755805166.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437883 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:27.121Z,1755805167.121 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.761725
2025-08-21T19:39:27.341Z,1755805167.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:27.342Z,1755805167.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 28.713971 deg/s. Setting heading cmd to target acoustic bearing of 254.271965 deg.
2025-08-21T19:39:27.343Z,1755805167.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437883 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:27.372Z,1755805167.372 [DAT](INFO): DAT read: Rx Time:19:39:25.9616

2025-08-21T19:39:27.373Z,1755805167.373 [DAT](INFO): Rx dataTimestamp_ set to:1755805167.372491
2025-08-21T19:39:27.373Z,1755805167.373 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.014022
2025-08-21T19:39:27.625Z,1755805167.625 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=3.265232
2025-08-21T19:39:27.723Z,1755805167.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 8.05 m.
2025-08-21T19:39:27.724Z,1755805167.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is 105.663758 deg/s. Setting heading cmd to target acoustic bearing of 254.271965 deg.
2025-08-21T19:39:27.725Z,1755805167.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437883 target range: 8.048103 and range: 3.20 m.
2025-08-21T19:39:27.877Z,1755805167.877 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T19:39:27.878Z,1755805167.878 [DAT](INFO): DAT read: user:4040>

2025-08-21T19:39:27.879Z,1755805167.879 [DAT](INFO): DAT read: Tx time:19:39:27.0545

2025-08-21T19:39:27.879Z,1755805167.879 [DAT](INFO): Ping request sent.
2025-08-21T19:39:27.879Z,1755805167.879 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:27.879Z,1755805167.879 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-21T19:39:27.880Z,1755805167.880 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:27.880Z,1755805167.880 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:27.881Z,1755805167.881 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.001982
2025-08-21T19:39:28.121Z,1755805168.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:28.123Z,1755805168.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528126 s,
      deltaX: -1.100000 m,
      approachRate: -0.311780 m/s,
      rangeRepo size: 4

2025-08-21T19:39:28.124Z,1755805168.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.10 m.
2025-08-21T19:39:28.124Z,1755805168.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-21T19:39:28.128Z,1755805168.128 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.249310
2025-08-21T19:39:28.381Z,1755805168.381 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.501591
2025-08-21T19:39:28.632Z,1755805168.632 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=0.753200
2025-08-21T19:39:28.884Z,1755805168.884 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.005238
2025-08-21T19:39:29.136Z,1755805169.136 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.257139
2025-08-21T19:39:29.388Z,1755805169.388 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.509370
2025-08-21T19:39:29.640Z,1755805169.640 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=1.761175
2025-08-21T19:39:29.892Z,1755805169.892 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.013225
2025-08-21T19:39:30.145Z,1755805170.145 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.265849
2025-08-21T19:39:30.323Z,1755805170.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:30.396Z,1755805170.396 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.517254
2025-08-21T19:39:30.648Z,1755805170.648 [DAT](INFO): DAT read: Rx Time:19:39:29.4614

2025-08-21T19:39:30.649Z,1755805170.649 [DAT](INFO): Rx dataTimestamp_ set to:1755805170.648553
2025-08-21T19:39:30.649Z,1755805170.649 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.770383
2025-08-21T19:39:30.900Z,1755805170.900 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.021235
2025-08-21T19:39:31.158Z,1755805171.158 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=3.275990
2025-08-21T19:39:31.410Z,1755805171.410 [DAT](INFO): DAT read: 19:39:29.4614 LVL= 24560, 21649, 22114, 28035, AGC= 43, IDX= 441, 0.15, 1.691, 1.817, 0.751, 2.967, PHS=-1.174,-1.105,-2.260, RAW=  26.9,  55.0, CAL=  25.7,  58.9, ROT= 124.3, -58.9

2025-08-21T19:39:31.411Z,1755805171.411 [DAT](INFO): got valid direction response:
 19:39:29.4614 LVL= 24560, 21649, 22114, 28035, AGC= 43, IDX= 441, 0.15, 1.691, 1.817, 0.751, 2.967, PHS=-1.174,-1.105,-2.260, RAW=  26.9,  55.0, CAL=  25.7,  58.9, ROT= 124.3, -58.9

2025-08-21T19:39:31.412Z,1755805171.412 [DAT](INFO): DAT read: Bearing 129.7,  28.8 (Local)

2025-08-21T19:39:31.412Z,1755805171.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.7,  28.8 (Local)

2025-08-21T19:39:31.414Z,1755805171.414 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:39:31.415Z,1755805171.415 [DAT](INFO): DAT read: user:4041>

2025-08-21T19:39:31.415Z,1755805171.415 [DAT](INFO): DAT read: Tx time:19:39:30.5544

2025-08-21T19:39:31.416Z,1755805171.416 [DAT](INFO): Ping request sent.
2025-08-21T19:39:31.416Z,1755805171.416 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:31.416Z,1755805171.416 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-21T19:39:31.417Z,1755805171.417 [DAT](INFO): direction in FSK: [-0.291080,0.426707,0.856267]
2025-08-21T19:39:31.417Z,1755805171.417 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:31.417Z,1755805171.417 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:31.421Z,1755805171.421 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:31.421Z,1755805171.421 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:31.424Z,1755805171.424 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.008407
2025-08-21T19:39:31.568Z,1755805171.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528228 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:31.570Z,1755805171.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086556 m,
      bearing: 16.964218 deg,
      lat: 36.779404 deg,
      lon: -121.859688 deg,
      deltaT: 14.115313 s,
      deltaX: -5.961547 m,
      approachRate: -0.422346 m/s,
      posRepo size: 4

2025-08-21T19:39:31.656Z,1755805171.656 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.240658
2025-08-21T19:39:31.908Z,1755805171.908 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.492567
2025-08-21T19:39:32.162Z,1755805172.162 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=0.745517
2025-08-21T19:39:32.347Z,1755805172.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:32.416Z,1755805172.416 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.000257
2025-08-21T19:39:32.664Z,1755805172.664 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.248410
2025-08-21T19:39:32.919Z,1755805172.919 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.503598
2025-08-21T19:39:33.169Z,1755805173.169 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=1.753409
2025-08-21T19:39:33.420Z,1755805173.420 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.004441
2025-08-21T19:39:33.672Z,1755805173.672 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.256434
2025-08-21T19:39:33.924Z,1755805173.924 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.508519
2025-08-21T19:39:34.177Z,1755805174.177 [DAT](INFO): DAT read: Rx Time:19:39:32.9614

2025-08-21T19:39:34.178Z,1755805174.178 [DAT](INFO): Rx dataTimestamp_ set to:1755805174.176939
2025-08-21T19:39:34.178Z,1755805174.178 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=2.762358
2025-08-21T19:39:34.386Z,1755805174.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:34.429Z,1755805174.429 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.012838
2025-08-21T19:39:34.683Z,1755805174.683 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.266873
2025-08-21T19:39:34.944Z,1755805174.944 [DAT](INFO): DAT read: 19:39:32.9614 LVL= 24384, 11089, 22962, 29843, AGC= 45, IDX= 441, 0.01,-1.965,-2.321,-3.064,-0.951, PHS=-0.912,-1.325,-2.157, RAW=  49.0,  54.7, CAL=  46.9,  58.8, ROT= 103.1, -58.8

2025-08-21T19:39:34.945Z,1755805174.945 [DAT](INFO): got valid direction response:
 19:39:32.9614 LVL= 24384, 11089, 22962, 29843, AGC= 45, IDX= 441, 0.01,-1.965,-2.321,-3.064,-0.951, PHS=-0.912,-1.325,-2.157, RAW=  49.0,  54.7, CAL=  46.9,  58.8, ROT= 103.1, -58.8

2025-08-21T19:39:34.947Z,1755805174.947 [DAT](INFO): DAT read: Bearing 114.2,  37.8 (Local)

2025-08-21T19:39:34.947Z,1755805174.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 114.2,  37.8 (Local)

2025-08-21T19:39:34.950Z,1755805174.950 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:39:34.950Z,1755805174.950 [DAT](INFO): DAT read: user:4042>

2025-08-21T19:39:34.951Z,1755805174.951 [DAT](INFO): DAT read: Tx time:19:39:34.0544

2025-08-21T19:39:34.952Z,1755805174.952 [DAT](INFO): Ping request sent.
2025-08-21T19:39:34.952Z,1755805174.952 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:34.952Z,1755805174.952 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-21T19:39:34.953Z,1755805174.953 [DAT](INFO): direction in FSK: [-0.117411,0.504546,0.855364]
2025-08-21T19:39:34.953Z,1755805174.953 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:34.954Z,1755805174.954 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:34.957Z,1755805174.957 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:34.957Z,1755805174.957 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:34.978Z,1755805174.978 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.026364
2025-08-21T19:39:35.184Z,1755805175.184 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.232504
2025-08-21T19:39:35.219Z,1755805175.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.530012 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:35.240Z,1755805175.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.086548 m,
      bearing: 350.354371 deg,
      lat: 36.779404 deg,
      lon: -121.859688 deg,
      deltaT: 3.530012 s,
      deltaX: -0.000008 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-08-21T19:39:35.436Z,1755805175.436 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.484379
2025-08-21T19:39:35.689Z,1755805175.689 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.736655
2025-08-21T19:39:35.941Z,1755805175.941 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=0.988619
2025-08-21T19:39:36.192Z,1755805176.192 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.240482
2025-08-21T19:39:36.444Z,1755805176.444 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.492425
2025-08-21T19:39:36.457Z,1755805176.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:36.696Z,1755805176.696 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.744346
2025-08-21T19:39:36.949Z,1755805176.949 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=1.996971
2025-08-21T19:39:37.200Z,1755805177.200 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.248320
2025-08-21T19:39:37.455Z,1755805177.455 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.502656
2025-08-21T19:39:37.709Z,1755805177.709 [DAT](INFO): DAT read: Rx Time:19:39:36.4613

2025-08-21T19:39:37.710Z,1755805177.710 [DAT](INFO): Rx dataTimestamp_ set to:1755805177.709662
2025-08-21T19:39:37.710Z,1755805177.710 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=2.758644
2025-08-21T19:39:37.960Z,1755805177.960 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.008369
2025-08-21T19:39:38.221Z,1755805178.221 [DAT](INFO): DAT read: 19:39:36.4613 LVL= 30160, 10385, 28242, 31347, AGC= 44, IDX= 440, 0.02,-2.572,-2.981, 2.556,-1.690, PHS=-0.780,-1.246,-2.081, RAW=  50.7,  51.8, CAL=  48.3,  56.2, ROT= 101.7, -56.2

2025-08-21T19:39:38.222Z,1755805178.222 [DAT](INFO): got valid direction response:
 19:39:36.4613 LVL= 30160, 10385, 28242, 31347, AGC= 44, IDX= 440, 0.02,-2.572,-2.981, 2.556,-1.690, PHS=-0.780,-1.246,-2.081, RAW=  50.7,  51.8, CAL=  48.3,  56.2, ROT= 101.7, -56.2

2025-08-21T19:39:38.223Z,1755805178.223 [DAT](INFO): DAT read: Bearing 103.2,  38.8 (Local)

2025-08-21T19:39:38.223Z,1755805178.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 103.2,  38.8 (Local)

2025-08-21T19:39:38.225Z,1755805178.225 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:39:38.225Z,1755805178.225 [DAT](INFO): DAT read: user:4043>

2025-08-21T19:39:38.226Z,1755805178.226 [DAT](INFO): DAT read: Tx time:19:39:37.5544

2025-08-21T19:39:38.226Z,1755805178.226 [DAT](INFO): Ping request sent.
2025-08-21T19:39:38.226Z,1755805178.226 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:39:38.227Z,1755805178.227 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-21T19:39:38.228Z,1755805178.228 [DAT](INFO): direction in FSK: [-0.112810,0.544737,0.830984]
2025-08-21T19:39:38.228Z,1755805178.228 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:38.228Z,1755805178.228 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:38.232Z,1755805178.232 [DAT](INFO): publishing transmit ping time
2025-08-21T19:39:38.232Z,1755805178.232 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:38.241Z,1755805178.241 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.014320
2025-08-21T19:39:38.464Z,1755805178.464 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.237821
2025-08-21T19:39:38.515Z,1755805178.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 3.278811 s,
      deltaX: -0.100000 m,
      approachRate: -0.030499 m/s,
      rangeRepo size: 4

2025-08-21T19:39:38.521Z,1755805178.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987193 m,
      bearing: 333.049104 deg,
      lat: 36.779404 deg,
      lon: -121.859688 deg,
      deltaT: 3.278811 s,
      deltaX: -0.099355 m,
      approachRate: -0.030302 m/s,
      posRepo size: 4

2025-08-21T19:39:38.522Z,1755805178.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-08-21T19:39:38.716Z,1755805178.716 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.489711
2025-08-21T19:39:38.877Z,1755805178.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:38.968Z,1755805178.968 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.741724
2025-08-21T19:39:39.224Z,1755805179.224 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=0.996554
2025-08-21T19:39:39.472Z,1755805179.472 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.245692
2025-08-21T19:39:39.724Z,1755805179.724 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.497778
2025-08-21T19:39:39.976Z,1755805179.976 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=1.749744
2025-08-21T19:39:40.228Z,1755805180.228 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.001659
2025-08-21T19:39:40.480Z,1755805180.480 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=2.253788
2025-08-21T19:39:40.732Z,1755805180.732 [DAT](INFO): DAT read: Rx Time:19:39:39.6863 

2025-08-21T19:39:40.733Z,1755805180.733 [DAT](INFO): Rx dataTimestamp_ set to:1755805180.732578
2025-08-21T19:39:40.734Z,1755805180.734 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:40.735Z,1755805180.735 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-21T19:39:40.736Z,1755805180.736 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.509239
2025-08-21T19:39:40.890Z,1755805180.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:40.893Z,1755805180.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 2.519860 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:40.985Z,1755805180.985 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=2.758149
2025-08-21T19:39:41.242Z,1755805181.242 [DAT](INFO): DAT read: Rx Time:19:39:40.1862 

2025-08-21T19:39:41.245Z,1755805181.245 [DAT](INFO): Rx dataTimestamp_ set to:1755805181.243636
2025-08-21T19:39:41.250Z,1755805181.250 [DAT](INFO): DAT read: Bearing  69.0,  31.5 (Local)

2025-08-21T19:39:41.252Z,1755805181.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.0,  31.5 (Local)

2025-08-21T19:39:41.255Z,1755805181.255 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:41.278Z,1755805181.278 [DAT](INFO): DAT read: 19:39:40.1862 LVL= 24928, 11569, 17650, 27891, AGC= 43, IDX= 503, 0.19, 1.108,-0.069, 0.024, 2.065, PHS=-0.855,-2.089,-2.085, RAW=  90.1,  55.3, CAL=  89.2,  60.3, ROT=  60.8, -60.3

2025-08-21T19:39:41.279Z,1755805181.279 [DAT](INFO): got valid direction response:
 19:39:40.1862 LVL= 24928, 11569, 17650, 27891, AGC= 43, IDX= 503, 0.19, 1.108,-0.069, 0.024, 2.065, PHS=-0.855,-2.089,-2.085, RAW=  90.1,  55.3, CAL=  89.2,  60.3, ROT=  60.8, -60.3

2025-08-21T19:39:41.279Z,1755805181.279 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-21T19:39:41.304Z,1755805181.304 [DAT](INFO): direction in FSK: [0.241714,0.432497,0.868631]
2025-08-21T19:39:41.304Z,1755805181.304 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:41.316Z,1755805181.316 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.089644
2025-08-21T19:39:41.425Z,1755805181.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.511058 s,
      deltaX: -0.200000 m,
      approachRate: -0.391345 m/s,
      rangeRepo size: 4

2025-08-21T19:39:41.427Z,1755805181.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788475 m,
      bearing: 278.866357 deg,
      lat: 36.779404 deg,
      lon: -121.859688 deg,
      deltaT: 3.030918 s,
      deltaX: -0.198718 m,
      approachRate: -0.065564 m/s,
      posRepo size: 4

2025-08-21T19:39:41.489Z,1755805181.489 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=3.262783
2025-08-21T19:39:41.745Z,1755805181.745 [DAT](INFO): DAT read: Rx Time:19:39:40.6861 

2025-08-21T19:39:41.746Z,1755805181.746 [DAT](INFO): Rx dataTimestamp_ set to:1755805181.745426
2025-08-21T19:39:41.752Z,1755805181.752 [DAT](INFO): DAT read: Bearing  75.1,  33.0 (Local)

2025-08-21T19:39:41.752Z,1755805181.752 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.1,  33.0 (Local)

2025-08-21T19:39:41.760Z,1755805181.760 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:41.800Z,1755805181.800 [DAT](INFO): DAT read: 19:39:40.6861 LVL= 25184, 11665, 17378, 27571, AGC= 43, IDX= 502, 0.39,-1.235,-2.165,-2.316,-0.256, PHS=-0.877,-1.864,-2.104, RAW=  79.4,  56.7, CAL=  77.4,  61.6, ROT=  72.6, -61.6

2025-08-21T19:39:41.801Z,1755805181.801 [DAT](INFO): got valid direction response:
 19:39:40.6861 LVL= 25184, 11665, 17378, 27571, AGC= 43, IDX= 502, 0.39,-1.235,-2.165,-2.316,-0.256, PHS=-0.877,-1.864,-2.104, RAW=  79.4,  56.7, CAL=  77.4,  61.6, ROT=  72.6, -61.6

2025-08-21T19:39:41.802Z,1755805181.802 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-21T19:39:41.803Z,1755805181.803 [DAT](INFO): direction in FSK: [0.142231,0.453860,0.879649]
2025-08-21T19:39:41.811Z,1755805181.811 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:41.815Z,1755805181.815 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.588185
2025-08-21T19:39:41.977Z,1755805181.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501790 s,
      deltaX: -0.100000 m,
      approachRate: -0.199286 m/s,
      rangeRepo size: 4

2025-08-21T19:39:41.979Z,1755805181.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689113 m,
      bearing: 292.141617 deg,
      lat: 36.779404 deg,
      lon: -121.859688 deg,
      deltaT: 0.501790 s,
      deltaX: -0.099362 m,
      approachRate: -0.198014 m/s,
      posRepo size: 4

2025-08-21T19:39:41.992Z,1755805181.992 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=3.765703
2025-08-21T19:39:42.250Z,1755805182.250 [DAT](INFO): DAT read: Rx Time:19:39:41.1862 

2025-08-21T19:39:42.252Z,1755805182.252 [DAT](INFO): Rx dataTimestamp_ set to:1755805182.251378
2025-08-21T19:39:42.254Z,1755805182.254 [DAT](INFO): DAT read: Bearing  80.7,  33.9 (Local)

2025-08-21T19:39:42.254Z,1755805182.254 [DAT](INFO): Local bearing/azimuth received:
 Bearing  80.7,  33.9 (Local)

2025-08-21T19:39:42.308Z,1755805182.308 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:42.325Z,1755805182.325 [DAT](INFO): DAT read: 19:39:41.1862 LVL= 24272, 11889, 17394, 28003, AGC= 43, IDX= 504,-0.32,-2.015,-2.723,-3.074,-1.010, PHS=-0.903,-1.668,-2.108, RAW=  68.9,  57.4, CAL=  66.2,  61.7, ROT=  83.8, -61.7

2025-08-21T19:39:42.326Z,1755805182.326 [DAT](INFO): got valid direction response:
 19:39:41.1862 LVL= 24272, 11889, 17394, 28003, AGC= 43, IDX= 504,-0.32,-2.015,-2.723,-3.074,-1.010, PHS=-0.903,-1.668,-2.108, RAW=  68.9,  57.4, CAL=  66.2,  61.7, ROT=  83.8, -61.7

2025-08-21T19:39:42.326Z,1755805182.326 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-21T19:39:42.336Z,1755805182.336 [DAT](INFO): direction in FSK: [0.051201,0.471315,0.880477]
2025-08-21T19:39:42.336Z,1755805182.336 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:42.355Z,1755805182.355 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=4.128897
2025-08-21T19:39:42.496Z,1755805182.496 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=4.269860
2025-08-21T19:39:42.554Z,1755805182.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.505952 s,
      deltaX: 0.100000 m,
      approachRate: 0.197647 m/s,
      rangeRepo size: 4

2025-08-21T19:39:42.560Z,1755805182.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788473 m,
      bearing: 305.087323 deg,
      lat: 36.779401 deg,
      lon: -121.859687 deg,
      deltaT: 0.505952 s,
      deltaX: 0.099360 m,
      approachRate: 0.196381 m/s,
      posRepo size: 4

2025-08-21T19:39:42.753Z,1755805182.753 [DAT](INFO): DAT read: Rx Time:19:39:41.6861 

2025-08-21T19:39:42.754Z,1755805182.754 [DAT](INFO): Rx dataTimestamp_ set to:1755805182.753096
2025-08-21T19:39:42.757Z,1755805182.757 [DAT](INFO): DAT read: Bearing  85.7,  33.9 (Local)

2025-08-21T19:39:42.757Z,1755805182.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.7,  33.9 (Local)

2025-08-21T19:39:42.761Z,1755805182.761 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:42.776Z,1755805182.776 [DAT](INFO): DAT read: 19:39:41.6861 LVL= 24560, 13345, 17026, 28355, AGC= 43, IDX= 503,-0.13, 2.516, 2.003, 1.478,-2.725, PHS=-0.940,-1.510,-2.124, RAW=  58.8,  57.6, CAL=  56.3,  61.4, ROT=  93.7, -61.4

2025-08-21T19:39:42.777Z,1755805182.777 [DAT](INFO): got valid direction response:
 19:39:41.6861 LVL= 24560, 13345, 17026, 28355, AGC= 43, IDX= 503,-0.13, 2.516, 2.003, 1.478,-2.725, PHS=-0.940,-1.510,-2.124, RAW=  58.8,  57.6, CAL=  56.3,  61.4, ROT=  93.7, -61.4

2025-08-21T19:39:42.777Z,1755805182.777 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-21T19:39:42.778Z,1755805182.778 [DAT](INFO): direction in FSK: [-0.030891,0.477694,0.877983]
2025-08-21T19:39:42.778Z,1755805182.778 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:42.782Z,1755805182.782 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.555187
2025-08-21T19:39:42.984Z,1755805182.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501718 s,
      deltaX: -0.100000 m,
      approachRate: -0.199315 m/s,
      rangeRepo size: 4

2025-08-21T19:39:42.986Z,1755805182.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689113 m,
      bearing: 315.809591 deg,
      lat: 36.779401 deg,
      lon: -121.859686 deg,
      deltaT: 0.501718 s,
      deltaX: -0.099360 m,
      approachRate: -0.198039 m/s,
      posRepo size: 4

2025-08-21T19:39:43.000Z,1755805183.000 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=4.773810
2025-08-21T19:39:43.254Z,1755805183.254 [DAT](INFO): DAT read: Rx Time:19:39:42.1863 

2025-08-21T19:39:43.255Z,1755805183.255 [DAT](INFO): Rx dataTimestamp_ set to:1755805183.254682
2025-08-21T19:39:43.257Z,1755805183.257 [DAT](INFO): DAT read: Bearing  90.3,  32.8 (Local)

2025-08-21T19:39:43.258Z,1755805183.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.3,  32.8 (Local)

2025-08-21T19:39:43.261Z,1755805183.261 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:43.285Z,1755805183.285 [DAT](INFO): DAT read: 19:39:42.1863 LVL= 22128, 11473, 18674, 25827, AGC= 43, IDX= 504, 0.02,-2.504,-2.821, 2.790,-1.417, PHS=-0.984,-1.359,-2.120, RAW=  48.9,  57.6, CAL=  46.9,  61.3, ROT= 103.1, -61.3

2025-08-21T19:39:43.286Z,1755805183.286 [DAT](INFO): got valid direction response:
 19:39:42.1863 LVL= 22128, 11473, 18674, 25827, AGC= 43, IDX= 504, 0.02,-2.504,-2.821, 2.790,-1.417, PHS=-0.984,-1.359,-2.120, RAW=  48.9,  57.6, CAL=  46.9,  61.3, ROT= 103.1, -61.3

2025-08-21T19:39:43.286Z,1755805183.286 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-21T19:39:43.292Z,1755805183.292 [DAT](INFO): direction in FSK: [-0.108843,0.467726,0.877146]
2025-08-21T19:39:43.292Z,1755805183.292 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:43.304Z,1755805183.304 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=5.077859
2025-08-21T19:39:43.468Z,1755805183.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.501586 s,
      deltaX: 0.300000 m,
      approachRate: 0.598103 m/s,
      rangeRepo size: 4

2025-08-21T19:39:43.470Z,1755805183.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987192 m,
      bearing: 326.831064 deg,
      lat: 36.779401 deg,
      lon: -121.859686 deg,
      deltaT: 0.501586 s,
      deltaX: 0.298079 m,
      approachRate: 0.594272 m/s,
      posRepo size: 4

2025-08-21T19:39:43.504Z,1755805183.504 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=5.277816
2025-08-21T19:39:43.758Z,1755805183.758 [DAT](INFO): DAT read: Rx Time:19:39:42.6862 

2025-08-21T19:39:43.760Z,1755805183.760 [DAT](INFO): Rx dataTimestamp_ set to:1755805183.758851
2025-08-21T19:39:43.761Z,1755805183.761 [DAT](INFO): DAT read: Bearing  90.7,  31.9 (Local)

2025-08-21T19:39:43.762Z,1755805183.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.7,  31.9 (Local)

2025-08-21T19:39:43.765Z,1755805183.765 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:43.808Z,1755805183.808 [DAT](INFO): DAT read: 19:39:42.6862 LVL= 24656, 12769, 16994, 30803, AGC= 44, IDX= 503, 0.15, 2.767, 2.495, 1.800,-2.406, PHS=-1.008,-1.337,-2.121, RAW=  46.7,  57.9, CAL=  44.9,  61.6, ROT= 105.1, -61.6

2025-08-21T19:39:43.809Z,1755805183.809 [DAT](INFO): got valid direction response:
 19:39:42.6862 LVL= 24656, 12769, 16994, 30803, AGC= 44, IDX= 503, 0.15, 2.767, 2.495, 1.800,-2.406, PHS=-1.008,-1.337,-2.121, RAW=  46.7,  57.9, CAL=  44.9,  61.6, ROT= 105.1, -61.6

2025-08-21T19:39:43.810Z,1755805183.810 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-21T19:39:43.811Z,1755805183.811 [DAT](INFO): direction in FSK: [-0.123902,0.459202,0.879649]
2025-08-21T19:39:43.811Z,1755805183.811 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:43.827Z,1755805183.827 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.600053
2025-08-21T19:39:43.937Z,1755805183.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504169 s,
      deltaX: -0.200000 m,
      approachRate: -0.396692 m/s,
      rangeRepo size: 4

2025-08-21T19:39:43.944Z,1755805183.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788467 m,
      bearing: 328.129255 deg,
      lat: 36.779402 deg,
      lon: -121.859685 deg,
      deltaT: 0.504169 s,
      deltaX: -0.198724 m,
      approachRate: -0.394162 m/s,
      posRepo size: 4

2025-08-21T19:39:44.009Z,1755805184.009 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=5.782619
2025-08-21T19:39:44.262Z,1755805184.262 [DAT](INFO): DAT read: Rx Time:19:39:43.1863 

2025-08-21T19:39:44.263Z,1755805184.263 [DAT](INFO): Rx dataTimestamp_ set to:1755805184.262375
2025-08-21T19:39:44.265Z,1755805184.265 [DAT](INFO): DAT read: Bearing  91.9,  31.2 (Local)

2025-08-21T19:39:44.266Z,1755805184.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.9,  31.2 (Local)

2025-08-21T19:39:44.270Z,1755805184.270 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:44.274Z,1755805184.274 [DAT](INFO): DAT read: 19:39:43.1863 LVL= 24960, 11857, 18546, 30771, AGC= 44, IDX= 504, 0.30,-2.167,-2.371,-3.111,-1.041, PHS=-1.024,-1.285,-2.114, RAW=  43.2,  57.8, CAL=  41.6,  61.6, ROT= 108.4, -61.6

2025-08-21T19:39:44.280Z,1755805184.280 [DAT](INFO): got valid direction response:
 19:39:43.1863 LVL= 24960, 11857, 18546, 30771, AGC= 44, IDX= 504, 0.30,-2.167,-2.371,-3.111,-1.041, PHS=-1.024,-1.285,-2.114, RAW=  43.2,  57.8, CAL=  41.6,  61.6, ROT= 108.4, -61.6

2025-08-21T19:39:44.280Z,1755805184.280 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-21T19:39:44.281Z,1755805184.281 [DAT](INFO): direction in FSK: [-0.150130,0.451308,0.879649]
2025-08-21T19:39:44.281Z,1755805184.281 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:44.309Z,1755805184.309 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=6.082297
2025-08-21T19:39:44.451Z,1755805184.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503524 s,
      deltaX: 0.200000 m,
      approachRate: 0.397201 m/s,
      rangeRepo size: 4

2025-08-21T19:39:44.458Z,1755805184.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987186 m,
      bearing: 331.499418 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.503524 s,
      deltaX: 0.198719 m,
      approachRate: 0.394656 m/s,
      posRepo size: 4

2025-08-21T19:39:44.513Z,1755805184.513 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=6.286861
2025-08-21T19:39:44.766Z,1755805184.766 [DAT](INFO): DAT read: Rx Time:19:39:43.6862 

2025-08-21T19:39:44.767Z,1755805184.767 [DAT](INFO): Rx dataTimestamp_ set to:1755805184.766641
2025-08-21T19:39:44.769Z,1755805184.769 [DAT](INFO): DAT read: Bearing  91.6,  31.5 (Local)

2025-08-21T19:39:44.770Z,1755805184.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.6,  31.5 (Local)

2025-08-21T19:39:44.772Z,1755805184.772 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:44.777Z,1755805184.777 [DAT](INFO): DAT read: 19:39:43.6862 LVL= 24752, 12017, 16754, 30547, AGC= 44, IDX= 504,-0.47, 1.060, 0.861, 0.118, 2.176, PHS=-1.014,-1.270,-2.102, RAW=  43.0,  57.6, CAL=  41.4,  61.4, ROT= 108.6, -61.4

2025-08-21T19:39:44.778Z,1755805184.778 [DAT](INFO): got valid direction response:
 19:39:43.6862 LVL= 24752, 12017, 16754, 30547, AGC= 44, IDX= 504,-0.47, 1.060, 0.861, 0.118, 2.176, PHS=-1.014,-1.270,-2.102, RAW=  43.0,  57.6, CAL=  41.4,  61.4, ROT= 108.6, -61.4

2025-08-21T19:39:44.778Z,1755805184.778 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-21T19:39:44.779Z,1755805184.779 [DAT](INFO): direction in FSK: [-0.152683,0.453689,0.877983]
2025-08-21T19:39:44.781Z,1755805184.781 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:44.785Z,1755805184.785 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.558066
2025-08-21T19:39:44.905Z,1755805184.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504266 s,
      deltaX: -0.200000 m,
      approachRate: -0.396616 m/s,
      rangeRepo size: 4

2025-08-21T19:39:44.907Z,1755805184.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788469 m,
      bearing: 331.353566 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.504266 s,
      deltaX: -0.198717 m,
      approachRate: -0.394072 m/s,
      posRepo size: 4

2025-08-21T19:39:45.017Z,1755805185.017 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=6.790114
2025-08-21T19:39:45.219Z,1755805185.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:45.270Z,1755805185.270 [DAT](INFO): DAT read: Rx Time:19:39:44.1862 

2025-08-21T19:39:45.270Z,1755805185.270 [DAT](INFO): Rx dataTimestamp_ set to:1755805185.269819
2025-08-21T19:39:45.271Z,1755805185.271 [DAT](INFO): DAT read: Bearing  92.4,  31.0 (Local)

2025-08-21T19:39:45.272Z,1755805185.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.4,  31.0 (Local)

2025-08-21T19:39:45.274Z,1755805185.274 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:45.279Z,1755805185.279 [DAT](INFO): DAT read: 19:39:44.1862 LVL= 26992, 10881, 19810, 30355, AGC= 44, IDX= 504,-0.27, 0.650, 0.507,-0.248, 1.773, PHS=-1.021,-1.221,-2.065, RAW=  40.4,  57.8, CAL=  38.9,  61.6, ROT= 111.1, -61.6

2025-08-21T19:39:45.280Z,1755805185.280 [DAT](INFO): got valid direction response:
 19:39:44.1862 LVL= 26992, 10881, 19810, 30355, AGC= 44, IDX= 504,-0.27, 0.650, 0.507,-0.248, 1.773, PHS=-1.021,-1.221,-2.065, RAW=  40.4,  57.8, CAL=  38.9,  61.6, ROT= 111.1, -61.6

2025-08-21T19:39:45.280Z,1755805185.280 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-21T19:39:45.281Z,1755805185.281 [DAT](INFO): direction in FSK: [-0.171223,0.443735,0.879649]
2025-08-21T19:39:45.281Z,1755805185.281 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:45.293Z,1755805185.293 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.066398
2025-08-21T19:39:45.520Z,1755805185.520 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=7.293657
2025-08-21T19:39:45.633Z,1755805185.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:45.635Z,1755805185.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788469 m,
      bearing: 333.952190 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.503178 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:39:45.773Z,1755805185.773 [DAT](INFO): DAT read: Rx Time:19:39:44.6861 

2025-08-21T19:39:45.773Z,1755805185.773 [DAT](INFO): Rx dataTimestamp_ set to:1755805185.773110
2025-08-21T19:39:45.775Z,1755805185.775 [DAT](INFO): DAT read: Bearing  92.1,  31.5 (Local)

2025-08-21T19:39:45.775Z,1755805185.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.1,  31.5 (Local)

2025-08-21T19:39:45.777Z,1755805185.777 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:45.782Z,1755805185.782 [DAT](INFO): DAT read: 19:39:44.6861 LVL= 27024, 12353, 18130, 32755, AGC= 45, IDX= 503,-0.13,-0.321,-0.473,-1.261, 0.808, PHS=-1.026,-1.235,-2.113, RAW=  40.5,  57.2, CAL=  38.9,  61.0, ROT= 111.1, -61.0

2025-08-21T19:39:45.783Z,1755805185.783 [DAT](INFO): got valid direction response:
 19:39:44.6861 LVL= 27024, 12353, 18130, 32755, AGC= 45, IDX= 503,-0.13,-0.321,-0.473,-1.261, 0.808, PHS=-1.026,-1.235,-2.113, RAW=  40.5,  57.2, CAL=  38.9,  61.0, ROT= 111.1, -61.0

2025-08-21T19:39:45.783Z,1755805185.783 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-21T19:39:45.784Z,1755805185.784 [DAT](INFO): direction in FSK: [-0.174530,0.452305,0.874620]
2025-08-21T19:39:45.785Z,1755805185.785 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:45.792Z,1755805185.792 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.565783
2025-08-21T19:39:46.008Z,1755805186.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503291 s,
      deltaX: -0.100000 m,
      approachRate: -0.198692 m/s,
      rangeRepo size: 4

2025-08-21T19:39:46.010Z,1755805186.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689109 m,
      bearing: 332.898753 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.503291 s,
      deltaX: -0.099359 m,
      approachRate: -0.197419 m/s,
      posRepo size: 4

2025-08-21T19:39:46.025Z,1755805186.025 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=7.797860
2025-08-21T19:39:46.281Z,1755805186.281 [DAT](INFO): DAT read: Rx Time:19:39:45.1863 

2025-08-21T19:39:46.281Z,1755805186.281 [DAT](INFO): Rx dataTimestamp_ set to:1755805186.281157
2025-08-21T19:39:46.284Z,1755805186.284 [DAT](INFO): DAT read: Bearing  91.3,  31.2 (Local)

2025-08-21T19:39:46.284Z,1755805186.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing  91.3,  31.2 (Local)

2025-08-21T19:39:46.287Z,1755805186.287 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:46.294Z,1755805186.294 [DAT](INFO): DAT read: 19:39:45.1863 LVL= 26480, 12449, 18642, 32755, AGC= 45, IDX= 504,-0.01, 1.152, 0.999, 0.222, 2.287, PHS=-1.033,-1.242,-2.108, RAW=  40.6,  57.5, CAL=  39.0,  61.3, ROT= 111.0, -61.3

2025-08-21T19:39:46.295Z,1755805186.295 [DAT](INFO): got valid direction response:
 19:39:45.1863 LVL= 26480, 12449, 18642, 32755, AGC= 45, IDX= 504,-0.01, 1.152, 0.999, 0.222, 2.287, PHS=-1.033,-1.242,-2.108, RAW=  40.6,  57.5, CAL=  39.0,  61.3, ROT= 111.0, -61.3

2025-08-21T19:39:46.295Z,1755805186.295 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-21T19:39:46.296Z,1755805186.296 [DAT](INFO): direction in FSK: [-0.172097,0.448327,0.877146]
2025-08-21T19:39:46.297Z,1755805186.297 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:46.300Z,1755805186.300 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.073788
2025-08-21T19:39:46.505Z,1755805186.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508047 s,
      deltaX: 0.300000 m,
      approachRate: 0.590496 m/s,
      rangeRepo size: 4

2025-08-21T19:39:46.511Z,1755805186.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987188 m,
      bearing: 332.377223 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.508047 s,
      deltaX: 0.298078 m,
      approachRate: 0.586714 m/s,
      posRepo size: 4

2025-08-21T19:39:46.528Z,1755805186.528 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=8.301781
2025-08-21T19:39:46.782Z,1755805186.782 [DAT](INFO): DAT read: Rx Time:19:39:45.6862 

2025-08-21T19:39:46.782Z,1755805186.782 [DAT](INFO): Rx dataTimestamp_ set to:1755805186.781765
2025-08-21T19:39:46.783Z,1755805186.783 [DAT](INFO): DAT read: Bearing  89.6,  30.5 (Local)

2025-08-21T19:39:46.784Z,1755805186.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.6,  30.5 (Local)

2025-08-21T19:39:46.786Z,1755805186.786 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:46.791Z,1755805186.791 [DAT](INFO): DAT read: 19:39:45.6862 LVL= 25760, 11201, 19682, 30243, AGC= 44, IDX= 503, 0.09, 0.950, 0.789, 0.064, 2.088, PHS=-1.036,-1.253,-2.068, RAW=  41.5,  58.6, CAL=  40.0,  62.3, ROT= 110.0, -62.3

2025-08-21T19:39:46.792Z,1755805186.792 [DAT](INFO): got valid direction response:
 19:39:45.6862 LVL= 25760, 11201, 19682, 30243, AGC= 44, IDX= 503, 0.09, 0.950, 0.789, 0.064, 2.088, PHS=-1.036,-1.253,-2.068, RAW=  41.5,  58.6, CAL=  40.0,  62.3, ROT= 110.0, -62.3

2025-08-21T19:39:46.793Z,1755805186.793 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-21T19:39:46.794Z,1755805186.794 [DAT](INFO): direction in FSK: [-0.158985,0.436809,0.885394]
2025-08-21T19:39:46.794Z,1755805186.794 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:46.798Z,1755805186.798 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.571310
2025-08-21T19:39:46.964Z,1755805186.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.500608 s,
      deltaX: -0.200000 m,
      approachRate: -0.399514 m/s,
      rangeRepo size: 4

2025-08-21T19:39:46.966Z,1755805186.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788464 m,
      bearing: 331.559206 deg,
      lat: 36.779403 deg,
      lon: -121.859684 deg,
      deltaT: 0.500608 s,
      deltaX: -0.198723 m,
      approachRate: -0.396963 m/s,
      posRepo size: 4

2025-08-21T19:39:47.033Z,1755805187.033 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=8.806177
2025-08-21T19:39:47.285Z,1755805187.285 [DAT](INFO): DAT read: Rx Time:19:39:46.1863 

2025-08-21T19:39:47.285Z,1755805187.285 [DAT](INFO): Rx dataTimestamp_ set to:1755805187.285139
2025-08-21T19:39:47.287Z,1755805187.287 [DAT](INFO): DAT read: Bearing  87.6,  31.3 (Local)

2025-08-21T19:39:47.287Z,1755805187.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing  87.6,  31.3 (Local)

2025-08-21T19:39:47.289Z,1755805187.289 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:47.294Z,1755805187.294 [DAT](INFO): DAT read: 19:39:46.1863 LVL= 28064, 11697, 18418, 32755, AGC= 44, IDX= 504, 0.20, 2.476, 2.252, 1.552,-2.689, PHS=-1.016,-1.296,-2.086, RAW=  44.6,  58.3, CAL=  43.0,  62.0, ROT= 107.0, -62.0

2025-08-21T19:39:47.295Z,1755805187.295 [DAT](INFO): got valid direction response:
 19:39:46.1863 LVL= 28064, 11697, 18418, 32755, AGC= 44, IDX= 504, 0.20, 2.476, 2.252, 1.552,-2.689, PHS=-1.016,-1.296,-2.086, RAW=  44.6,  58.3, CAL=  43.0,  62.0, ROT= 107.0, -62.0

2025-08-21T19:39:47.295Z,1755805187.295 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-21T19:39:47.296Z,1755805187.296 [DAT](INFO): direction in FSK: [-0.137260,0.448958,0.882948]
2025-08-21T19:39:47.296Z,1755805187.296 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:47.301Z,1755805187.301 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.074036
2025-08-21T19:39:47.406Z,1755805187.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503374 s,
      deltaX: 0.200000 m,
      approachRate: 0.397319 m/s,
      rangeRepo size: 4

2025-08-21T19:39:47.412Z,1755805187.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987183 m,
      bearing: 326.900844 deg,
      lat: 36.779403 deg,
      lon: -121.859685 deg,
      deltaT: 0.503374 s,
      deltaX: 0.198718 m,
      approachRate: 0.394773 m/s,
      posRepo size: 4

2025-08-21T19:39:47.537Z,1755805187.537 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=9.310487
2025-08-21T19:39:47.793Z,1755805187.793 [DAT](INFO): DAT read: Rx Time:19:39:46.6862 

2025-08-21T19:39:47.793Z,1755805187.793 [DAT](INFO): Rx dataTimestamp_ set to:1755805187.792812
2025-08-21T19:39:47.794Z,1755805187.794 [DAT](INFO): DAT read: Bearing  85.0,  31.9 (Local)

2025-08-21T19:39:47.795Z,1755805187.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing  85.0,  31.9 (Local)

2025-08-21T19:39:47.797Z,1755805187.797 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:47.801Z,1755805187.801 [DAT](INFO): DAT read: 19:39:46.6862 LVL= 24512, 11729, 16370, 30643, AGC= 44, IDX= 503, 0.31, 1.586, 1.288, 0.640, 2.691, PHS=-1.002,-1.358,-2.095, RAW=  48.6,  58.5, CAL=  46.7,  62.1, ROT= 103.3, -62.1

2025-08-21T19:39:47.802Z,1755805187.802 [DAT](INFO): got valid direction response:
 19:39:46.6862 LVL= 24512, 11729, 16370, 30643, AGC= 44, IDX= 503, 0.31, 1.586, 1.288, 0.640, 2.691, PHS=-1.002,-1.358,-2.095, RAW=  48.6,  58.5, CAL=  46.7,  62.1, ROT= 103.3, -62.1

2025-08-21T19:39:47.803Z,1755805187.803 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-21T19:39:47.804Z,1755805187.804 [DAT](INFO): direction in FSK: [-0.107647,0.455379,0.883766]
2025-08-21T19:39:47.804Z,1755805187.804 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:47.843Z,1755805187.843 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.616003
2025-08-21T19:39:47.917Z,1755805187.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.507673 s,
      deltaX: -0.200000 m,
      approachRate: -0.393954 m/s,
      rangeRepo size: 4

2025-08-21T19:39:47.919Z,1755805187.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788465 m,
      bearing: 322.315513 deg,
      lat: 36.779403 deg,
      lon: -121.859685 deg,
      deltaT: 0.507673 s,
      deltaX: -0.198717 m,
      approachRate: -0.391428 m/s,
      posRepo size: 4

2025-08-21T19:39:48.044Z,1755805188.044 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=9.817754
2025-08-21T19:39:48.268Z,1755805188.268 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:48.300Z,1755805188.300 [DAT](INFO): DAT read: Rx Time:19:39:47.1863 

2025-08-21T19:39:48.300Z,1755805188.300 [DAT](INFO): Rx dataTimestamp_ set to:1755805188.300081
2025-08-21T19:39:48.302Z,1755805188.302 [DAT](INFO): DAT read: Bearing  82.4,  32.5 (Local)

2025-08-21T19:39:48.302Z,1755805188.302 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.4,  32.5 (Local)

2025-08-21T19:39:48.304Z,1755805188.304 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-21T19:39:48.309Z,1755805188.309 [DAT](INFO): DAT read: 19:39:47.1863 LVL= 24304, 12257, 16242, 30371, AGC= 44, IDX= 504, 0.46, 3.039, 2.677, 2.086,-2.163, PHS=-0.980,-1.398,-2.078, RAW=  52.2,  58.6, CAL=  50.1,  62.2, ROT=  99.9, -62.2

2025-08-21T19:39:48.310Z,1755805188.310 [DAT](INFO): got valid direction response:
 19:39:47.1863 LVL= 24304, 12257, 16242, 30371, AGC= 44, IDX= 504, 0.46, 3.039, 2.677, 2.086,-2.163, PHS=-0.980,-1.398,-2.078, RAW=  52.2,  58.6, CAL=  50.1,  62.2, ROT=  99.9, -62.2

2025-08-21T19:39:48.311Z,1755805188.311 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-21T19:39:48.317Z,1755805188.317 [DAT](INFO): direction in FSK: [-0.080185,0.459442,0.884581]
2025-08-21T19:39:48.317Z,1755805188.317 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:48.327Z,1755805188.327 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.099926
2025-08-21T19:39:48.548Z,1755805188.548 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=10.321664
2025-08-21T19:39:48.642Z,1755805188.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507269 s,
      deltaX: 0.200000 m,
      approachRate: 0.394268 m/s,
      rangeRepo size: 4

2025-08-21T19:39:48.653Z,1755805188.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987184 m,
      bearing: 317.509612 deg,
      lat: 36.779403 deg,
      lon: -121.859686 deg,
      deltaT: 0.507269 s,
      deltaX: 0.198719 m,
      approachRate: 0.391743 m/s,
      posRepo size: 4

2025-08-21T19:39:48.801Z,1755805188.801 [DAT](INFO): DAT read: Rx Time:19:39:47.6861 

2025-08-21T19:39:48.802Z,1755805188.802 [DAT](INFO): Rx dataTimestamp_ set to:1755805188.801332
2025-08-21T19:39:48.803Z,1755805188.803 [DAT](INFO): DAT read: Bearing  78.9,  32.7 (Local)

2025-08-21T19:39:48.803Z,1755805188.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.9,  32.7 (Local)

2025-08-21T19:39:48.805Z,1755805188.805 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:48.810Z,1755805188.810 [DAT](INFO): DAT read: 19:39:47.6861 LVL= 24432, 12369, 16306, 29571, AGC= 44, IDX= 504,-0.34, 0.809, 0.356,-0.143, 1.861, PHS=-0.951,-1.460,-2.049, RAW=  57.6,  58.9, CAL=  55.3,  62.5, ROT=  94.7, -62.5

2025-08-21T19:39:48.811Z,1755805188.811 [DAT](INFO): got valid direction response:
 19:39:47.6861 LVL= 24432, 12369, 16306, 29571, AGC= 44, IDX= 504,-0.34, 0.809, 0.356,-0.143, 1.861, PHS=-0.951,-1.460,-2.049, RAW=  57.6,  58.9, CAL=  55.3,  62.5, ROT=  94.7, -62.5

2025-08-21T19:39:48.812Z,1755805188.812 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-21T19:39:48.813Z,1755805188.813 [DAT](INFO): direction in FSK: [-0.037835,0.460196,0.887011]
2025-08-21T19:39:48.813Z,1755805188.813 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:48.816Z,1755805188.816 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.589855
2025-08-21T19:39:49.021Z,1755805189.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501251 s,
      deltaX: -0.300000 m,
      approachRate: -0.598502 m/s,
      rangeRepo size: 4

2025-08-21T19:39:49.027Z,1755805189.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 310.863531 deg,
      lat: 36.779402 deg,
      lon: -121.859686 deg,
      deltaT: 0.501251 s,
      deltaX: -0.298078 m,
      approachRate: -0.594667 m/s,
      posRepo size: 4

2025-08-21T19:39:49.053Z,1755805189.053 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=10.826248
2025-08-21T19:39:49.305Z,1755805189.305 [DAT](INFO): DAT read: Rx Time:19:39:48.1861 

2025-08-21T19:39:49.305Z,1755805189.305 [DAT](INFO): Rx dataTimestamp_ set to:1755805189.304915
2025-08-21T19:39:49.306Z,1755805189.306 [DAT](INFO): DAT read: Bearing  78.0,  33.1 (Local)

2025-08-21T19:39:49.307Z,1755805189.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.0,  33.1 (Local)

2025-08-21T19:39:49.309Z,1755805189.309 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:49.313Z,1755805189.313 [DAT](INFO): DAT read: 19:39:48.1861 LVL= 26944, 10593, 18066, 32755, AGC= 43, IDX= 504,-0.25, 1.099, 0.647, 0.154, 2.131, PHS=-0.930,-1.439,-2.021, RAW=  57.8,  58.6, CAL=  55.4,  62.3, ROT=  94.6, -62.3

2025-08-21T19:39:49.314Z,1755805189.314 [DAT](INFO): got valid direction response:
 19:39:48.1861 LVL= 26944, 10593, 18066, 32755, AGC= 43, IDX= 504,-0.25, 1.099, 0.647, 0.154, 2.131, PHS=-0.930,-1.439,-2.021, RAW=  57.8,  58.6, CAL=  55.4,  62.3, ROT=  94.6, -62.3

2025-08-21T19:39:49.315Z,1755805189.315 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-21T19:39:49.316Z,1755805189.316 [DAT](INFO): direction in FSK: [-0.037280,0.463345,0.885394]
2025-08-21T19:39:49.316Z,1755805189.316 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:49.325Z,1755805189.325 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.097966
2025-08-21T19:39:49.437Z,1755805189.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503583 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:49.443Z,1755805189.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 310.184630 deg,
      lat: 36.779401 deg,
      lon: -121.859687 deg,
      deltaT: 0.503583 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:39:49.557Z,1755805189.557 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=11.329931
2025-08-21T19:39:49.809Z,1755805189.809 [DAT](INFO): DAT read: Rx Time:19:39:48.6860 

2025-08-21T19:39:49.809Z,1755805189.809 [DAT](INFO): Rx dataTimestamp_ set to:1755805189.809117
2025-08-21T19:39:49.811Z,1755805189.811 [DAT](INFO): DAT read: Bearing  77.8,  34.1 (Local)

2025-08-21T19:39:49.812Z,1755805189.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.8,  34.1 (Local)

2025-08-21T19:39:49.814Z,1755805189.814 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:39:49.818Z,1755805189.818 [DAT](INFO): DAT read: 19:39:48.6860 LVL= 26608, 10129, 18114, 32627, AGC= 43, IDX= 503,-0.14, 0.985, 0.527,-0.008, 2.008, PHS=-0.921,-1.436,-2.060, RAW=  56.8,  57.7, CAL=  54.5,  61.5, ROT=  95.5, -61.5

2025-08-21T19:39:49.836Z,1755805189.836 [DAT](INFO): got valid direction response:
 19:39:48.6860 LVL= 26608, 10129, 18114, 32627, AGC= 43, IDX= 503,-0.14, 0.985, 0.527,-0.008, 2.008, PHS=-0.921,-1.436,-2.060, RAW=  56.8,  57.7, CAL=  54.5,  61.5, ROT=  95.5, -61.5

2025-08-21T19:39:49.836Z,1755805189.836 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-21T19:39:49.837Z,1755805189.837 [DAT](INFO): direction in FSK: [-0.045734,0.474962,0.878817]
2025-08-21T19:39:49.837Z,1755805189.837 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:49.849Z,1755805189.849 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.622561
2025-08-21T19:39:49.882Z,1755805189.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504202 s,
      deltaX: -0.200000 m,
      approachRate: -0.396666 m/s,
      rangeRepo size: 4

2025-08-21T19:39:49.896Z,1755805189.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490388 m,
      bearing: 310.564682 deg,
      lat: 36.779400 deg,
      lon: -121.859687 deg,
      deltaT: 0.504202 s,
      deltaX: -0.198719 m,
      approachRate: -0.394126 m/s,
      posRepo size: 4

2025-08-21T19:39:50.060Z,1755805190.060 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=11.833837
2025-08-21T19:39:50.286Z,1755805190.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:50.313Z,1755805190.313 [DAT](INFO): DAT read: Rx Time:19:39:49.1862 

2025-08-21T19:39:50.313Z,1755805190.313 [DAT](INFO): Rx dataTimestamp_ set to:1755805190.313102
2025-08-21T19:39:50.315Z,1755805190.315 [DAT](INFO): DAT read: Bearing  78.0,  34.9 (Local)

2025-08-21T19:39:50.315Z,1755805190.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing  78.0,  34.9 (Local)

2025-08-21T19:39:50.317Z,1755805190.317 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:50.322Z,1755805190.322 [DAT](INFO): DAT read: 19:39:49.1862 LVL= 23792, 11105, 19426, 28979, AGC= 44, IDX= 504,-0.03, 2.490, 2.041, 1.459,-2.780, PHS=-0.912,-1.418,-2.089, RAW=  55.4,  56.8, CAL=  53.0,  60.6, ROT=  97.0, -60.6

2025-08-21T19:39:50.323Z,1755805190.323 [DAT](INFO): got valid direction response:
 19:39:49.1862 LVL= 23792, 11105, 19426, 28979, AGC= 44, IDX= 504,-0.03, 2.490, 2.041, 1.459,-2.780, PHS=-0.912,-1.418,-2.089, RAW=  55.4,  56.8, CAL=  53.0,  60.6, ROT=  97.0, -60.6

2025-08-21T19:39:50.323Z,1755805190.323 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-21T19:39:50.324Z,1755805190.324 [DAT](INFO): direction in FSK: [-0.059826,0.487245,0.871214]
2025-08-21T19:39:50.325Z,1755805190.325 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:50.329Z,1755805190.329 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.101959
2025-08-21T19:39:50.564Z,1755805190.564 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=12.337740
2025-08-21T19:39:50.680Z,1755805190.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503985 s,
      deltaX: 0.300000 m,
      approachRate: 0.595256 m/s,
      rangeRepo size: 4

2025-08-21T19:39:50.682Z,1755805190.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 311.134802 deg,
      lat: 36.779400 deg,
      lon: -121.859687 deg,
      deltaT: 0.503985 s,
      deltaX: 0.298079 m,
      approachRate: 0.591443 m/s,
      posRepo size: 4

2025-08-21T19:39:50.822Z,1755805190.822 [DAT](INFO): DAT read: Rx Time:19:39:49.6861 

2025-08-21T19:39:50.823Z,1755805190.823 [DAT](INFO): Rx dataTimestamp_ set to:1755805190.822244
2025-08-21T19:39:50.824Z,1755805190.824 [DAT](INFO): DAT read: Bearing  77.1,  35.2 (Local)

2025-08-21T19:39:50.824Z,1755805190.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing  77.1,  35.2 (Local)

2025-08-21T19:39:50.826Z,1755805190.826 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:50.836Z,1755805190.836 [DAT](INFO): DAT read: 19:39:49.6861 LVL= 26784, 10081, 17842, 32195, AGC= 43, IDX= 503, 0.06, 3.064, 2.607, 2.020,-2.209, PHS=-0.908,-1.422,-2.098, RAW=  55.5,  56.6, CAL=  53.1,  60.4, ROT=  96.9, -60.4

2025-08-21T19:39:50.838Z,1755805190.838 [DAT](INFO): got valid direction response:
 19:39:49.6861 LVL= 26784, 10081, 17842, 32195, AGC= 43, IDX= 503, 0.06, 3.064, 2.607, 2.020,-2.209, PHS=-0.908,-1.422,-2.098, RAW=  55.5,  56.6, CAL=  53.1,  60.4, ROT=  96.9, -60.4

2025-08-21T19:39:50.838Z,1755805190.838 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-21T19:39:50.853Z,1755805190.853 [DAT](INFO): direction in FSK: [-0.059341,0.490364,0.869495]
2025-08-21T19:39:50.853Z,1755805190.853 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:50.865Z,1755805190.865 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.638048
2025-08-21T19:39:51.072Z,1755805191.072 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=12.845799
2025-08-21T19:39:51.076Z,1755805191.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.509142 s,
      deltaX: -0.100000 m,
      approachRate: -0.196409 m/s,
      rangeRepo size: 4

2025-08-21T19:39:51.078Z,1755805191.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 310.390625 deg,
      lat: 36.779399 deg,
      lon: -121.859687 deg,
      deltaT: 0.509142 s,
      deltaX: -0.099359 m,
      approachRate: -0.195150 m/s,
      posRepo size: 4

2025-08-21T19:39:51.329Z,1755805191.329 [DAT](INFO): DAT read: Rx Time:19:39:50.1862 

2025-08-21T19:39:51.329Z,1755805191.329 [DAT](INFO): Rx dataTimestamp_ set to:1755805191.329177
2025-08-21T19:39:51.332Z,1755805191.332 [DAT](INFO): DAT read: Bearing  75.6,  35.5 (Local)

2025-08-21T19:39:51.332Z,1755805191.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.6,  35.5 (Local)

2025-08-21T19:39:51.335Z,1755805191.335 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:51.342Z,1755805191.342 [DAT](INFO): DAT read: 19:39:50.1862 LVL= 23888, 11425, 19042, 29043, AGC= 44, IDX= 504, 0.18,-1.713,-2.202,-2.784,-0.704, PHS=-0.907,-1.453,-2.124, RAW=  56.6,  56.3, CAL=  54.2,  60.3, ROT=  95.8, -60.3

2025-08-21T19:39:51.343Z,1755805191.343 [DAT](INFO): got valid direction response:
 19:39:50.1862 LVL= 23888, 11425, 19042, 29043, AGC= 44, IDX= 504, 0.18,-1.713,-2.202,-2.784,-0.704, PHS=-0.907,-1.453,-2.124, RAW=  56.6,  56.3, CAL=  54.2,  60.3, ROT=  95.8, -60.3

2025-08-21T19:39:51.343Z,1755805191.343 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-21T19:39:51.344Z,1755805191.344 [DAT](INFO): direction in FSK: [-0.050069,0.492922,0.868631]
2025-08-21T19:39:51.345Z,1755805191.345 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:51.348Z,1755805191.348 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=13.121753
2025-08-21T19:39:51.489Z,1755805191.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.506933 s,
      deltaX: 0.100000 m,
      approachRate: 0.197265 m/s,
      rangeRepo size: 4

2025-08-21T19:39:51.491Z,1755805191.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 309.028571 deg,
      lat: 36.779399 deg,
      lon: -121.859688 deg,
      deltaT: 0.506933 s,
      deltaX: 0.099359 m,
      approachRate: 0.196001 m/s,
      posRepo size: 4

2025-08-21T19:39:51.577Z,1755805191.577 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=13.350640
2025-08-21T19:39:51.829Z,1755805191.829 [DAT](INFO): DAT read: Rx Time:19:39:50.6861 

2025-08-21T19:39:51.829Z,1755805191.829 [DAT](INFO): Rx dataTimestamp_ set to:1755805191.828941
2025-08-21T19:39:51.830Z,1755805191.830 [DAT](INFO): DAT read: Bearing  73.2,  35.7 (Local)

2025-08-21T19:39:51.831Z,1755805191.831 [DAT](INFO): Local bearing/azimuth received:
 Bearing  73.2,  35.7 (Local)

2025-08-21T19:39:51.833Z,1755805191.833 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:51.837Z,1755805191.837 [DAT](INFO): DAT read: 19:39:50.6861 LVL= 21296, 11441, 17250, 24819, AGC= 43, IDX= 503, 0.33, 3.002, 2.467, 1.928,-2.289, PHS=-0.890,-1.482,-2.110, RAW=  59.0,  56.3, CAL=  56.4,  60.3, ROT=  93.6, -60.3

2025-08-21T19:39:51.838Z,1755805191.838 [DAT](INFO): got valid direction response:
 19:39:50.6861 LVL= 21296, 11441, 17250, 24819, AGC= 43, IDX= 503, 0.33, 3.002, 2.467, 1.928,-2.289, PHS=-0.890,-1.482,-2.110, RAW=  59.0,  56.3, CAL=  56.4,  60.3, ROT=  93.6, -60.3

2025-08-21T19:39:51.839Z,1755805191.839 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-21T19:39:51.843Z,1755805191.843 [DAT](INFO): direction in FSK: [-0.031110,0.494481,0.868631]
2025-08-21T19:39:51.843Z,1755805191.843 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:51.847Z,1755805191.847 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.620312
2025-08-21T19:39:51.990Z,1755805191.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.499764 s,
      deltaX: -0.100000 m,
      approachRate: -0.200094 m/s,
      rangeRepo size: 4

2025-08-21T19:39:51.997Z,1755805191.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689105 m,
      bearing: 305.088355 deg,
      lat: 36.779399 deg,
      lon: -121.859688 deg,
      deltaT: 0.499764 s,
      deltaX: -0.099361 m,
      approachRate: -0.198815 m/s,
      posRepo size: 4

2025-08-21T19:39:52.082Z,1755805192.082 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=13.855870
2025-08-21T19:39:52.313Z,1755805192.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:52.354Z,1755805192.354 [DAT](INFO): DAT read: Rx Time:19:39:51.1862 

2025-08-21T19:39:52.355Z,1755805192.355 [DAT](INFO): Rx dataTimestamp_ set to:1755805192.354403
2025-08-21T19:39:52.357Z,1755805192.357 [DAT](INFO): DAT read: Bearing  69.8,  35.6 (Local)

2025-08-21T19:39:52.357Z,1755805192.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing  69.8,  35.6 (Local)

2025-08-21T19:39:52.360Z,1755805192.360 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:52.367Z,1755805192.367 [DAT](INFO): DAT read: 19:39:51.1862 LVL= 23328, 11425, 16866, 27171, AGC= 43, IDX= 505,-0.45, 3.040, 2.442, 1.982,-2.266, PHS=-0.875,-1.531,-2.080, RAW=  62.9,  56.6, CAL=  60.1,  60.7, ROT=  89.9, -60.7

2025-08-21T19:39:52.388Z,1755805192.388 [DAT](INFO): got valid direction response:
 19:39:51.1862 LVL= 23328, 11425, 16866, 27171, AGC= 43, IDX= 505,-0.45, 3.040, 2.442, 1.982,-2.266, PHS=-0.875,-1.531,-2.080, RAW=  62.9,  56.6, CAL=  60.1,  60.7, ROT=  89.9, -60.7

2025-08-21T19:39:52.388Z,1755805192.388 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-21T19:39:52.389Z,1755805192.389 [DAT](INFO): direction in FSK: [0.000854,0.489382,0.872069]
2025-08-21T19:39:52.390Z,1755805192.390 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:52.408Z,1755805192.408 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=14.181023
2025-08-21T19:39:52.605Z,1755805192.605 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=14.378084
2025-08-21T19:39:52.782Z,1755805192.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.525462 s,
      deltaX: 0.100000 m,
      approachRate: 0.190309 m/s,
      rangeRepo size: 4

2025-08-21T19:39:52.788Z,1755805192.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788464 m,
      bearing: 299.213745 deg,
      lat: 36.779399 deg,
      lon: -121.859688 deg,
      deltaT: 0.525462 s,
      deltaX: 0.099359 m,
      approachRate: 0.189088 m/s,
      posRepo size: 4

2025-08-21T19:39:52.858Z,1755805192.858 [DAT](INFO): DAT read: Rx Time:19:39:51.6861 

2025-08-21T19:39:52.858Z,1755805192.858 [DAT](INFO): Rx dataTimestamp_ set to:1755805192.858190
2025-08-21T19:39:52.884Z,1755805192.884 [DAT](INFO): DAT read: Bearing  66.9,  35.5 (Local)

2025-08-21T19:39:52.884Z,1755805192.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.9,  35.5 (Local)

2025-08-21T19:39:52.886Z,1755805192.886 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:52.903Z,1755805192.903 [DAT](INFO): DAT read: 19:39:51.6861 LVL= 23152, 11329, 17154, 26755, AGC= 43, IDX= 504,-0.26, 1.419, 0.763, 0.354, 2.391, PHS=-0.870,-1.583,-2.081, RAW=  65.9,  56.7, CAL=  63.1,  60.9, ROT=  86.9, -60.9

2025-08-21T19:39:52.904Z,1755805192.904 [DAT](INFO): got valid direction response:
 19:39:51.6861 LVL= 23152, 11329, 17154, 26755, AGC= 43, IDX= 504,-0.26, 1.419, 0.763, 0.354, 2.391, PHS=-0.870,-1.583,-2.081, RAW=  65.9,  56.7, CAL=  63.1,  60.9, ROT=  86.9, -60.9

2025-08-21T19:39:52.904Z,1755805192.904 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-21T19:39:52.905Z,1755805192.905 [DAT](INFO): direction in FSK: [0.026300,0.485624,0.873772]
2025-08-21T19:39:52.905Z,1755805192.905 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:52.915Z,1755805192.915 [DockingStepper](ERROR): getADC uart error serial timeout
2025-08-21T19:39:52.915Z,1755805192.915 [DockingStepper](FAULT): uart error - getPosition..serial timeout
2025-08-21T19:39:52.916Z,1755805192.916 [DockingStepper] Communications Fault, FailCount= 1
2025-08-21T19:39:52.916Z,1755805192.916 [DockingStepper](ERROR): Communications Fault
2025-08-21T19:39:52.925Z,1755805192.925 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.698714
2025-08-21T19:39:53.067Z,1755805193.067 [CBIT](ERROR): Communications Fault in component: DockingStepper
2025-08-21T19:39:53.108Z,1755805193.108 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=14.881718
2025-08-21T19:39:53.177Z,1755805193.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503787 s,
      deltaX: -0.100000 m,
      approachRate: -0.198496 m/s,
      rangeRepo size: 4

2025-08-21T19:39:53.184Z,1755805193.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689105 m,
      bearing: 295.513295 deg,
      lat: 36.779399 deg,
      lon: -121.859689 deg,
      deltaT: 0.503787 s,
      deltaX: -0.099359 m,
      approachRate: -0.197224 m/s,
      posRepo size: 4

2025-08-21T19:39:53.288Z,1755805193.288 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-21T19:39:53.288Z,1755805193.288 [DockingStepper](INFO): Powering down
2025-08-21T19:39:53.361Z,1755805193.361 [DAT](INFO): DAT read: Rx Time:19:39:52.1861 

2025-08-21T19:39:53.361Z,1755805193.361 [DAT](INFO): Rx dataTimestamp_ set to:1755805193.360995
2025-08-21T19:39:53.363Z,1755805193.363 [DAT](INFO): DAT read: Bearing  65.9,  35.7 (Local)

2025-08-21T19:39:53.363Z,1755805193.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.9,  35.7 (Local)

2025-08-21T19:39:53.365Z,1755805193.365 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:53.370Z,1755805193.370 [DAT](INFO): DAT read: 19:39:52.1861 LVL= 23216, 10513, 17106, 26835, AGC= 42, IDX= 504,-0.13, 1.706, 1.056, 0.641, 2.677, PHS=-0.869,-1.576,-2.080, RAW=  65.5,  56.6, CAL=  62.7,  60.8, ROT=  87.3, -60.8

2025-08-21T19:39:53.371Z,1755805193.371 [DAT](INFO): got valid direction response:
 19:39:52.1861 LVL= 23216, 10513, 17106, 26835, AGC= 42, IDX= 504,-0.13, 1.706, 1.056, 0.641, 2.677, PHS=-0.869,-1.576,-2.080, RAW=  65.5,  56.6, CAL=  62.7,  60.8, ROT=  87.3, -60.8

2025-08-21T19:39:53.371Z,1755805193.371 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-21T19:39:53.372Z,1755805193.372 [DAT](INFO): direction in FSK: [0.022981,0.487318,0.872922]
2025-08-21T19:39:53.372Z,1755805193.372 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:53.376Z,1755805193.376 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.149575
2025-08-21T19:39:53.612Z,1755805193.612 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=15.385838
2025-08-21T19:39:53.613Z,1755805193.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502805 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:53.615Z,1755805193.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689105 m,
      bearing: 294.405581 deg,
      lat: 36.779398 deg,
      lon: -121.859689 deg,
      deltaT: 0.502805 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:39:53.865Z,1755805193.865 [DAT](INFO): DAT read: Rx Time:19:39:52.6861 

2025-08-21T19:39:53.865Z,1755805193.865 [DAT](INFO): Rx dataTimestamp_ set to:1755805193.865015
2025-08-21T19:39:53.867Z,1755805193.867 [DAT](INFO): DAT read: Bearing  62.0,  35.6 (Local)

2025-08-21T19:39:53.867Z,1755805193.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing  62.0,  35.6 (Local)

2025-08-21T19:39:53.870Z,1755805193.870 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:53.874Z,1755805193.874 [DAT](INFO): DAT read: 19:39:52.6861 LVL= 22848, 12273, 17090, 26403, AGC= 43, IDX= 503,-0.03, 0.731,-0.017,-0.358, 1.695, PHS=-0.862,-1.666,-2.096, RAW=  69.9,  56.4, CAL=  67.1,  60.9, ROT=  82.9, -60.9

2025-08-21T19:39:53.875Z,1755805193.875 [DAT](INFO): got valid direction response:
 19:39:52.6861 LVL= 22848, 12273, 17090, 26403, AGC= 43, IDX= 503,-0.03, 0.731,-0.017,-0.358, 1.695, PHS=-0.862,-1.666,-2.096, RAW=  69.9,  56.4, CAL=  67.1,  60.9, ROT=  82.9, -60.9

2025-08-21T19:39:53.876Z,1755805193.876 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-21T19:39:53.877Z,1755805193.877 [DAT](INFO): direction in FSK: [0.060112,0.482606,0.873772]
2025-08-21T19:39:53.877Z,1755805193.877 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:53.901Z,1755805193.901 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.674775
2025-08-21T19:39:54.053Z,1755805194.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504020 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:54.060Z,1755805194.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 288.009996 deg,
      lat: 36.779398 deg,
      lon: -121.859689 deg,
      deltaT: 0.504020 s,
      deltaX: 0.000000 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-21T19:39:54.118Z,1755805194.118 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=15.891014
2025-08-21T19:39:54.347Z,1755805194.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:54.369Z,1755805194.369 [DAT](INFO): DAT read: Rx Time:19:39:53.1862 

2025-08-21T19:39:54.369Z,1755805194.369 [DAT](INFO): Rx dataTimestamp_ set to:1755805194.369041
2025-08-21T19:39:54.371Z,1755805194.371 [DAT](INFO): DAT read: Bearing  59.5,  35.4 (Local)

2025-08-21T19:39:54.371Z,1755805194.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing  59.5,  35.4 (Local)

2025-08-21T19:39:54.373Z,1755805194.373 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:54.378Z,1755805194.378 [DAT](INFO): DAT read: 19:39:53.1862 LVL= 26608, 12017, 18546, 30371, AGC= 43, IDX= 504, 0.07, 2.871, 2.087, 1.787,-2.452, PHS=-0.858,-1.700,-2.089, RAW=  72.0,  56.4, CAL=  69.2,  61.0, ROT=  80.8, -61.0

2025-08-21T19:39:54.379Z,1755805194.379 [DAT](INFO): got valid direction response:
 19:39:53.1862 LVL= 26608, 12017, 18546, 30371, AGC= 43, IDX= 504, 0.07, 2.871, 2.087, 1.787,-2.452, PHS=-0.858,-1.700,-2.089, RAW=  72.0,  56.4, CAL=  69.2,  61.0, ROT=  80.8, -61.0

2025-08-21T19:39:54.379Z,1755805194.379 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-21T19:39:54.380Z,1755805194.380 [DAT](INFO): direction in FSK: [0.077512,0.478573,0.874620]
2025-08-21T19:39:54.380Z,1755805194.380 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:54.384Z,1755805194.384 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.157278
2025-08-21T19:39:54.620Z,1755805194.620 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=16.393774
2025-08-21T19:39:54.816Z,1755805194.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504026 s,
      deltaX: 0.100000 m,
      approachRate: 0.198402 m/s,
      rangeRepo size: 4

2025-08-21T19:39:54.818Z,1755805194.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 283.601508 deg,
      lat: 36.779398 deg,
      lon: -121.859689 deg,
      deltaT: 0.504026 s,
      deltaX: 0.099361 m,
      approachRate: 0.197134 m/s,
      posRepo size: 4

2025-08-21T19:39:54.873Z,1755805194.873 [DAT](INFO): DAT read: Rx Time:19:39:53.6861 

2025-08-21T19:39:54.874Z,1755805194.874 [DAT](INFO): Rx dataTimestamp_ set to:1755805194.873235
2025-08-21T19:39:54.875Z,1755805194.875 [DAT](INFO): DAT read: Bearing  52.3,  34.4 (Local)

2025-08-21T19:39:54.875Z,1755805194.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing  52.3,  34.4 (Local)

2025-08-21T19:39:54.877Z,1755805194.877 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:54.892Z,1755805194.892 [DAT](INFO): DAT read: 19:39:53.6861 LVL= 24304, 11089, 17298, 26739, AGC= 43, IDX= 503, 0.18, 2.643, 1.650, 1.528,-2.692, PHS=-0.846,-1.896,-2.107, RAW=  81.0,  55.7, CAL=  79.1,  60.8, ROT=  70.9, -60.8

2025-08-21T19:39:54.893Z,1755805194.893 [DAT](INFO): got valid direction response:
 19:39:53.6861 LVL= 24304, 11089, 17298, 26739, AGC= 43, IDX= 503, 0.18, 2.643, 1.650, 1.528,-2.692, PHS=-0.846,-1.896,-2.107, RAW=  81.0,  55.7, CAL=  79.1,  60.8, ROT=  70.9, -60.8

2025-08-21T19:39:54.894Z,1755805194.894 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-21T19:39:54.895Z,1755805194.895 [DAT](INFO): direction in FSK: [0.159636,0.461002,0.872922]
2025-08-21T19:39:54.895Z,1755805194.895 [DAT](INFO): publishing direction and range info
2025-08-21T19:39:54.899Z,1755805194.899 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.672277
2025-08-21T19:39:55.125Z,1755805195.125 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=16.898375
2025-08-21T19:39:55.205Z,1755805195.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504194 s,
      deltaX: -0.100000 m,
      approachRate: -0.198336 m/s,
      rangeRepo size: 4

2025-08-21T19:39:55.212Z,1755805195.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 269.814721 deg,
      lat: 36.779397 deg,
      lon: -121.859689 deg,
      deltaT: 0.504194 s,
      deltaX: -0.099359 m,
      approachRate: -0.197065 m/s,
      posRepo size: 4

2025-08-21T19:39:55.376Z,1755805195.376 [DAT](INFO): DAT read: Rx Time:19:39:54.1862 

2025-08-21T19:39:55.377Z,1755805195.377 [DAT](INFO): Rx dataTimestamp_ set to:1755805195.376634
2025-08-21T19:39:55.378Z,1755805195.378 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:55.379Z,1755805195.379 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-21T19:39:55.380Z,1755805195.380 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.153193
2025-08-21T19:39:55.632Z,1755805195.632 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=17.405327
2025-08-21T19:39:55.644Z,1755805195.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503399 s,
      deltaX: 0.100000 m,
      approachRate: 0.198649 m/s,
      rangeRepo size: 4

2025-08-21T19:39:55.880Z,1755805195.880 [DAT](INFO): DAT read: Rx Time:19:39:54.6861 

2025-08-21T19:39:55.881Z,1755805195.881 [DAT](INFO): Rx dataTimestamp_ set to:1755805195.880680
2025-08-21T19:39:55.882Z,1755805195.882 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:55.883Z,1755805195.883 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-21T19:39:55.884Z,1755805195.884 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.657219
2025-08-21T19:39:55.948Z,1755805195.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:39:56.011Z,1755805196.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504046 s,
      deltaX: -0.100000 m,
      approachRate: -0.198394 m/s,
      rangeRepo size: 4

2025-08-21T19:39:56.132Z,1755805196.132 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=17.905672
2025-08-21T19:39:56.375Z,1755805196.375 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:56.385Z,1755805196.385 [DAT](INFO): DAT read: Rx Time:19:39:55.1862 

2025-08-21T19:39:56.385Z,1755805196.385 [DAT](INFO): Rx dataTimestamp_ set to:1755805196.384947
2025-08-21T19:39:56.386Z,1755805196.386 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:56.387Z,1755805196.387 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-21T19:39:56.388Z,1755805196.388 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.161442
2025-08-21T19:39:56.636Z,1755805196.636 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=18.409752
2025-08-21T19:39:56.866Z,1755805196.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504267 s,
      deltaX: 0.100000 m,
      approachRate: 0.198307 m/s,
      rangeRepo size: 4

2025-08-21T19:39:56.888Z,1755805196.888 [DAT](INFO): DAT read: Rx Time:19:39:55.6861 

2025-08-21T19:39:56.889Z,1755805196.889 [DAT](INFO): Rx dataTimestamp_ set to:1755805196.888542
2025-08-21T19:39:56.890Z,1755805196.890 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:56.891Z,1755805196.891 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-21T19:39:56.892Z,1755805196.892 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.665213
2025-08-21T19:39:56.952Z,1755805196.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:39:57.141Z,1755805197.141 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=18.913940
2025-08-21T19:39:57.323Z,1755805197.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503595 s,
      deltaX: -0.100000 m,
      approachRate: -0.198572 m/s,
      rangeRepo size: 4

2025-08-21T19:39:57.392Z,1755805197.392 [DAT](INFO): DAT read: Rx Time:19:39:56.1861 

2025-08-21T19:39:57.393Z,1755805197.393 [DAT](INFO): Rx dataTimestamp_ set to:1755805197.392663
2025-08-21T19:39:57.394Z,1755805197.394 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:57.395Z,1755805197.395 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-21T19:39:57.396Z,1755805197.396 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.169176
2025-08-21T19:39:57.650Z,1755805197.650 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=19.422693
2025-08-21T19:39:57.766Z,1755805197.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504121 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:57.900Z,1755805197.900 [DAT](INFO): DAT read: Rx Time:19:39:56.6861 

2025-08-21T19:39:57.901Z,1755805197.901 [DAT](INFO): Rx dataTimestamp_ set to:1755805197.900562
2025-08-21T19:39:57.902Z,1755805197.902 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:57.903Z,1755805197.903 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-21T19:39:57.904Z,1755805197.904 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.677116
2025-08-21T19:39:58.153Z,1755805198.153 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=19.926472
2025-08-21T19:39:58.238Z,1755805198.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.507899 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:39:58.404Z,1755805198.404 [DAT](INFO): DAT read: Rx Time:19:39:57.1862 

2025-08-21T19:39:58.405Z,1755805198.405 [DAT](INFO): Rx dataTimestamp_ set to:1755805198.404547
2025-08-21T19:39:58.407Z,1755805198.407 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:58.408Z,1755805198.408 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-21T19:39:58.409Z,1755805198.409 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.182461
2025-08-21T19:39:58.660Z,1755805198.660 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=20.433231
2025-08-21T19:39:58.753Z,1755805198.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:39:58.756Z,1755805198.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503985 s,
      deltaX: 0.100000 m,
      approachRate: 0.198418 m/s,
      rangeRepo size: 4

2025-08-21T19:39:58.908Z,1755805198.908 [DAT](INFO): DAT read: Rx Time:19:39:57.6861 

2025-08-21T19:39:58.909Z,1755805198.909 [DAT](INFO): Rx dataTimestamp_ set to:1755805198.908566
2025-08-21T19:39:58.910Z,1755805198.910 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:58.911Z,1755805198.911 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-21T19:39:58.912Z,1755805198.912 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.685095
2025-08-21T19:39:59.053Z,1755805199.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504019 s,
      deltaX: -0.100000 m,
      approachRate: -0.198405 m/s,
      rangeRepo size: 4

2025-08-21T19:39:59.161Z,1755805199.161 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=20.934353
2025-08-21T19:39:59.412Z,1755805199.412 [DAT](INFO): DAT read: Rx Time:19:39:58.1862 

2025-08-21T19:39:59.413Z,1755805199.413 [DAT](INFO): Rx dataTimestamp_ set to:1755805199.412642
2025-08-21T19:39:59.414Z,1755805199.414 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:39:59.415Z,1755805199.415 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-21T19:39:59.416Z,1755805199.416 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.189167
2025-08-21T19:39:59.441Z,1755805199.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504076 s,
      deltaX: 0.100000 m,
      approachRate: 0.198383 m/s,
      rangeRepo size: 4

2025-08-21T19:39:59.667Z,1755805199.667 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=21.439930
2025-08-21T19:39:59.916Z,1755805199.916 [DAT](INFO): DAT read: Rx Time:19:39:58.6861 

2025-08-21T19:39:59.917Z,1755805199.917 [DAT](INFO): Rx dataTimestamp_ set to:1755805199.916653
2025-08-21T19:39:59.918Z,1755805199.918 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:39:59.919Z,1755805199.919 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-08-21T19:39:59.920Z,1755805199.920 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.693184
2025-08-21T19:40:00.169Z,1755805200.169 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=21.942095
2025-08-21T19:40:00.276Z,1755805200.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504011 s,
      deltaX: -0.100000 m,
      approachRate: -0.198408 m/s,
      rangeRepo size: 4

2025-08-21T19:40:00.420Z,1755805200.420 [DAT](INFO): DAT read: Rx Time:19:39:59.1861 

2025-08-21T19:40:00.421Z,1755805200.421 [DAT](INFO): Rx dataTimestamp_ set to:1755805200.420567
2025-08-21T19:40:00.422Z,1755805200.422 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:00.423Z,1755805200.423 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-21T19:40:00.424Z,1755805200.424 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.197071
2025-08-21T19:40:00.675Z,1755805200.675 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=22.447981
2025-08-21T19:40:00.756Z,1755805200.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503914 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:00.925Z,1755805200.925 [DAT](INFO): DAT read: Rx Time:19:39:59.6861 

2025-08-21T19:40:00.926Z,1755805200.926 [DAT](INFO): Rx dataTimestamp_ set to:1755805200.925762
2025-08-21T19:40:00.928Z,1755805200.928 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:00.929Z,1755805200.929 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-08-21T19:40:00.930Z,1755805200.930 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.703739
2025-08-21T19:40:01.082Z,1755805201.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:01.085Z,1755805201.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505195 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:01.177Z,1755805201.177 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=22.950584
2025-08-21T19:40:01.428Z,1755805201.428 [DAT](INFO): DAT read: Rx Time:19:40:00.1862 

2025-08-21T19:40:01.429Z,1755805201.429 [DAT](INFO): Rx dataTimestamp_ set to:1755805201.428620
2025-08-21T19:40:01.430Z,1755805201.430 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:01.431Z,1755805201.431 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-21T19:40:01.432Z,1755805201.432 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.205147
2025-08-21T19:40:01.461Z,1755805201.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502858 s,
      deltaX: 0.100000 m,
      approachRate: 0.198863 m/s,
      rangeRepo size: 4

2025-08-21T19:40:01.683Z,1755805201.683 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=23.456095
2025-08-21T19:40:01.933Z,1755805201.933 [DAT](INFO): DAT read: Rx Time:19:40:00.6861 

2025-08-21T19:40:01.934Z,1755805201.934 [DAT](INFO): Rx dataTimestamp_ set to:1755805201.933660
2025-08-21T19:40:01.936Z,1755805201.936 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:01.936Z,1755805201.936 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-21T19:40:01.937Z,1755805201.937 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.710835
2025-08-21T19:40:02.184Z,1755805202.184 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=23.957872
2025-08-21T19:40:02.302Z,1755805202.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505040 s,
      deltaX: -0.100000 m,
      approachRate: -0.198004 m/s,
      rangeRepo size: 4

2025-08-21T19:40:02.436Z,1755805202.436 [DAT](INFO): DAT read: Rx Time:19:40:01.1862 

2025-08-21T19:40:02.437Z,1755805202.437 [DAT](INFO): Rx dataTimestamp_ set to:1755805202.436550
2025-08-21T19:40:02.438Z,1755805202.438 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:02.439Z,1755805202.439 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-21T19:40:02.440Z,1755805202.440 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.213062
2025-08-21T19:40:02.693Z,1755805202.693 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=24.465561
2025-08-21T19:40:02.754Z,1755805202.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502890 s,
      deltaX: 0.100000 m,
      approachRate: 0.198850 m/s,
      rangeRepo size: 4

2025-08-21T19:40:02.941Z,1755805202.941 [DAT](INFO): DAT read: Rx Time:19:40:01.6861 

2025-08-21T19:40:02.942Z,1755805202.942 [DAT](INFO): Rx dataTimestamp_ set to:1755805202.941249
2025-08-21T19:40:02.944Z,1755805202.944 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:02.944Z,1755805202.944 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-21T19:40:02.946Z,1755805202.946 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.719139
2025-08-21T19:40:03.097Z,1755805203.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:03.100Z,1755805203.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504699 s,
      deltaX: -0.100000 m,
      approachRate: -0.198138 m/s,
      rangeRepo size: 4

2025-08-21T19:40:03.198Z,1755805203.198 [DAT](INFO): DAT read: Rx Time:19:40:02.1862 

2025-08-21T19:40:03.200Z,1755805203.200 [DAT](INFO): Rx dataTimestamp_ set to:1755805203.199441
2025-08-21T19:40:03.203Z,1755805203.203 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=24.975620
2025-08-21T19:40:03.445Z,1755805203.445 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:03.445Z,1755805203.445 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-21T19:40:03.446Z,1755805203.446 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.219803
2025-08-21T19:40:03.481Z,1755805203.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.502377 s,
      deltaX: 0.100000 m,
      approachRate: 0.199054 m/s,
      rangeRepo size: 4

2025-08-21T19:40:03.701Z,1755805203.701 [DAT](INFO): DAT read: Rx Time:19:40:02.6861 

2025-08-21T19:40:03.703Z,1755805203.703 [DAT](INFO): Rx dataTimestamp_ set to:1755805203.701519
2025-08-21T19:40:03.706Z,1755805203.706 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=25.478361
2025-08-21T19:40:03.949Z,1755805203.949 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:03.950Z,1755805203.950 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-08-21T19:40:03.951Z,1755805203.951 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=25.724312
2025-08-21T19:40:04.204Z,1755805204.204 [DAT](INFO): DAT read: Rx Time:19:40:03.1862 

2025-08-21T19:40:04.205Z,1755805204.205 [DAT](INFO): Rx dataTimestamp_ set to:1755805204.204396
2025-08-21T19:40:04.207Z,1755805204.207 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:04.209Z,1755805204.209 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-21T19:40:04.211Z,1755805204.211 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=25.983999
2025-08-21T19:40:04.314Z,1755805204.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.760770 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:04.452Z,1755805204.452 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=26.225630
2025-08-21T19:40:04.709Z,1755805204.709 [DAT](INFO): DAT read: Rx Time:19:40:03.6860 

2025-08-21T19:40:04.711Z,1755805204.711 [DAT](INFO): Rx dataTimestamp_ set to:1755805204.709543
2025-08-21T19:40:04.715Z,1755805204.715 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:04.722Z,1755805204.722 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-08-21T19:40:04.727Z,1755805204.727 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=26.499893
2025-08-21T19:40:04.790Z,1755805204.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505147 s,
      deltaX: -0.300000 m,
      approachRate: -0.593886 m/s,
      rangeRepo size: 4

2025-08-21T19:40:04.957Z,1755805204.957 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=26.730389
2025-08-21T19:40:05.117Z,1755805205.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:05.210Z,1755805205.210 [DAT](INFO): DAT read: Rx Time:19:40:04.1861 

2025-08-21T19:40:05.211Z,1755805205.211 [DAT](INFO): Rx dataTimestamp_ set to:1755805205.210470
2025-08-21T19:40:05.213Z,1755805205.213 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:05.214Z,1755805205.214 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-08-21T19:40:05.215Z,1755805205.215 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=26.988256
2025-08-21T19:40:05.460Z,1755805205.460 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=27.233648
2025-08-21T19:40:05.508Z,1755805205.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.500927 s,
      deltaX: 0.200000 m,
      approachRate: 0.399260 m/s,
      rangeRepo size: 4

2025-08-21T19:40:05.714Z,1755805205.714 [DAT](INFO): DAT read: Rx Time:19:40:04.6860 

2025-08-21T19:40:05.714Z,1755805205.714 [DAT](INFO): Rx dataTimestamp_ set to:1755805205.713707
2025-08-21T19:40:05.717Z,1755805205.717 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:05.718Z,1755805205.718 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-21T19:40:05.721Z,1755805205.721 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=27.493879
2025-08-21T19:40:05.931Z,1755805205.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503237 s,
      deltaX: -0.200000 m,
      approachRate: -0.397427 m/s,
      rangeRepo size: 4

2025-08-21T19:40:05.964Z,1755805205.964 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=27.737816
2025-08-21T19:40:06.217Z,1755805206.217 [DAT](INFO): DAT read: Rx Time:19:40:05.1861 

2025-08-21T19:40:06.218Z,1755805206.218 [DAT](INFO): Rx dataTimestamp_ set to:1755805206.217717
2025-08-21T19:40:06.220Z,1755805206.220 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:06.221Z,1755805206.221 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-21T19:40:06.223Z,1755805206.223 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=27.996422
2025-08-21T19:40:06.328Z,1755805206.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504010 s,
      deltaX: 0.200000 m,
      approachRate: 0.396818 m/s,
      rangeRepo size: 4

2025-08-21T19:40:06.468Z,1755805206.468 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=28.241785
2025-08-21T19:40:06.724Z,1755805206.724 [DAT](INFO): DAT read: Rx Time:19:40:05.6860 

2025-08-21T19:40:06.726Z,1755805206.726 [DAT](INFO): Rx dataTimestamp_ set to:1755805206.725071
2025-08-21T19:40:06.731Z,1755805206.731 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:06.733Z,1755805206.733 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-21T19:40:06.746Z,1755805206.746 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=28.519003
2025-08-21T19:40:06.822Z,1755805206.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.507354 s,
      deltaX: -0.200000 m,
      approachRate: -0.394202 m/s,
      rangeRepo size: 4

2025-08-21T19:40:06.973Z,1755805206.973 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=28.746017
2025-08-21T19:40:07.141Z,1755805207.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:07.226Z,1755805207.226 [DAT](INFO): DAT read: Rx Time:19:40:06.1861 

2025-08-21T19:40:07.228Z,1755805207.228 [DAT](INFO): Rx dataTimestamp_ set to:1755805207.226471
2025-08-21T19:40:07.230Z,1755805207.230 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:07.231Z,1755805207.231 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-21T19:40:07.232Z,1755805207.232 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=29.005758
2025-08-21T19:40:07.476Z,1755805207.476 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=29.249664
2025-08-21T19:40:07.517Z,1755805207.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501400 s,
      deltaX: 0.200000 m,
      approachRate: 0.398883 m/s,
      rangeRepo size: 4

2025-08-21T19:40:07.730Z,1755805207.730 [DAT](INFO): DAT read: Rx Time:19:40:06.6861 

2025-08-21T19:40:07.730Z,1755805207.730 [DAT](INFO): Rx dataTimestamp_ set to:1755805207.730123
2025-08-21T19:40:07.732Z,1755805207.732 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:07.732Z,1755805207.732 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-21T19:40:07.736Z,1755805207.736 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=29.508436
2025-08-21T19:40:07.947Z,1755805207.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503652 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:07.980Z,1755805207.980 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=29.753843
2025-08-21T19:40:08.233Z,1755805208.233 [DAT](INFO): DAT read: Rx Time:19:40:07.1861 

2025-08-21T19:40:08.233Z,1755805208.233 [DAT](INFO): Rx dataTimestamp_ set to:1755805208.232829
2025-08-21T19:40:08.234Z,1755805208.234 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:08.235Z,1755805208.235 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-21T19:40:08.236Z,1755805208.236 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.009354
2025-08-21T19:40:08.342Z,1755805208.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502706 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:08.484Z,1755805208.484 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=30.257662
2025-08-21T19:40:08.738Z,1755805208.738 [DAT](INFO): DAT read: Rx Time:19:40:07.6860 

2025-08-21T19:40:08.739Z,1755805208.739 [DAT](INFO): Rx dataTimestamp_ set to:1755805208.738521
2025-08-21T19:40:08.740Z,1755805208.740 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:08.741Z,1755805208.741 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-21T19:40:08.742Z,1755805208.742 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=30.515450
2025-08-21T19:40:08.877Z,1755805208.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505692 s,
      deltaX: -0.200000 m,
      approachRate: -0.395498 m/s,
      rangeRepo size: 4

2025-08-21T19:40:08.988Z,1755805208.988 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=30.761614
2025-08-21T19:40:09.185Z,1755805209.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:09.241Z,1755805209.241 [DAT](INFO): DAT read: Rx Time:19:40:08.1861 

2025-08-21T19:40:09.241Z,1755805209.241 [DAT](INFO): Rx dataTimestamp_ set to:1755805209.240894
2025-08-21T19:40:09.242Z,1755805209.242 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:09.243Z,1755805209.243 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-08-21T19:40:09.244Z,1755805209.244 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.017685
2025-08-21T19:40:09.492Z,1755805209.492 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=31.265726
2025-08-21T19:40:09.589Z,1755805209.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502373 s,
      deltaX: 0.200000 m,
      approachRate: 0.398111 m/s,
      rangeRepo size: 4

2025-08-21T19:40:09.747Z,1755805209.747 [DAT](INFO): DAT read: Rx Time:19:40:08.6860 

2025-08-21T19:40:09.748Z,1755805209.748 [DAT](INFO): Rx dataTimestamp_ set to:1755805209.747511
2025-08-21T19:40:09.749Z,1755805209.749 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:09.750Z,1755805209.750 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-08-21T19:40:09.750Z,1755805209.750 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=31.523907
2025-08-21T19:40:09.996Z,1755805209.996 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=31.769789
2025-08-21T19:40:10.004Z,1755805210.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.506617 s,
      deltaX: -0.200000 m,
      approachRate: -0.394776 m/s,
      rangeRepo size: 4

2025-08-21T19:40:10.249Z,1755805210.249 [DAT](INFO): DAT read: Rx Time:19:40:09.1861 

2025-08-21T19:40:10.249Z,1755805210.249 [DAT](INFO): Rx dataTimestamp_ set to:1755805210.248775
2025-08-21T19:40:10.250Z,1755805210.250 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:10.251Z,1755805210.251 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-21T19:40:10.252Z,1755805210.252 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.025318
2025-08-21T19:40:10.386Z,1755805210.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501264 s,
      deltaX: 0.200000 m,
      approachRate: 0.398991 m/s,
      rangeRepo size: 4

2025-08-21T19:40:10.500Z,1755805210.500 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=32.273674
2025-08-21T19:40:10.753Z,1755805210.753 [DAT](INFO): DAT read: Rx Time:19:40:09.6861 

2025-08-21T19:40:10.753Z,1755805210.753 [DAT](INFO): Rx dataTimestamp_ set to:1755805210.752982
2025-08-21T19:40:10.755Z,1755805210.755 [DAT](INFO): DAT read: Bearing   1.7,  30.1 (Local)

2025-08-21T19:40:10.755Z,1755805210.755 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.7,  30.1 (Local)

2025-08-21T19:40:10.761Z,1755805210.761 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:10.795Z,1755805210.795 [DAT](INFO): DAT read: 19:40:09.6861 LVL= 23472, 11233, 17714, 26611, AGC= 42, IDX= 504,-0.04,-3.036, 2.079, 2.218,-2.101, PHS=-0.832,-2.058,-2.008, RAW=  92.1,  55.2, CAL=  91.1,  60.2, ROT=  58.9, -60.2

2025-08-21T19:40:10.802Z,1755805210.802 [DAT](INFO): got valid direction response:
 19:40:09.6861 LVL= 23472, 11233, 17714, 26611, AGC= 42, IDX= 504,-0.04,-3.036, 2.079, 2.218,-2.101, PHS=-0.832,-2.058,-2.008, RAW=  92.1,  55.2, CAL=  91.1,  60.2, ROT=  58.9, -60.2

2025-08-21T19:40:10.812Z,1755805210.812 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-21T19:40:10.815Z,1755805210.815 [DAT](INFO): direction in FSK: [0.256704,0.425542,0.867765]
2025-08-21T19:40:10.832Z,1755805210.832 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:10.867Z,1755805210.867 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=32.640881
2025-08-21T19:40:10.991Z,1755805210.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504207 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:10.997Z,1755805210.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689105 m,
      bearing: 210.474514 deg,
      lat: 36.779397 deg,
      lon: -121.859689 deg,
      deltaT: 15.879747 s,
      deltaX: -0.000002 m,
      approachRate: -0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:11.004Z,1755805211.004 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=32.777824
2025-08-21T19:40:11.259Z,1755805211.259 [DAT](INFO): DAT read: Rx Time:19:40:10.1862 

2025-08-21T19:40:11.259Z,1755805211.259 [DAT](INFO): Rx dataTimestamp_ set to:1755805211.258923
2025-08-21T19:40:11.261Z,1755805211.261 [DAT](INFO): DAT read: Bearing   4.5,  31.2 (Local)

2025-08-21T19:40:11.261Z,1755805211.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.5,  31.2 (Local)

2025-08-21T19:40:11.263Z,1755805211.263 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:11.268Z,1755805211.268 [DAT](INFO): DAT read: 19:40:10.1862 LVL= 24336, 10449, 17730, 30003, AGC= 43, IDX= 505, 0.07,-0.882,-1.909,-1.934, 0.056, PHS=-0.837,-1.920,-2.034, RAW=  85.0,  56.0, CAL=  83.6,  61.0, ROT=  66.4, -61.0

2025-08-21T19:40:11.269Z,1755805211.269 [DAT](INFO): got valid direction response:
 19:40:10.1862 LVL= 24336, 10449, 17730, 30003, AGC= 43, IDX= 505, 0.07,-0.882,-1.909,-1.934, 0.056, PHS=-0.837,-1.920,-2.034, RAW=  85.0,  56.0, CAL=  83.6,  61.0, ROT=  66.4, -61.0

2025-08-21T19:40:11.269Z,1755805211.269 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-21T19:40:11.270Z,1755805211.270 [DAT](INFO): direction in FSK: [0.194093,0.444261,0.874620]
2025-08-21T19:40:11.270Z,1755805211.270 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:11.318Z,1755805211.318 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.091694
2025-08-21T19:40:11.459Z,1755805211.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.505941 s,
      deltaX: 0.100000 m,
      approachRate: 0.197651 m/s,
      rangeRepo size: 4

2025-08-21T19:40:11.461Z,1755805211.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788464 m,
      bearing: 218.178806 deg,
      lat: 36.779395 deg,
      lon: -121.859689 deg,
      deltaT: 0.505941 s,
      deltaX: 0.099359 m,
      approachRate: 0.196385 m/s,
      posRepo size: 4

2025-08-21T19:40:11.508Z,1755805211.508 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=33.281876
2025-08-21T19:40:11.761Z,1755805211.761 [DAT](INFO): DAT read: Rx Time:19:40:10.6861 

2025-08-21T19:40:11.761Z,1755805211.761 [DAT](INFO): Rx dataTimestamp_ set to:1755805211.761128
2025-08-21T19:40:11.763Z,1755805211.763 [DAT](INFO): DAT read: Bearing   8.3,  32.4 (Local)

2025-08-21T19:40:11.763Z,1755805211.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.3,  32.4 (Local)

2025-08-21T19:40:11.765Z,1755805211.765 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:11.770Z,1755805211.770 [DAT](INFO): DAT read: 19:40:10.6861 LVL= 23536, 10417, 17474, 29043, AGC= 43, IDX= 504, 0.18,-1.180,-2.034,-2.237,-0.232, PHS=-0.846,-1.757,-2.049, RAW=  76.6,  56.5, CAL=  74.2,  61.3, ROT=  75.8, -61.3

2025-08-21T19:40:11.771Z,1755805211.771 [DAT](INFO): got valid direction response:
 19:40:10.6861 LVL= 23536, 10417, 17474, 29043, AGC= 43, IDX= 504, 0.18,-1.180,-2.034,-2.237,-0.232, PHS=-0.846,-1.757,-2.049, RAW=  76.6,  56.5, CAL=  74.2,  61.3, ROT=  75.8, -61.3

2025-08-21T19:40:11.772Z,1755805211.772 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-21T19:40:11.772Z,1755805211.772 [DAT](INFO): direction in FSK: [0.117802,0.465550,0.877146]
2025-08-21T19:40:11.773Z,1755805211.773 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:11.776Z,1755805211.776 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=33.549747
2025-08-21T19:40:11.902Z,1755805211.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502205 s,
      deltaX: -0.100000 m,
      approachRate: -0.199122 m/s,
      rangeRepo size: 4

2025-08-21T19:40:11.924Z,1755805211.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 228.327446 deg,
      lat: 36.779392 deg,
      lon: -121.859682 deg,
      deltaT: 0.502205 s,
      deltaX: -0.099359 m,
      approachRate: -0.197845 m/s,
      posRepo size: 4

2025-08-21T19:40:12.013Z,1755805212.013 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=33.785934
2025-08-21T19:40:12.223Z,1755805212.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:12.265Z,1755805212.265 [DAT](INFO): DAT read: Rx Time:19:40:11.1861 

2025-08-21T19:40:12.265Z,1755805212.265 [DAT](INFO): Rx dataTimestamp_ set to:1755805212.265131
2025-08-21T19:40:12.267Z,1755805212.267 [DAT](INFO): DAT read: Bearing   8.9,  32.9 (Local)

2025-08-21T19:40:12.267Z,1755805212.267 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,  32.9 (Local)

2025-08-21T19:40:12.269Z,1755805212.269 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:12.274Z,1755805212.274 [DAT](INFO): DAT read: 19:40:11.1861 LVL= 24224, 10225, 17762, 29267, AGC= 43, IDX= 504, 0.34,-1.675,-2.468,-2.732,-0.728, PHS=-0.844,-1.695,-2.048, RAW=  73.4,  56.5, CAL=  70.7,  61.2, ROT=  79.3, -61.2

2025-08-21T19:40:12.275Z,1755805212.275 [DAT](INFO): got valid direction response:
 19:40:11.1861 LVL= 24224, 10225, 17762, 29267, AGC= 43, IDX= 504, 0.34,-1.675,-2.468,-2.732,-0.728, PHS=-0.844,-1.695,-2.048, RAW=  73.4,  56.5, CAL=  70.7,  61.2, ROT=  79.3, -61.2

2025-08-21T19:40:12.275Z,1755805212.275 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-21T19:40:12.276Z,1755805212.276 [DAT](INFO): direction in FSK: [0.089446,0.473377,0.876307]
2025-08-21T19:40:12.277Z,1755805212.277 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:12.316Z,1755805212.316 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.089027
2025-08-21T19:40:12.516Z,1755805212.516 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=34.289665
2025-08-21T19:40:12.589Z,1755805212.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:12.595Z,1755805212.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 230.176189 deg,
      lat: 36.779392 deg,
      lon: -121.859682 deg,
      deltaT: 0.504003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:12.769Z,1755805212.769 [DAT](INFO): DAT read: Rx Time:19:40:11.6860 

2025-08-21T19:40:12.770Z,1755805212.770 [DAT](INFO): Rx dataTimestamp_ set to:1755805212.769884
2025-08-21T19:40:12.772Z,1755805212.772 [DAT](INFO): DAT read: Bearing   8.5,  33.1 (Local)

2025-08-21T19:40:12.773Z,1755805212.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  33.1 (Local)

2025-08-21T19:40:12.775Z,1755805212.775 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:12.780Z,1755805212.780 [DAT](INFO): DAT read: 19:40:11.6860 LVL= 24208, 10017, 17698, 29235, AGC= 43, IDX= 504,-0.42, 1.617, 0.859, 0.570, 2.559, PHS=-0.840,-1.655,-2.033, RAW=  72.0,  56.6, CAL=  69.1,  61.1, ROT=  80.9, -61.1

2025-08-21T19:40:12.781Z,1755805212.781 [DAT](INFO): got valid direction response:
 19:40:11.6860 LVL= 24208, 10017, 17698, 29235, AGC= 43, IDX= 504,-0.42, 1.617, 0.859, 0.570, 2.559, PHS=-0.840,-1.655,-2.033, RAW=  72.0,  56.6, CAL=  69.1,  61.1, ROT=  80.9, -61.1

2025-08-21T19:40:12.781Z,1755805212.781 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-21T19:40:12.782Z,1755805212.782 [DAT](INFO): direction in FSK: [0.076435,0.477200,0.875465]
2025-08-21T19:40:12.782Z,1755805212.782 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:12.786Z,1755805212.786 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=34.559547
2025-08-21T19:40:13.011Z,1755805213.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504753 s,
      deltaX: -0.200000 m,
      approachRate: -0.396233 m/s,
      rangeRepo size: 4

2025-08-21T19:40:13.013Z,1755805213.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490388 m,
      bearing: 231.035322 deg,
      lat: 36.779392 deg,
      lon: -121.859682 deg,
      deltaT: 0.504753 s,
      deltaX: -0.198717 m,
      approachRate: -0.393693 m/s,
      posRepo size: 4

2025-08-21T19:40:13.021Z,1755805213.021 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=34.794022
2025-08-21T19:40:13.273Z,1755805213.273 [DAT](INFO): DAT read: Rx Time:19:40:12.1861 

2025-08-21T19:40:13.273Z,1755805213.273 [DAT](INFO): Rx dataTimestamp_ set to:1755805213.273029
2025-08-21T19:40:13.275Z,1755805213.275 [DAT](INFO): DAT read: Bearing   8.6,  33.5 (Local)

2025-08-21T19:40:13.275Z,1755805213.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  33.5 (Local)

2025-08-21T19:40:13.277Z,1755805213.277 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:13.282Z,1755805213.282 [DAT](INFO): DAT read: 19:40:12.1861 LVL= 23920, 10689, 17394, 29459, AGC= 43, IDX= 505,-0.23, 2.388, 1.672, 1.341,-2.955, PHS=-0.838,-1.611,-2.031, RAW=  69.7,  56.5, CAL=  66.9,  60.9, ROT=  83.1, -60.9

2025-08-21T19:40:13.292Z,1755805213.292 [DAT](INFO): got valid direction response:
 19:40:12.1861 LVL= 23920, 10689, 17394, 29459, AGC= 43, IDX= 505,-0.23, 2.388, 1.672, 1.341,-2.955, PHS=-0.838,-1.611,-2.031, RAW=  69.7,  56.5, CAL=  66.9,  60.9, ROT=  83.1, -60.9

2025-08-21T19:40:13.292Z,1755805213.292 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-21T19:40:13.293Z,1755805213.293 [DAT](INFO): direction in FSK: [0.058427,0.482813,0.873772]
2025-08-21T19:40:13.293Z,1755805213.293 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:13.297Z,1755805213.297 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.070248
2025-08-21T19:40:13.398Z,1755805213.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503145 s,
      deltaX: 0.200000 m,
      approachRate: 0.397500 m/s,
      rangeRepo size: 4

2025-08-21T19:40:13.408Z,1755805213.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 232.561721 deg,
      lat: 36.779392 deg,
      lon: -121.859682 deg,
      deltaT: 0.503145 s,
      deltaX: 0.198719 m,
      approachRate: 0.394953 m/s,
      posRepo size: 4

2025-08-21T19:40:13.524Z,1755805213.524 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=35.297661
2025-08-21T19:40:13.777Z,1755805213.777 [DAT](INFO): DAT read: Rx Time:19:40:12.6860 

2025-08-21T19:40:13.777Z,1755805213.777 [DAT](INFO): Rx dataTimestamp_ set to:1755805213.777104
2025-08-21T19:40:13.779Z,1755805213.779 [DAT](INFO): DAT read: Bearing   7.8,  33.8 (Local)

2025-08-21T19:40:13.779Z,1755805213.779 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.8,  33.8 (Local)

2025-08-21T19:40:13.781Z,1755805213.781 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:13.786Z,1755805213.786 [DAT](INFO): DAT read: 19:40:12.6860 LVL= 24048, 10225, 17394, 29571, AGC= 43, IDX= 504,-0.11, 1.592, 0.882, 0.533, 2.533, PHS=-0.838,-1.606,-2.044, RAW=  69.0,  56.3, CAL=  66.1,  60.8, ROT=  83.9, -60.8

2025-08-21T19:40:13.787Z,1755805213.787 [DAT](INFO): got valid direction response:
 19:40:12.6860 LVL= 24048, 10225, 17394, 29571, AGC= 43, IDX= 504,-0.11, 1.592, 0.882, 0.533, 2.533, PHS=-0.838,-1.606,-2.044, RAW=  69.0,  56.3, CAL=  66.1,  60.8, ROT=  83.9, -60.8

2025-08-21T19:40:13.787Z,1755805213.787 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-21T19:40:13.788Z,1755805213.788 [DAT](INFO): direction in FSK: [0.051842,0.485097,0.872922]
2025-08-21T19:40:13.788Z,1755805213.788 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:13.792Z,1755805213.792 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=35.565723
2025-08-21T19:40:13.809Z,1755805213.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504075 s,
      deltaX: -0.200000 m,
      approachRate: -0.396766 m/s,
      rangeRepo size: 4

2025-08-21T19:40:13.812Z,1755805213.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490387 m,
      bearing: 232.435642 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.504075 s,
      deltaX: -0.198720 m,
      approachRate: -0.394227 m/s,
      posRepo size: 4

2025-08-21T19:40:14.036Z,1755805214.036 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=35.808548
2025-08-21T19:40:14.127Z,1755805214.127 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-21T19:40:14.127Z,1755805214.127 [DockingStepper] No Fault, FailCount= 1
2025-08-21T19:40:14.264Z,1755805214.264 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:14.281Z,1755805214.281 [DAT](INFO): DAT read: Rx Time:19:40:13.1862 

2025-08-21T19:40:14.281Z,1755805214.281 [DAT](INFO): Rx dataTimestamp_ set to:1755805214.281075
2025-08-21T19:40:14.283Z,1755805214.283 [DAT](INFO): DAT read: Bearing   8.1,  34.4 (Local)

2025-08-21T19:40:14.283Z,1755805214.283 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.1,  34.4 (Local)

2025-08-21T19:40:14.285Z,1755805214.285 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:14.290Z,1755805214.290 [DAT](INFO): DAT read: 19:40:13.1862 LVL= 23680,  9937, 17266, 29555, AGC= 43, IDX= 505, 0.00,-2.453,-3.127, 2.756,-1.516, PHS=-0.835,-1.565,-2.055, RAW=  66.5,  56.0, CAL=  63.7,  60.3, ROT=  86.3, -60.3

2025-08-21T19:40:14.291Z,1755805214.291 [DAT](INFO): got valid direction response:
 19:40:13.1862 LVL= 23680,  9937, 17266, 29555, AGC= 43, IDX= 505, 0.00,-2.453,-3.127, 2.756,-1.516, PHS=-0.835,-1.565,-2.055, RAW=  66.5,  56.0, CAL=  63.7,  60.3, ROT=  86.3, -60.3

2025-08-21T19:40:14.291Z,1755805214.291 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-21T19:40:14.292Z,1755805214.292 [DAT](INFO): direction in FSK: [0.031973,0.494426,0.868631]
2025-08-21T19:40:14.292Z,1755805214.292 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:14.304Z,1755805214.304 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.077637
2025-08-21T19:40:14.314Z,1755805214.314 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:40:14.433Z,1755805214.433 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:40:14.532Z,1755805214.532 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=36.305695
2025-08-21T19:40:14.777Z,1755805214.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503971 s,
      deltaX: 0.300000 m,
      approachRate: 0.595272 m/s,
      rangeRepo size: 4

2025-08-21T19:40:14.785Z,1755805214.785 [DAT](INFO): DAT read: Rx Time:19:40:13.6861 

2025-08-21T19:40:14.786Z,1755805214.786 [DAT](INFO): Rx dataTimestamp_ set to:1755805214.785948
2025-08-21T19:40:14.788Z,1755805214.788 [DAT](INFO): DAT read: Bearing   6.4,  34.7 (Local)

2025-08-21T19:40:14.788Z,1755805214.788 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.4,  34.7 (Local)

2025-08-21T19:40:14.790Z,1755805214.790 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:14.786Z,1755805214.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 234.353629 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.503971 s,
      deltaX: 0.298079 m,
      approachRate: 0.591462 m/s,
      posRepo size: 4

2025-08-21T19:40:14.799Z,1755805214.799 [DAT](INFO): DAT read: 19:40:13.6861 LVL= 23536, 10673, 17218, 27939, AGC= 43, IDX= 504, 0.12,-2.561, 3.012, 2.620,-1.629, PHS=-0.830,-1.597,-2.078, RAW=  67.6,  55.6, CAL=  64.7,  60.1, ROT=  85.3, -60.1

2025-08-21T19:40:14.808Z,1755805214.808 [DAT](INFO): got valid direction response:
 19:40:13.6861 LVL= 23536, 10673, 17218, 27939, AGC= 43, IDX= 504, 0.12,-2.561, 3.012, 2.620,-1.629, PHS=-0.830,-1.597,-2.078, RAW=  67.6,  55.6, CAL=  64.7,  60.1, ROT=  85.3, -60.1

2025-08-21T19:40:14.808Z,1755805214.808 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-21T19:40:14.809Z,1755805214.809 [DAT](INFO): direction in FSK: [0.040845,0.496812,0.866897]
2025-08-21T19:40:14.810Z,1755805214.810 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:14.832Z,1755805214.832 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=36.605556
2025-08-21T19:40:15.037Z,1755805215.037 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=36.810642
2025-08-21T19:40:15.173Z,1755805215.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504873 s,
      deltaX: -0.100000 m,
      approachRate: -0.198069 m/s,
      rangeRepo size: 4

2025-08-21T19:40:15.181Z,1755805215.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 231.323815 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.504873 s,
      deltaX: -0.099359 m,
      approachRate: -0.196800 m/s,
      posRepo size: 4

2025-08-21T19:40:15.290Z,1755805215.290 [DAT](INFO): DAT read: Rx Time:19:40:14.1862 

2025-08-21T19:40:15.291Z,1755805215.291 [DAT](INFO): Rx dataTimestamp_ set to:1755805215.290340
2025-08-21T19:40:15.292Z,1755805215.292 [DAT](INFO): DAT read: Bearing   5.5,  34.8 (Local)

2025-08-21T19:40:15.292Z,1755805215.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  34.8 (Local)

2025-08-21T19:40:15.294Z,1755805215.294 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:15.300Z,1755805215.300 [DAT](INFO): DAT read: 19:40:14.1862 LVL= 23584,  9201, 17570, 28867, AGC= 42, IDX= 505, 0.25,-1.779,-2.478,-2.872,-0.851, PHS=-0.826,-1.583,-2.066, RAW=  67.3,  55.6, CAL=  64.4,  60.0, ROT=  85.6, -60.0

2025-08-21T19:40:15.302Z,1755805215.302 [DAT](INFO): got valid direction response:
 19:40:14.1862 LVL= 23584,  9201, 17570, 28867, AGC= 42, IDX= 505, 0.25,-1.779,-2.478,-2.872,-0.851, PHS=-0.826,-1.583,-2.066, RAW=  67.3,  55.6, CAL=  64.4,  60.0, ROT=  85.6, -60.0

2025-08-21T19:40:15.302Z,1755805215.302 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-21T19:40:15.305Z,1755805215.305 [DAT](INFO): direction in FSK: [0.038359,0.498526,0.866025]
2025-08-21T19:40:15.305Z,1755805215.305 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:15.310Z,1755805215.310 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.083492
2025-08-21T19:40:15.540Z,1755805215.540 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=37.313812
2025-08-21T19:40:15.550Z,1755805215.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504392 s,
      deltaX: 0.100000 m,
      approachRate: 0.198258 m/s,
      rangeRepo size: 4

2025-08-21T19:40:15.553Z,1755805215.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 231.670920 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.504392 s,
      deltaX: 0.099359 m,
      approachRate: 0.196988 m/s,
      posRepo size: 4

2025-08-21T19:40:15.793Z,1755805215.793 [DAT](INFO): DAT read: Rx Time:19:40:14.6861 

2025-08-21T19:40:15.793Z,1755805215.793 [DAT](INFO): Rx dataTimestamp_ set to:1755805215.793030
2025-08-21T19:40:15.795Z,1755805215.795 [DAT](INFO): DAT read: Bearing   2.0,  34.7 (Local)

2025-08-21T19:40:15.795Z,1755805215.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.0,  34.7 (Local)

2025-08-21T19:40:15.797Z,1755805215.797 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:15.802Z,1755805215.802 [DAT](INFO): DAT read: 19:40:14.6861 LVL= 23280, 10081, 17778, 28291, AGC= 43, IDX= 504, 0.48, 3.006, 2.216, 1.894,-2.363, PHS=-0.812,-1.659,-2.070, RAW=  71.3,  55.3, CAL=  68.4,  60.0, ROT=  81.6, -60.0

2025-08-21T19:40:15.803Z,1755805215.803 [DAT](INFO): got valid direction response:
 19:40:14.6861 LVL= 23280, 10081, 17778, 28291, AGC= 43, IDX= 504, 0.48, 3.006, 2.216, 1.894,-2.363, PHS=-0.812,-1.659,-2.070, RAW=  71.3,  55.3, CAL=  68.4,  60.0, ROT=  81.6, -60.0

2025-08-21T19:40:15.804Z,1755805215.804 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-21T19:40:15.805Z,1755805215.805 [DAT](INFO): direction in FSK: [0.073042,0.494636,0.866025]
2025-08-21T19:40:15.805Z,1755805215.805 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:15.809Z,1755805215.809 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=37.582375
2025-08-21T19:40:16.044Z,1755805216.044 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=37.817810
2025-08-21T19:40:16.051Z,1755805216.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502690 s,
      deltaX: -0.100000 m,
      approachRate: -0.198930 m/s,
      rangeRepo size: 4

2025-08-21T19:40:16.065Z,1755805216.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 225.201775 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.502690 s,
      deltaX: -0.099361 m,
      approachRate: -0.197658 m/s,
      posRepo size: 4

2025-08-21T19:40:16.297Z,1755805216.297 [DAT](INFO): DAT read: Rx Time:19:40:15.1861 

2025-08-21T19:40:16.297Z,1755805216.297 [DAT](INFO): Rx dataTimestamp_ set to:1755805216.297042
2025-08-21T19:40:16.299Z,1755805216.299 [DAT](INFO): DAT read: Bearing   3.4,  34.7 (Local)

2025-08-21T19:40:16.299Z,1755805216.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.4,  34.7 (Local)

2025-08-21T19:40:16.301Z,1755805216.301 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:16.306Z,1755805216.306 [DAT](INFO): DAT read: 19:40:15.1861 LVL= 25552,  9505, 20050, 29043, AGC= 42, IDX= 505,-0.33, 1.852, 1.167, 0.780, 2.773, PHS=-0.819,-1.562,-2.037, RAW=  67.2,  55.8, CAL=  64.3,  60.2, ROT=  85.7, -60.2

2025-08-21T19:40:16.307Z,1755805216.307 [DAT](INFO): got valid direction response:
 19:40:15.1861 LVL= 25552,  9505, 20050, 29043, AGC= 42, IDX= 505,-0.33, 1.852, 1.167, 0.780, 2.773, PHS=-0.819,-1.562,-2.037, RAW=  67.2,  55.8, CAL=  64.3,  60.2, ROT=  85.7, -60.2

2025-08-21T19:40:16.307Z,1755805216.307 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-21T19:40:16.308Z,1755805216.308 [DAT](INFO): direction in FSK: [0.037263,0.495575,0.867765]
2025-08-21T19:40:16.308Z,1755805216.308 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:16.312Z,1755805216.312 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.085594
2025-08-21T19:40:16.432Z,1755805216.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504012 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:16.434Z,1755805216.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 229.301810 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 0.504012 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:16.548Z,1755805216.548 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=38.321762
2025-08-21T19:40:16.787Z,1755805216.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:16.801Z,1755805216.801 [DAT](INFO): DAT read: Rx Time:19:40:15.6860 

2025-08-21T19:40:16.801Z,1755805216.801 [DAT](INFO): Rx dataTimestamp_ set to:1755805216.801091
2025-08-21T19:40:16.803Z,1755805216.803 [DAT](INFO): DAT read: Bearing 356.5,  33.6 (Local)

2025-08-21T19:40:16.811Z,1755805216.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  33.6 (Local)

2025-08-21T19:40:16.813Z,1755805216.813 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:16.818Z,1755805216.818 [DAT](INFO): DAT read: 19:40:15.6860 LVL= 26752, 10337, 20258, 30867, AGC= 43, IDX= 504,-0.17, 0.312,-0.566,-0.771, 1.226, PHS=-0.812,-1.747,-2.041, RAW=  76.8,  55.7, CAL=  74.3,  60.6, ROT=  75.7, -60.6

2025-08-21T19:40:16.819Z,1755805216.819 [DAT](INFO): got valid direction response:
 19:40:15.6860 LVL= 26752, 10337, 20258, 30867, AGC= 43, IDX= 504,-0.17, 0.312,-0.566,-0.771, 1.226, PHS=-0.812,-1.747,-2.041, RAW=  76.8,  55.7, CAL=  74.3,  60.6, ROT=  75.7, -60.6

2025-08-21T19:40:16.823Z,1755805216.823 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-21T19:40:16.824Z,1755805216.824 [DAT](INFO): direction in FSK: [0.121253,0.475693,0.871214]
2025-08-21T19:40:16.825Z,1755805216.825 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:16.836Z,1755805216.836 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=38.609749
2025-08-21T19:40:17.053Z,1755805217.053 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=38.826241
2025-08-21T19:40:17.305Z,1755805217.305 [DAT](INFO): DAT read: Rx Time:19:40:16.1862 

2025-08-21T19:40:17.305Z,1755805217.305 [DAT](INFO): Rx dataTimestamp_ set to:1755805217.304868
2025-08-21T19:40:17.306Z,1755805217.306 [DAT](INFO): DAT read: Bearing 358.0,  34.2 (Local)

2025-08-21T19:40:17.307Z,1755805217.307 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.0,  34.2 (Local)

2025-08-21T19:40:17.309Z,1755805217.309 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:17.314Z,1755805217.314 [DAT](INFO): DAT read: 19:40:16.1862 LVL= 27536,  9009, 21170, 30867, AGC= 42, IDX= 505,-0.05, 1.957, 1.164, 0.880, 2.869, PHS=-0.810,-1.659,-2.033, RAW=  72.7,  55.7, CAL=  69.8,  60.4, ROT=  80.2, -60.4

2025-08-21T19:40:17.315Z,1755805217.315 [DAT](INFO): got valid direction response:
 19:40:16.1862 LVL= 27536,  9009, 21170, 30867, AGC= 42, IDX= 505,-0.05, 1.957, 1.164, 0.880, 2.869, PHS=-0.810,-1.659,-2.033, RAW=  72.7,  55.7, CAL=  69.8,  60.4, ROT=  80.2, -60.4

2025-08-21T19:40:17.315Z,1755805217.315 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-21T19:40:17.316Z,1755805217.316 [DAT](INFO): direction in FSK: [0.084074,0.486734,0.869495]
2025-08-21T19:40:17.317Z,1755805217.317 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:17.320Z,1755805217.320 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.093781
2025-08-21T19:40:17.360Z,1755805217.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 1.007826 s,
      deltaX: 0.100000 m,
      approachRate: 0.099223 m/s,
      rangeRepo size: 4

2025-08-21T19:40:17.362Z,1755805217.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788465 m,
      bearing: 221.037051 deg,
      lat: 36.779393 deg,
      lon: -121.859682 deg,
      deltaT: 1.007826 s,
      deltaX: 0.099359 m,
      approachRate: 0.098588 m/s,
      posRepo size: 4

2025-08-21T19:40:17.557Z,1755805217.557 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=39.330761
2025-08-21T19:40:17.809Z,1755805217.809 [DAT](INFO): DAT read: Rx Time:19:40:16.6861 

2025-08-21T19:40:17.809Z,1755805217.809 [DAT](INFO): Rx dataTimestamp_ set to:1755805217.809029
2025-08-21T19:40:17.811Z,1755805217.811 [DAT](INFO): DAT read: Bearing 352.0,  33.4 (Local)

2025-08-21T19:40:17.811Z,1755805217.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.0,  33.4 (Local)

2025-08-21T19:40:17.813Z,1755805217.813 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:17.818Z,1755805217.818 [DAT](INFO): DAT read: 19:40:16.6861 LVL= 26832, 10193, 22770, 31043, AGC= 43, IDX= 504, 0.06, 2.551, 1.583, 1.441,-2.827, PHS=-0.803,-1.828,-2.059, RAW=  80.1,  55.1, CAL=  78.0,  60.2, ROT=  72.0, -60.2

2025-08-21T19:40:17.819Z,1755805217.819 [DAT](INFO): got valid direction response:
 19:40:16.6861 LVL= 26832, 10193, 22770, 31043, AGC= 43, IDX= 504, 0.06, 2.551, 1.583, 1.441,-2.827, PHS=-0.803,-1.828,-2.059, RAW=  80.1,  55.1, CAL=  78.0,  60.2, ROT=  72.0, -60.2

2025-08-21T19:40:17.819Z,1755805217.819 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-21T19:40:17.820Z,1755805217.820 [DAT](INFO): direction in FSK: [0.153573,0.472650,0.867765]
2025-08-21T19:40:17.820Z,1755805217.820 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:17.824Z,1755805217.824 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=39.597424
2025-08-21T19:40:18.064Z,1755805218.064 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=39.837517
2025-08-21T19:40:18.121Z,1755805218.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504161 s,
      deltaX: -0.100000 m,
      approachRate: -0.198349 m/s,
      rangeRepo size: 4

2025-08-21T19:40:18.128Z,1755805218.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689110 m,
      bearing: 209.527053 deg,
      lat: 36.779393 deg,
      lon: -121.859681 deg,
      deltaT: 0.504161 s,
      deltaX: -0.099355 m,
      approachRate: -0.197070 m/s,
      posRepo size: 4

2025-08-21T19:40:18.173Z,1755805218.173 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T19:40:18.313Z,1755805218.313 [DAT](INFO): DAT read: Rx Time:19:40:17.1862 

2025-08-21T19:40:18.313Z,1755805218.313 [DAT](INFO): Rx dataTimestamp_ set to:1755805218.312926
2025-08-21T19:40:18.314Z,1755805218.314 [DAT](INFO): DAT read: Bearing 350.5,  33.2 (Local)

2025-08-21T19:40:18.315Z,1755805218.315 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.5,  33.2 (Local)

2025-08-21T19:40:18.317Z,1755805218.317 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:18.321Z,1755805218.321 [DAT](INFO): DAT read: 19:40:17.1862 LVL= 27568,  9969, 23714, 31139, AGC= 43, IDX= 505, 0.18,-2.191, 3.114, 2.985,-1.285, PHS=-0.804,-1.840,-2.058, RAW=  80.6,  55.1, CAL=  78.7,  60.3, ROT=  71.3, -60.3

2025-08-21T19:40:18.322Z,1755805218.322 [DAT](INFO): got valid direction response:
 19:40:17.1862 LVL= 27568,  9969, 23714, 31139, AGC= 43, IDX= 505, 0.18,-2.191, 3.114, 2.985,-1.285, PHS=-0.804,-1.840,-2.058, RAW=  80.6,  55.1, CAL=  78.7,  60.3, ROT=  71.3, -60.3

2025-08-21T19:40:18.323Z,1755805218.323 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-21T19:40:18.324Z,1755805218.324 [DAT](INFO): direction in FSK: [0.158850,0.469304,0.868631]
2025-08-21T19:40:18.324Z,1755805218.324 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:18.342Z,1755805218.342 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.115295
2025-08-21T19:40:18.523Z,1755805218.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503897 s,
      deltaX: 0.100000 m,
      approachRate: 0.198453 m/s,
      rangeRepo size: 4

2025-08-21T19:40:18.525Z,1755805218.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788469 m,
      bearing: 206.923562 deg,
      lat: 36.779392 deg,
      lon: -121.859681 deg,
      deltaT: 0.503897 s,
      deltaX: 0.099359 m,
      approachRate: 0.197182 m/s,
      posRepo size: 4

2025-08-21T19:40:18.565Z,1755805218.565 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=40.338615
2025-08-21T19:40:18.817Z,1755805218.817 [DAT](INFO): DAT read: Rx Time:19:40:17.6861 

2025-08-21T19:40:18.817Z,1755805218.817 [DAT](INFO): Rx dataTimestamp_ set to:1755805218.816994
2025-08-21T19:40:18.819Z,1755805218.819 [DAT](INFO): DAT read: Bearing 345.3,  32.7 (Local)

2025-08-21T19:40:18.819Z,1755805218.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.3,  32.7 (Local)

2025-08-21T19:40:18.821Z,1755805218.821 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:18.826Z,1755805218.826 [DAT](INFO): DAT read: 19:40:17.6861 LVL= 25904, 10065, 20066, 27667, AGC= 43, IDX= 504, 0.37, 2.585, 1.441, 1.450,-2.809, PHS=-0.787,-1.988,-2.068, RAW=  86.8,  54.0, CAL=  85.4,  59.3, ROT=  64.6, -59.3

2025-08-21T19:40:18.842Z,1755805218.842 [DAT](INFO): got valid direction response:
 19:40:17.6861 LVL= 25904, 10065, 20066, 27667, AGC= 43, IDX= 504, 0.37, 2.585, 1.441, 1.450,-2.809, PHS=-0.787,-1.988,-2.068, RAW=  86.8,  54.0, CAL=  85.4,  59.3, ROT=  64.6, -59.3

2025-08-21T19:40:18.842Z,1755805218.842 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-21T19:40:18.844Z,1755805218.844 [DAT](INFO): direction in FSK: [0.218990,0.461191,0.859852]
2025-08-21T19:40:18.844Z,1755805218.844 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:18.885Z,1755805218.885 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=40.657372
2025-08-21T19:40:19.054Z,1755805219.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504068 s,
      deltaX: -0.100000 m,
      approachRate: -0.198386 m/s,
      rangeRepo size: 4

2025-08-21T19:40:19.060Z,1755805219.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689106 m,
      bearing: 198.143268 deg,
      lat: 36.779392 deg,
      lon: -121.859680 deg,
      deltaT: 0.504068 s,
      deltaX: -0.099363 m,
      approachRate: -0.197122 m/s,
      posRepo size: 4

2025-08-21T19:40:19.069Z,1755805219.069 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=40.842052
2025-08-21T19:40:19.321Z,1755805219.321 [DAT](INFO): DAT read: Rx Time:19:40:18.1862 

2025-08-21T19:40:19.321Z,1755805219.321 [DAT](INFO): Rx dataTimestamp_ set to:1755805219.321045
2025-08-21T19:40:19.323Z,1755805219.323 [DAT](INFO): DAT read: Bearing 346.3,  32.6 (Local)

2025-08-21T19:40:19.323Z,1755805219.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.3,  32.6 (Local)

2025-08-21T19:40:19.325Z,1755805219.325 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:19.330Z,1755805219.330 [DAT](INFO): DAT read: 19:40:18.1862 LVL= 27712, 10081, 23634, 32243, AGC= 43, IDX= 506,-0.41, 1.966, 0.920, 0.864, 2.864, PHS=-0.796,-1.899,-2.044, RAW=  83.9,  54.8, CAL=  82.3,  60.0, ROT=  67.7, -60.0

2025-08-21T19:40:19.331Z,1755805219.331 [DAT](INFO): got valid direction response:
 19:40:18.1862 LVL= 27712, 10081, 23634, 32243, AGC= 43, IDX= 506,-0.41, 1.966, 0.920, 0.864, 2.864, PHS=-0.796,-1.899,-2.044, RAW=  83.9,  54.8, CAL=  82.3,  60.0, ROT=  67.7, -60.0

2025-08-21T19:40:19.331Z,1755805219.331 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-21T19:40:19.336Z,1755805219.336 [DAT](INFO): direction in FSK: [0.189728,0.462605,0.866025]
2025-08-21T19:40:19.336Z,1755805219.336 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:19.342Z,1755805219.342 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.115177
2025-08-21T19:40:19.476Z,1755805219.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504051 s,
      deltaX: 0.100000 m,
      approachRate: 0.198392 m/s,
      rangeRepo size: 4

2025-08-21T19:40:19.478Z,1755805219.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788465 m,
      bearing: 201.809522 deg,
      lat: 36.779392 deg,
      lon: -121.859679 deg,
      deltaT: 0.504051 s,
      deltaX: 0.099359 m,
      approachRate: 0.197121 m/s,
      posRepo size: 4

2025-08-21T19:40:19.573Z,1755805219.573 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=41.346516
2025-08-21T19:40:19.825Z,1755805219.825 [DAT](INFO): DAT read: Rx Time:19:40:18.6861 

2025-08-21T19:40:19.825Z,1755805219.825 [DAT](INFO): Rx dataTimestamp_ set to:1755805219.825106
2025-08-21T19:40:19.827Z,1755805219.827 [DAT](INFO): DAT read: Bearing 341.7,  32.1 (Local)

2025-08-21T19:40:19.827Z,1755805219.827 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  32.1 (Local)

2025-08-21T19:40:19.829Z,1755805219.829 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:19.834Z,1755805219.834 [DAT](INFO): DAT read: 19:40:18.6861 LVL= 25440, 10049, 20402, 27507, AGC= 43, IDX= 505,-0.22, 0.395,-0.791,-0.725, 1.284, PHS=-0.786,-2.030,-2.053, RAW=  89.1,  53.9, CAL=  88.0,  59.1, ROT=  62.0, -59.1

2025-08-21T19:40:19.835Z,1755805219.835 [DAT](INFO): got valid direction response:
 19:40:18.6861 LVL= 25440, 10049, 20402, 27507, AGC= 43, IDX= 505,-0.22, 0.395,-0.791,-0.725, 1.284, PHS=-0.786,-2.030,-2.053, RAW=  89.1,  53.9, CAL=  88.0,  59.1, ROT=  62.0, -59.1

2025-08-21T19:40:19.835Z,1755805219.835 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-21T19:40:19.836Z,1755805219.836 [DAT](INFO): direction in FSK: [0.241093,0.453430,0.858065]
2025-08-21T19:40:19.836Z,1755805219.836 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:19.844Z,1755805219.844 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=41.617630
2025-08-21T19:40:19.849Z,1755805219.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504061 s,
      deltaX: -0.100000 m,
      approachRate: -0.198389 m/s,
      rangeRepo size: 4

2025-08-21T19:40:19.851Z,1755805219.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 193.425431 deg,
      lat: 36.779392 deg,
      lon: -121.859679 deg,
      deltaT: 0.504061 s,
      deltaX: -0.099358 m,
      approachRate: -0.197114 m/s,
      posRepo size: 4

2025-08-21T19:40:20.077Z,1755805220.077 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=41.850792
2025-08-21T19:40:20.305Z,1755805220.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:20.329Z,1755805220.329 [DAT](INFO): DAT read: Rx Time:19:40:19.1861 

2025-08-21T19:40:20.329Z,1755805220.329 [DAT](INFO): Rx dataTimestamp_ set to:1755805220.329129
2025-08-21T19:40:20.331Z,1755805220.331 [DAT](INFO): DAT read: Bearing 342.8,  32.8 (Local)

2025-08-21T19:40:20.331Z,1755805220.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8,  32.8 (Local)

2025-08-21T19:40:20.333Z,1755805220.333 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:20.338Z,1755805220.338 [DAT](INFO): DAT read: 19:40:19.1861 LVL= 25184, 10913, 18994, 28307, AGC= 43, IDX= 505,-0.09, 0.702,-0.415,-0.432, 1.585, PHS=-0.781,-1.955,-2.061, RAW=  85.7,  54.0, CAL=  84.3,  59.3, ROT=  65.7, -59.3

2025-08-21T19:40:20.339Z,1755805220.339 [DAT](INFO): got valid direction response:
 19:40:19.1861 LVL= 25184, 10913, 18994, 28307, AGC= 43, IDX= 505,-0.09, 0.702,-0.415,-0.432, 1.585, PHS=-0.781,-1.955,-2.061, RAW=  85.7,  54.0, CAL=  84.3,  59.3, ROT=  65.7, -59.3

2025-08-21T19:40:20.339Z,1755805220.339 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-21T19:40:20.340Z,1755805220.340 [DAT](INFO): direction in FSK: [0.210096,0.465311,0.859852]
2025-08-21T19:40:20.341Z,1755805220.341 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:20.344Z,1755805220.344 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.117855
2025-08-21T19:40:20.580Z,1755805220.580 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=42.353733
2025-08-21T19:40:20.672Z,1755805220.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504023 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:20.674Z,1755805220.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 196.112684 deg,
      lat: 36.779392 deg,
      lon: -121.859678 deg,
      deltaT: 0.504023 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:20.834Z,1755805220.834 [DAT](INFO): DAT read: Rx Time:19:40:19.6861 

2025-08-21T19:40:20.835Z,1755805220.835 [DAT](INFO): Rx dataTimestamp_ set to:1755805220.834327
2025-08-21T19:40:20.837Z,1755805220.837 [DAT](INFO): DAT read: Bearing 352.6,  35.2 (Local)

2025-08-21T19:40:20.837Z,1755805220.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.6,  35.2 (Local)

2025-08-21T19:40:20.839Z,1755805220.839 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:20.844Z,1755805220.844 [DAT](INFO): DAT read: 19:40:19.6861 LVL= 27264,  8721, 22562, 30595, AGC= 42, IDX= 504, 0.00, 0.524,-0.228,-0.595, 1.421, PHS=-0.795,-1.604,-2.060, RAW=  69.1,  54.9, CAL=  66.2,  59.5, ROT=  83.8, -59.5

2025-08-21T19:40:20.845Z,1755805220.845 [DAT](INFO): got valid direction response:
 19:40:19.6861 LVL= 27264,  8721, 22562, 30595, AGC= 42, IDX= 504, 0.00, 0.524,-0.228,-0.595, 1.421, PHS=-0.795,-1.604,-2.060, RAW=  69.1,  54.9, CAL=  66.2,  59.5, ROT=  83.8, -59.5

2025-08-21T19:40:20.845Z,1755805220.845 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-21T19:40:20.846Z,1755805220.846 [DAT](INFO): direction in FSK: [0.054814,0.504570,0.861629]
2025-08-21T19:40:20.847Z,1755805220.847 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:20.850Z,1755805220.850 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.623779
2025-08-21T19:40:21.084Z,1755805221.084 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=42.857796
2025-08-21T19:40:21.148Z,1755805221.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505198 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:21.151Z,1755805221.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 217.576423 deg,
      lat: 36.779392 deg,
      lon: -121.859678 deg,
      deltaT: 0.505198 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:21.337Z,1755805221.337 [DAT](INFO): DAT read: Rx Time:19:40:20.1862 

2025-08-21T19:40:21.338Z,1755805221.338 [DAT](INFO): Rx dataTimestamp_ set to:1755805221.337427
2025-08-21T19:40:21.339Z,1755805221.339 [DAT](INFO): DAT read: Bearing 351.2,  35.5 (Local)

2025-08-21T19:40:21.339Z,1755805221.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.2,  35.5 (Local)

2025-08-21T19:40:21.341Z,1755805221.341 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:21.346Z,1755805221.346 [DAT](INFO): DAT read: 19:40:20.1862 LVL= 25776,  9777, 21394, 28115, AGC= 43, IDX= 505, 0.11, 2.696, 1.906, 1.547,-2.701, PHS=-0.784,-1.631,-2.079, RAW=  70.1,  54.4, CAL=  67.1,  59.1, ROT=  82.9, -59.1

2025-08-21T19:40:21.347Z,1755805221.347 [DAT](INFO): got valid direction response:
 19:40:20.1862 LVL= 25776,  9777, 21394, 28115, AGC= 43, IDX= 505, 0.11, 2.696, 1.906, 1.547,-2.701, PHS=-0.784,-1.631,-2.079, RAW=  70.1,  54.4, CAL=  67.1,  59.1, ROT=  82.9, -59.1

2025-08-21T19:40:21.348Z,1755805221.348 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-21T19:40:21.349Z,1755805221.349 [DAT](INFO): direction in FSK: [0.063474,0.509603,0.858065]
2025-08-21T19:40:21.349Z,1755805221.349 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:21.353Z,1755805221.353 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.126186
2025-08-21T19:40:21.521Z,1755805221.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503100 s,
      deltaX: 0.100000 m,
      approachRate: 0.198767 m/s,
      rangeRepo size: 4

2025-08-21T19:40:21.528Z,1755805221.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788467 m,
      bearing: 215.067952 deg,
      lat: 36.779392 deg,
      lon: -121.859679 deg,
      deltaT: 0.503100 s,
      deltaX: 0.099359 m,
      approachRate: 0.197494 m/s,
      posRepo size: 4

2025-08-21T19:40:21.589Z,1755805221.589 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=43.362911
2025-08-21T19:40:21.841Z,1755805221.841 [DAT](INFO): DAT read: Rx Time:19:40:20.6861 

2025-08-21T19:40:21.841Z,1755805221.841 [DAT](INFO): Rx dataTimestamp_ set to:1755805221.840954
2025-08-21T19:40:21.843Z,1755805221.843 [DAT](INFO): DAT read: Bearing 358.9,  36.7 (Local)

2025-08-21T19:40:21.843Z,1755805221.843 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  36.7 (Local)

2025-08-21T19:40:21.845Z,1755805221.845 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:21.850Z,1755805221.850 [DAT](INFO): DAT read: 19:40:20.6861 LVL= 30128, 10273, 27122, 32755, AGC= 42, IDX= 504, 0.23, 1.811, 1.296, 0.681, 2.712, PHS=-0.799,-1.371,-2.074, RAW=  56.6,  53.6, CAL=  53.9,  57.8, ROT=  96.1, -57.8

2025-08-21T19:40:21.851Z,1755805221.851 [DAT](INFO): got valid direction response:
 19:40:20.6861 LVL= 30128, 10273, 27122, 32755, AGC= 42, IDX= 504, 0.23, 1.811, 1.296, 0.681, 2.712, PHS=-0.799,-1.371,-2.074, RAW=  56.6,  53.6, CAL=  53.9,  57.8, ROT=  96.1, -57.8

2025-08-21T19:40:21.851Z,1755805221.851 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-21T19:40:21.852Z,1755805221.852 [DAT](INFO): direction in FSK: [-0.056626,0.529859,0.846193]
2025-08-21T19:40:21.852Z,1755805221.852 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:21.856Z,1755805221.856 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.629753
2025-08-21T19:40:22.025Z,1755805222.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503527 s,
      deltaX: -0.100000 m,
      approachRate: -0.198599 m/s,
      rangeRepo size: 4

2025-08-21T19:40:22.032Z,1755805222.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 229.728496 deg,
      lat: 36.779393 deg,
      lon: -121.859680 deg,
      deltaT: 0.503527 s,
      deltaX: -0.099359 m,
      approachRate: -0.197326 m/s,
      posRepo size: 4

2025-08-21T19:40:22.093Z,1755805222.093 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=43.866165
2025-08-21T19:40:22.345Z,1755805222.345 [DAT](INFO): DAT read: Rx Time:19:40:21.1862 

2025-08-21T19:40:22.345Z,1755805222.345 [DAT](INFO): Rx dataTimestamp_ set to:1755805222.345025
2025-08-21T19:40:22.347Z,1755805222.347 [DAT](INFO): DAT read: Bearing   1.9,  37.1 (Local)

2025-08-21T19:40:22.347Z,1755805222.347 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  37.1 (Local)

2025-08-21T19:40:22.349Z,1755805222.349 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:22.354Z,1755805222.354 [DAT](INFO): DAT read: 19:40:21.1862 LVL= 31312, 10337, 26850, 32755, AGC= 42, IDX= 505, 0.41, 2.496, 2.084, 1.365,-2.889, PHS=-0.797,-1.265,-2.073, RAW=  51.3,  52.6, CAL=  48.9,  56.8, ROT= 101.1, -56.8

2025-08-21T19:40:22.355Z,1755805222.355 [DAT](INFO): got valid direction response:
 19:40:21.1862 LVL= 31312, 10337, 26850, 32755, AGC= 42, IDX= 505, 0.41, 2.496, 2.084, 1.365,-2.889, PHS=-0.797,-1.265,-2.073, RAW=  51.3,  52.6, CAL=  48.9,  56.8, ROT= 101.1, -56.8

2025-08-21T19:40:22.355Z,1755805222.355 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-21T19:40:22.356Z,1755805222.356 [DAT](INFO): direction in FSK: [-0.105418,0.537320,0.836764]
2025-08-21T19:40:22.356Z,1755805222.356 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:22.360Z,1755805222.360 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.133633
2025-08-21T19:40:22.408Z,1755805222.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504071 s,
      deltaX: 0.100000 m,
      approachRate: 0.198385 m/s,
      rangeRepo size: 4

2025-08-21T19:40:22.410Z,1755805222.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788467 m,
      bearing: 234.765311 deg,
      lat: 36.779394 deg,
      lon: -121.859680 deg,
      deltaT: 0.504071 s,
      deltaX: 0.099359 m,
      approachRate: 0.197113 m/s,
      posRepo size: 4

2025-08-21T19:40:22.596Z,1755805222.596 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=44.369686
2025-08-21T19:40:22.773Z,1755805222.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:22.850Z,1755805222.850 [DAT](INFO): DAT read: Rx Time:19:40:21.6861 

2025-08-21T19:40:22.851Z,1755805222.851 [DAT](INFO): Rx dataTimestamp_ set to:1755805222.850301
2025-08-21T19:40:22.853Z,1755805222.853 [DAT](INFO): DAT read: Bearing   3.3,  37.4 (Local)

2025-08-21T19:40:22.853Z,1755805222.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  37.4 (Local)

2025-08-21T19:40:22.856Z,1755805222.856 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:22.863Z,1755805222.863 [DAT](INFO): DAT read: 19:40:21.6861 LVL= 32048, 10801, 26818, 32755, AGC= 44, IDX= 505,-0.34,-0.449,-0.806,-1.586, 0.444, PHS=-0.791,-1.205,-2.073, RAW=  48.5,  51.8, CAL=  46.2,  56.2, ROT= 103.8, -56.2

2025-08-21T19:40:22.866Z,1755805222.866 [DAT](INFO): got valid direction response:
 19:40:21.6861 LVL= 32048, 10801, 26818, 32755, AGC= 44, IDX= 505,-0.34,-0.449,-0.806,-1.586, 0.444, PHS=-0.791,-1.205,-2.073, RAW=  48.5,  51.8, CAL=  46.2,  56.2, ROT= 103.8, -56.2

2025-08-21T19:40:22.868Z,1755805222.868 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-21T19:40:22.871Z,1755805222.871 [DAT](INFO): direction in FSK: [-0.132695,0.540238,0.830984]
2025-08-21T19:40:22.871Z,1755805222.871 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:22.894Z,1755805222.894 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.667839
2025-08-21T19:40:23.100Z,1755805223.100 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=44.873798
2025-08-21T19:40:23.256Z,1755805223.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505276 s,
      deltaX: -0.100000 m,
      approachRate: -0.197911 m/s,
      rangeRepo size: 4

2025-08-21T19:40:23.258Z,1755805223.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 236.810095 deg,
      lat: 36.779394 deg,
      lon: -121.859682 deg,
      deltaT: 0.505276 s,
      deltaX: -0.099360 m,
      approachRate: -0.196645 m/s,
      posRepo size: 4

2025-08-21T19:40:23.354Z,1755805223.354 [DAT](INFO): DAT read: Rx Time:19:40:22.1862 

2025-08-21T19:40:23.355Z,1755805223.355 [DAT](INFO): Rx dataTimestamp_ set to:1755805223.354198
2025-08-21T19:40:23.357Z,1755805223.357 [DAT](INFO): DAT read: Bearing   5.5,  37.6 (Local)

2025-08-21T19:40:23.357Z,1755805223.357 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  37.6 (Local)

2025-08-21T19:40:23.360Z,1755805223.360 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:23.365Z,1755805223.365 [DAT](INFO): DAT read: 19:40:22.1862 LVL= 30304, 10961, 26546, 32755, AGC= 42, IDX= 506,-0.20, 1.039, 0.754,-0.105, 1.931, PHS=-0.790,-1.132,-2.080, RAW=  44.8,  50.7, CAL=  42.8,  55.3, ROT= 107.2, -55.3

2025-08-21T19:40:23.366Z,1755805223.366 [DAT](INFO): got valid direction response:
 19:40:22.1862 LVL= 30304, 10961, 26546, 32755, AGC= 42, IDX= 506,-0.20, 1.039, 0.754,-0.105, 1.931, PHS=-0.790,-1.132,-2.080, RAW=  44.8,  50.7, CAL=  42.8,  55.3, ROT= 107.2, -55.3

2025-08-21T19:40:23.366Z,1755805223.366 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-21T19:40:23.367Z,1755805223.367 [DAT](INFO): direction in FSK: [-0.168341,0.543820,0.822144]
2025-08-21T19:40:23.368Z,1755805223.368 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:23.371Z,1755805223.371 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.144550
2025-08-21T19:40:23.605Z,1755805223.605 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=45.378052
2025-08-21T19:40:23.632Z,1755805223.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503897 s,
      deltaX: 0.100000 m,
      approachRate: 0.198453 m/s,
      rangeRepo size: 4

2025-08-21T19:40:23.634Z,1755805223.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788466 m,
      bearing: 240.150169 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503897 s,
      deltaX: 0.099359 m,
      approachRate: 0.197181 m/s,
      posRepo size: 4

2025-08-21T19:40:23.684Z,1755805223.684 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:40:23.857Z,1755805223.857 [DAT](INFO): DAT read: Rx Time:19:40:22.6861 

2025-08-21T19:40:23.857Z,1755805223.857 [DAT](INFO): Rx dataTimestamp_ set to:1755805223.857058
2025-08-21T19:40:23.859Z,1755805223.859 [DAT](INFO): DAT read: Bearing   4.3,  38.1 (Local)

2025-08-21T19:40:23.859Z,1755805223.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  38.1 (Local)

2025-08-21T19:40:23.861Z,1755805223.861 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:23.866Z,1755805223.866 [DAT](INFO): DAT read: 19:40:22.6861 LVL= 29008, 11105, 26610, 32755, AGC= 43, IDX= 505,-0.07, 0.174,-0.145,-0.992, 1.063, PHS=-0.787,-1.163,-2.098, RAW=  46.2,  50.7, CAL=  44.0,  55.3, ROT= 106.0, -55.3

2025-08-21T19:40:23.867Z,1755805223.867 [DAT](INFO): got valid direction response:
 19:40:22.6861 LVL= 29008, 11105, 26610, 32755, AGC= 43, IDX= 505,-0.07, 0.174,-0.145,-0.992, 1.063, PHS=-0.787,-1.163,-2.098, RAW=  46.2,  50.7, CAL=  44.0,  55.3, ROT= 106.0, -55.3

2025-08-21T19:40:23.867Z,1755805223.867 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-21T19:40:23.868Z,1755805223.868 [DAT](INFO): direction in FSK: [-0.156915,0.547227,0.822144]
2025-08-21T19:40:23.869Z,1755805223.869 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:23.872Z,1755805223.872 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.645519
2025-08-21T19:40:24.108Z,1755805224.108 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=45.881676
2025-08-21T19:40:24.144Z,1755805224.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502860 s,
      deltaX: -0.100000 m,
      approachRate: -0.198862 m/s,
      rangeRepo size: 4

2025-08-21T19:40:24.148Z,1755805224.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 238.094513 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.502860 s,
      deltaX: -0.099359 m,
      approachRate: -0.197587 m/s,
      posRepo size: 4

2025-08-21T19:40:24.361Z,1755805224.361 [DAT](INFO): DAT read: Rx Time:19:40:23.1861 

2025-08-21T19:40:24.361Z,1755805224.361 [DAT](INFO): Rx dataTimestamp_ set to:1755805224.360989
2025-08-21T19:40:24.363Z,1755805224.363 [DAT](INFO): DAT read: Bearing   3.7,  38.4 (Local)

2025-08-21T19:40:24.363Z,1755805224.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.7,  38.4 (Local)

2025-08-21T19:40:24.365Z,1755805224.365 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:24.405Z,1755805224.405 [DAT](INFO): DAT read: 19:40:23.1861 LVL= 29840, 11025, 27634, 32755, AGC= 43, IDX= 505, 0.03, 1.169, 0.835,-0.018, 2.057, PHS=-0.786,-1.178,-2.119, RAW=  46.6,  50.6, CAL=  44.4,  55.1, ROT= 105.6, -55.1

2025-08-21T19:40:24.406Z,1755805224.406 [DAT](INFO): got valid direction response:
 19:40:23.1861 LVL= 29840, 11025, 27634, 32755, AGC= 43, IDX= 505, 0.03, 1.169, 0.835,-0.018, 2.057, PHS=-0.786,-1.178,-2.119, RAW=  46.6,  50.6, CAL=  44.4,  55.1, ROT= 105.6, -55.1

2025-08-21T19:40:24.407Z,1755805224.407 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-21T19:40:24.416Z,1755805224.416 [DAT](INFO): direction in FSK: [-0.153861,0.551069,0.820152]
2025-08-21T19:40:24.417Z,1755805224.417 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:24.429Z,1755805224.429 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.202637
2025-08-21T19:40:24.550Z,1755805224.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T19:40:24.557Z,1755805224.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689108 m,
      bearing: 237.287036 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503931 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T19:40:24.613Z,1755805224.613 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=46.385994
2025-08-21T19:40:24.865Z,1755805224.865 [DAT](INFO): DAT read: Rx Time:19:40:23.6860 

2025-08-21T19:40:24.865Z,1755805224.865 [DAT](INFO): Rx dataTimestamp_ set to:1755805224.864926
2025-08-21T19:40:24.870Z,1755805224.870 [DAT](INFO): DAT read: Bearing   4.9,  38.2 (Local)

2025-08-21T19:40:24.872Z,1755805224.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  38.2 (Local)

2025-08-21T19:40:24.874Z,1755805224.874 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:24.879Z,1755805224.879 [DAT](INFO): DAT read: 19:40:23.6860 LVL= 31216, 13297, 29090, 32755, AGC= 44, IDX= 504, 0.15, 0.227,-0.057,-0.950, 1.128, PHS=-0.799,-1.140,-2.122, RAW=  44.4,  50.4, CAL=  42.3,  55.0, ROT= 107.7, -55.0

2025-08-21T19:40:24.880Z,1755805224.880 [DAT](INFO): got valid direction response:
 19:40:23.6860 LVL= 31216, 13297, 29090, 32755, AGC= 44, IDX= 504, 0.15, 0.227,-0.057,-0.950, 1.128, PHS=-0.799,-1.140,-2.122, RAW=  44.4,  50.4, CAL=  42.3,  55.0, ROT= 107.7, -55.0

2025-08-21T19:40:24.880Z,1755805224.880 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-21T19:40:24.881Z,1755805224.881 [DAT](INFO): direction in FSK: [-0.174386,0.546424,0.819152]
2025-08-21T19:40:24.882Z,1755805224.882 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:24.897Z,1755805224.897 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.670773
2025-08-21T19:40:24.970Z,1755805224.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503937 s,
      deltaX: -0.200000 m,
      approachRate: -0.396875 m/s,
      rangeRepo size: 4

2025-08-21T19:40:24.978Z,1755805224.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490391 m,
      bearing: 239.326618 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503937 s,
      deltaX: -0.198717 m,
      approachRate: -0.394329 m/s,
      posRepo size: 4

2025-08-21T19:40:25.117Z,1755805225.117 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=46.890282
2025-08-21T19:40:25.369Z,1755805225.369 [DAT](INFO): DAT read: Rx Time:19:40:24.1861 

2025-08-21T19:40:25.369Z,1755805225.369 [DAT](INFO): Rx dataTimestamp_ set to:1755805225.368909
2025-08-21T19:40:25.370Z,1755805225.370 [DAT](INFO): DAT read: Bearing   5.6,  38.1 (Local)

2025-08-21T19:40:25.371Z,1755805225.371 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.6,  38.1 (Local)

2025-08-21T19:40:25.373Z,1755805225.373 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:25.377Z,1755805225.377 [DAT](INFO): DAT read: 19:40:24.1861 LVL= 31056, 13185, 30402, 32755, AGC= 43, IDX= 505, 0.30, 1.749, 1.489, 0.573, 2.656, PHS=-0.805,-1.122,-2.127, RAW=  43.3,  50.2, CAL=  41.3,  54.9, ROT= 108.7, -54.9

2025-08-21T19:40:25.378Z,1755805225.378 [DAT](INFO): got valid direction response:
 19:40:24.1861 LVL= 31056, 13185, 30402, 32755, AGC= 43, IDX= 505, 0.30, 1.749, 1.489, 0.573, 2.656, PHS=-0.805,-1.122,-2.127, RAW=  43.3,  50.2, CAL=  41.3,  54.9, ROT= 108.7, -54.9

2025-08-21T19:40:25.379Z,1755805225.379 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-21T19:40:25.380Z,1755805225.380 [DAT](INFO): direction in FSK: [-0.184354,0.544651,0.818150]
2025-08-21T19:40:25.380Z,1755805225.380 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:25.384Z,1755805225.384 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.157116
2025-08-21T19:40:25.503Z,1755805225.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503983 s,
      deltaX: 0.200000 m,
      approachRate: 0.396839 m/s,
      rangeRepo size: 4

2025-08-21T19:40:25.509Z,1755805225.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689110 m,
      bearing: 240.457471 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503983 s,
      deltaX: 0.198719 m,
      approachRate: 0.394297 m/s,
      posRepo size: 4

2025-08-21T19:40:25.620Z,1755805225.620 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=47.393715
2025-08-21T19:40:25.873Z,1755805225.873 [DAT](INFO): DAT read: Rx Time:19:40:24.6860 

2025-08-21T19:40:25.873Z,1755805225.873 [DAT](INFO): Rx dataTimestamp_ set to:1755805225.873081
2025-08-21T19:40:25.875Z,1755805225.875 [DAT](INFO): DAT read: Bearing   8.2,  37.9 (Local)

2025-08-21T19:40:25.875Z,1755805225.875 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  37.9 (Local)

2025-08-21T19:40:25.878Z,1755805225.878 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:25.884Z,1755805225.884 [DAT](INFO): DAT read: 19:40:24.6860 LVL= 28656, 11745, 24482, 32563, AGC= 43, IDX= 505,-0.46,-1.333,-1.511,-2.501,-0.421, PHS=-0.810,-1.045,-2.124, RAW=  39.7,  49.2, CAL=  37.8,  54.0, ROT= 112.2, -54.0

2025-08-21T19:40:25.885Z,1755805225.885 [DAT](INFO): got valid direction response:
 19:40:24.6860 LVL= 28656, 11745, 24482, 32563, AGC= 43, IDX= 505,-0.46,-1.333,-1.511,-2.501,-0.421, PHS=-0.810,-1.045,-2.124, RAW=  39.7,  49.2, CAL=  37.8,  54.0, ROT= 112.2, -54.0

2025-08-21T19:40:25.886Z,1755805225.886 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-21T19:40:25.886Z,1755805225.886 [DAT](INFO): direction in FSK: [-0.222089,0.544213,0.809017]
2025-08-21T19:40:25.887Z,1755805225.887 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:25.922Z,1755805225.922 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.695549
2025-08-21T19:40:26.124Z,1755805226.124 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=47.897758
2025-08-21T19:40:26.285Z,1755805226.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504172 s,
      deltaX: -0.200000 m,
      approachRate: -0.396690 m/s,
      rangeRepo size: 4

2025-08-21T19:40:26.287Z,1755805226.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490396 m,
      bearing: 243.708201 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.504172 s,
      deltaX: -0.198714 m,
      approachRate: -0.394138 m/s,
      posRepo size: 4

2025-08-21T19:40:26.377Z,1755805226.377 [DAT](INFO): DAT read: Rx Time:19:40:25.1861 

2025-08-21T19:40:26.377Z,1755805226.377 [DAT](INFO): Rx dataTimestamp_ set to:1755805226.376974
2025-08-21T19:40:26.379Z,1755805226.379 [DAT](INFO): DAT read: Bearing   8.9,  37.3 (Local)

2025-08-21T19:40:26.379Z,1755805226.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.9,  37.3 (Local)

2025-08-21T19:40:26.381Z,1755805226.381 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:26.385Z,1755805226.385 [DAT](INFO): DAT read: 19:40:25.1861 LVL= 29232, 10897, 24050, 32755, AGC= 43, IDX= 506,-0.25,-0.553,-0.698,-1.705, 0.371, PHS=-0.822,-1.024,-2.120, RAW=  38.3,  49.2, CAL=  36.5,  53.9, ROT= 113.5, -53.9

2025-08-21T19:40:26.386Z,1755805226.386 [DAT](INFO): got valid direction response:
 19:40:25.1861 LVL= 29232, 10897, 24050, 32755, AGC= 43, IDX= 506,-0.25,-0.553,-0.698,-1.705, 0.371, PHS=-0.822,-1.024,-2.120, RAW=  38.3,  49.2, CAL=  36.5,  53.9, ROT= 113.5, -53.9

2025-08-21T19:40:26.387Z,1755805226.387 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-21T19:40:26.388Z,1755805226.388 [DAT](INFO): direction in FSK: [-0.234941,0.540328,0.807990]
2025-08-21T19:40:26.388Z,1755805226.388 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:26.408Z,1755805226.408 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.181789
2025-08-21T19:40:26.630Z,1755805226.630 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=48.402843
2025-08-21T19:40:26.808Z,1755805226.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503893 s,
      deltaX: 0.200000 m,
      approachRate: 0.396910 m/s,
      rangeRepo size: 4

2025-08-21T19:40:26.810Z,1755805226.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689115 m,
      bearing: 244.615506 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503893 s,
      deltaX: 0.198719 m,
      approachRate: 0.394368 m/s,
      posRepo size: 4

2025-08-21T19:40:26.810Z,1755805226.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.70 m.
2025-08-21T19:40:26.810Z,1755805226.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-21T19:40:26.881Z,1755805226.881 [DAT](INFO): DAT read: Rx Time:19:40:25.6860 

2025-08-21T19:40:26.881Z,1755805226.881 [DAT](INFO): Rx dataTimestamp_ set to:1755805226.881171
2025-08-21T19:40:26.883Z,1755805226.883 [DAT](INFO): DAT read: Bearing  11.2,  36.6 (Local)

2025-08-21T19:40:26.883Z,1755805226.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.2,  36.6 (Local)

2025-08-21T19:40:26.885Z,1755805226.885 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:26.890Z,1755805226.890 [DAT](INFO): DAT read: 19:40:25.6860 LVL= 32752, 13969, 29426, 32755, AGC= 43, IDX= 505,-0.13,-1.468,-1.531,-2.591,-0.525, PHS=-0.841,-0.961,-2.110, RAW=  34.9,  48.7, CAL=  33.1,  53.4, ROT= 116.9, -53.4

2025-08-21T19:40:26.891Z,1755805226.891 [DAT](INFO): got valid direction response:
 19:40:25.6860 LVL= 32752, 13969, 29426, 32755, AGC= 43, IDX= 505,-0.13,-1.468,-1.531,-2.591,-0.525, PHS=-0.841,-0.961,-2.110, RAW=  34.9,  48.7, CAL=  33.1,  53.4, ROT= 116.9, -53.4

2025-08-21T19:40:26.891Z,1755805226.891 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-21T19:40:26.892Z,1755805226.892 [DAT](INFO): direction in FSK: [-0.269753,0.531712,0.802817]
2025-08-21T19:40:26.893Z,1755805226.893 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:26.914Z,1755805226.914 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.687607
2025-08-21T19:40:27.073Z,1755805227.073 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:40:27.132Z,1755805227.132 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=48.905712
2025-08-21T19:40:27.362Z,1755805227.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504197 s,
      deltaX: -0.200000 m,
      approachRate: -0.396670 m/s,
      rangeRepo size: 4

2025-08-21T19:40:27.364Z,1755805227.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490396 m,
      bearing: 248.150703 deg,
      lat: 36.779396 deg,
      lon: -121.859683 deg,
      deltaT: 0.504197 s,
      deltaX: -0.198719 m,
      approachRate: -0.394130 m/s,
      posRepo size: 4

2025-08-21T19:40:27.385Z,1755805227.385 [DAT](INFO): DAT read: Rx Time:19:40:26.1861 

2025-08-21T19:40:27.386Z,1755805227.386 [DAT](INFO): Rx dataTimestamp_ set to:1755805227.385351
2025-08-21T19:40:27.387Z,1755805227.387 [DAT](INFO): DAT read: Bearing  10.0,  36.8 (Local)

2025-08-21T19:40:27.387Z,1755805227.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.0,  36.8 (Local)

2025-08-21T19:40:27.389Z,1755805227.389 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:27.395Z,1755805227.395 [DAT](INFO): DAT read: 19:40:26.1861 LVL= 29568, 11617, 23890, 32755, AGC= 43, IDX= 505,-0.01,-1.164,-1.263,-2.307,-0.217, PHS=-0.845,-1.001,-2.134, RAW=  36.4,  49.1, CAL=  34.6,  53.8, ROT= 115.4, -53.8

2025-08-21T19:40:27.396Z,1755805227.396 [DAT](INFO): got valid direction response:
 19:40:26.1861 LVL= 29568, 11617, 23890, 32755, AGC= 43, IDX= 505,-0.01,-1.164,-1.263,-2.307,-0.217, PHS=-0.845,-1.001,-2.134, RAW=  36.4,  49.1, CAL=  34.6,  53.8, ROT= 115.4, -53.8

2025-08-21T19:40:27.397Z,1755805227.397 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-21T19:40:27.398Z,1755805227.398 [DAT](INFO): direction in FSK: [-0.253332,0.533515,0.806960]
2025-08-21T19:40:27.399Z,1755805227.399 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:27.417Z,1755805227.417 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.189987
2025-08-21T19:40:27.636Z,1755805227.636 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=49.409824
2025-08-21T19:40:27.796Z,1755805227.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504180 s,
      deltaX: 0.200000 m,
      approachRate: 0.396684 m/s,
      rangeRepo size: 4

2025-08-21T19:40:27.798Z,1755805227.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689111 m,
      bearing: 246.280698 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.504180 s,
      deltaX: 0.198715 m,
      approachRate: 0.394135 m/s,
      posRepo size: 4

2025-08-21T19:40:27.889Z,1755805227.889 [DAT](INFO): DAT read: Rx Time:19:40:26.6860 

2025-08-21T19:40:27.889Z,1755805227.889 [DAT](INFO): Rx dataTimestamp_ set to:1755805227.889073
2025-08-21T19:40:27.891Z,1755805227.891 [DAT](INFO): DAT read: Bearing   8.6,  37.0 (Local)

2025-08-21T19:40:27.891Z,1755805227.891 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  37.0 (Local)

2025-08-21T19:40:27.894Z,1755805227.894 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:27.900Z,1755805227.900 [DAT](INFO): DAT read: 19:40:26.6860 LVL= 29328, 10961, 23634, 32755, AGC= 43, IDX= 504, 0.11,-1.390,-1.521,-2.546,-0.437, PHS=-0.850,-1.039,-2.152, RAW=  37.7,  49.5, CAL=  35.9,  54.2, ROT= 114.1, -54.2

2025-08-21T19:40:27.902Z,1755805227.902 [DAT](INFO): got valid direction response:
 19:40:26.6860 LVL= 29328, 10961, 23634, 32755, AGC= 43, IDX= 504, 0.11,-1.390,-1.521,-2.546,-0.437, PHS=-0.850,-1.039,-2.152, RAW=  37.7,  49.5, CAL=  35.9,  54.2, ROT= 114.1, -54.2

2025-08-21T19:40:27.902Z,1755805227.902 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-21T19:40:27.908Z,1755805227.908 [DAT](INFO): direction in FSK: [-0.238856,0.533969,0.811064]
2025-08-21T19:40:27.908Z,1755805227.908 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:27.916Z,1755805227.916 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.689426
2025-08-21T19:40:28.077Z,1755805228.077 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:40:28.140Z,1755805228.140 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=49.913769
2025-08-21T19:40:28.272Z,1755805228.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503722 s,
      deltaX: -0.200000 m,
      approachRate: -0.397045 m/s,
      rangeRepo size: 4

2025-08-21T19:40:28.274Z,1755805228.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490392 m,
      bearing: 244.713123 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.503722 s,
      deltaX: -0.198719 m,
      approachRate: -0.394501 m/s,
      posRepo size: 4

2025-08-21T19:40:28.393Z,1755805228.393 [DAT](INFO): DAT read: Rx Time:19:40:27.1861 

2025-08-21T19:40:28.393Z,1755805228.393 [DAT](INFO): Rx dataTimestamp_ set to:1755805228.393032
2025-08-21T19:40:28.395Z,1755805228.395 [DAT](INFO): DAT read: Bearing   8.7,  36.9 (Local)

2025-08-21T19:40:28.395Z,1755805228.395 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.7,  36.9 (Local)

2025-08-21T19:40:28.397Z,1755805228.397 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:28.402Z,1755805228.402 [DAT](INFO): DAT read: 19:40:27.1861 LVL= 32432, 11697, 26802, 32755, AGC= 44, IDX= 505, 0.25, 0.028,-0.093,-1.138, 1.000, PHS=-0.870,-1.048,-2.182, RAW=  37.2,  49.6, CAL=  35.4,  54.3, ROT= 114.6, -54.3

2025-08-21T19:40:28.403Z,1755805228.403 [DAT](INFO): got valid direction response:
 19:40:27.1861 LVL= 32432, 11697, 26802, 32755, AGC= 44, IDX= 505, 0.25, 0.028,-0.093,-1.138, 1.000, PHS=-0.870,-1.048,-2.182, RAW=  37.2,  49.6, CAL=  35.4,  54.3, ROT= 114.6, -54.3

2025-08-21T19:40:28.403Z,1755805228.403 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-21T19:40:28.404Z,1755805228.404 [DAT](INFO): direction in FSK: [-0.242917,0.530577,0.812084]
2025-08-21T19:40:28.405Z,1755805228.405 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:28.408Z,1755805228.408 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.181690
2025-08-21T19:40:28.623Z,1755805228.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503959 s,
      deltaX: 0.200000 m,
      approachRate: 0.396858 m/s,
      rangeRepo size: 4

2025-08-21T19:40:28.628Z,1755805228.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689111 m,
      bearing: 245.071876 deg,
      lat: 36.779395 deg,
      lon: -121.859684 deg,
      deltaT: 0.503959 s,
      deltaX: 0.198719 m,
      approachRate: 0.394316 m/s,
      posRepo size: 4

2025-08-21T19:40:28.647Z,1755805228.647 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=50.420826
2025-08-21T19:40:28.897Z,1755805228.897 [DAT](INFO): DAT read: Rx Time:19:40:27.6860 

2025-08-21T19:40:28.898Z,1755805228.898 [DAT](INFO): Rx dataTimestamp_ set to:1755805228.897293
2025-08-21T19:40:28.899Z,1755805228.899 [DAT](INFO): DAT read: Bearing   8.2,  37.0 (Local)

2025-08-21T19:40:28.899Z,1755805228.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.2,  37.0 (Local)

2025-08-21T19:40:28.901Z,1755805228.901 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:28.906Z,1755805228.906 [DAT](INFO): DAT read: 19:40:27.6860 LVL= 32480, 13041, 25842, 32755, AGC= 44, IDX= 504, 0.48,-2.224,-2.350, 2.904,-1.259, PHS=-0.863,-1.047,-2.165, RAW=  37.5,  49.7, CAL=  35.7,  54.4, ROT= 114.3, -54.4

2025-08-21T19:40:28.907Z,1755805228.907 [DAT](INFO): got valid direction response:
 19:40:27.6860 LVL= 32480, 13041, 25842, 32755, AGC= 44, IDX= 504, 0.48,-2.224,-2.350, 2.904,-1.259, PHS=-0.863,-1.047,-2.165, RAW=  37.5,  49.7, CAL=  35.7,  54.4, ROT= 114.3, -54.4

2025-08-21T19:40:28.936Z,1755805228.936 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-21T19:40:28.937Z,1755805228.937 [DAT](INFO): direction in FSK: [-0.239552,0.530549,0.813101]
2025-08-21T19:40:28.937Z,1755805228.937 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:28.941Z,1755805228.941 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.714260
2025-08-21T19:40:29.070Z,1755805229.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504261 s,
      deltaX: -0.200000 m,
      approachRate: -0.396620 m/s,
      rangeRepo size: 4

2025-08-21T19:40:29.087Z,1755805229.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490389 m,
      bearing: 244.261539 deg,
      lat: 36.779395 deg,
      lon: -121.859683 deg,
      deltaT: 0.504261 s,
      deltaX: -0.198722 m,
      approachRate: -0.394086 m/s,
      posRepo size: 4

2025-08-21T19:40:29.150Z,1755805229.150 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=50.922977
2025-08-21T19:40:29.401Z,1755805229.401 [DAT](INFO): DAT read: Rx Time:19:40:28.1861 

2025-08-21T19:40:29.401Z,1755805229.401 [DAT](INFO): Rx dataTimestamp_ set to:1755805229.400938
2025-08-21T19:40:29.402Z,1755805229.402 [DAT](INFO): DAT read: Bearing  10.3,  36.2 (Local)

2025-08-21T19:40:29.403Z,1755805229.403 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  36.2 (Local)

2025-08-21T19:40:29.405Z,1755805229.405 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:29.409Z,1755805229.409 [DAT](INFO): DAT read: 19:40:28.1861 LVL= 29344, 12081, 25922, 32755, AGC= 43, IDX= 506,-0.31,-2.961,-3.003, 2.217,-1.996, PHS=-0.863,-0.962,-2.114, RAW=  34.1,  49.1, CAL=  32.3,  53.7, ROT= 117.7, -53.7

2025-08-21T19:40:29.410Z,1755805229.410 [DAT](INFO): got valid direction response:
 19:40:28.1861 LVL= 29344, 12081, 25922, 32755, AGC= 43, IDX= 506,-0.31,-2.961,-3.003, 2.217,-1.996, PHS=-0.863,-0.962,-2.114, RAW=  34.1,  49.1, CAL=  32.3,  53.7, ROT= 117.7, -53.7

2025-08-21T19:40:29.411Z,1755805229.411 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-21T19:40:29.412Z,1755805229.412 [DAT](INFO): direction in FSK: [-0.275193,0.524165,0.805928]
2025-08-21T19:40:29.412Z,1755805229.412 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:29.416Z,1755805229.416 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.189129
2025-08-21T19:40:29.541Z,1755805229.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503645 s,
      deltaX: 0.200000 m,
      approachRate: 0.397105 m/s,
      rangeRepo size: 4

2025-08-21T19:40:29.543Z,1755805229.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689107 m,
      bearing: 247.114548 deg,
      lat: 36.779395 deg,
      lon: -121.859684 deg,
      deltaT: 0.503645 s,
      deltaX: 0.198719 m,
      approachRate: 0.394561 m/s,
      posRepo size: 4

2025-08-21T19:40:29.548Z,1755805229.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.70 m. Lat: 36.779395 Lon: -121.859684 Cable present. Reached intercept timeout.
2025-08-21T19:40:29.548Z,1755805229.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-21T19:40:29.548Z,1755805229.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T19:40:29.549Z,1755805229.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-21T19:40:29.653Z,1755805229.653 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=51.426838
2025-08-21T19:40:29.876Z,1755805229.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:29.877Z,1755805229.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-21T19:40:29.877Z,1755805229.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-21T19:40:29.878Z,1755805229.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-21T19:40:29.905Z,1755805229.905 [DAT](INFO): DAT read: Rx Time:19:40:28.6860 

2025-08-21T19:40:29.905Z,1755805229.905 [DAT](INFO): Rx dataTimestamp_ set to:1755805229.905029
2025-08-21T19:40:29.907Z,1755805229.907 [DAT](INFO): DAT read: Bearing  12.3,  33.7 (Local)

2025-08-21T19:40:29.907Z,1755805229.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.3,  33.7 (Local)

2025-08-21T19:40:29.909Z,1755805229.909 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:29.914Z,1755805229.914 [DAT](INFO): DAT read: 19:40:28.6860 LVL= 30080, 12705, 25026, 32755, AGC= 44, IDX= 505,-0.17, 2.344, 2.413, 1.306,-2.928, PHS=-0.908,-0.897,-2.093, RAW=  29.5,  49.2, CAL=  27.9,  53.7, ROT= 122.1, -53.7

2025-08-21T19:40:29.915Z,1755805229.915 [DAT](INFO): got valid direction response:
 19:40:28.6860 LVL= 30080, 12705, 25026, 32755, AGC= 44, IDX= 505,-0.17, 2.344, 2.413, 1.306,-2.928, PHS=-0.908,-0.897,-2.093, RAW=  29.5,  49.2, CAL=  27.9,  53.7, ROT= 122.1, -53.7

2025-08-21T19:40:29.915Z,1755805229.915 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-21T19:40:29.916Z,1755805229.916 [DAT](INFO): direction in FSK: [-0.314595,0.501507,0.805928]
2025-08-21T19:40:29.916Z,1755805229.916 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:29.928Z,1755805229.928 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.701591
2025-08-21T19:40:30.160Z,1755805230.160 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=51.932449
2025-08-21T19:40:30.337Z,1755805230.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-21T19:40:30.338Z,1755805230.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T19:40:30.338Z,1755805230.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-21T19:40:30.339Z,1755805230.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T19:40:30.339Z,1755805230.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-21T19:40:30.339Z,1755805230.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T19:40:30.339Z,1755805230.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-21T19:40:30.339Z,1755805230.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-21T19:40:30.343Z,1755805230.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-21T19:40:30.343Z,1755805230.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-21T19:40:30.343Z,1755805230.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T19:40:30.409Z,1755805230.409 [DAT](INFO): DAT read: Rx Time:19:40:29.1861 

2025-08-21T19:40:30.410Z,1755805230.410 [DAT](INFO): Rx dataTimestamp_ set to:1755805230.409229
2025-08-21T19:40:30.411Z,1755805230.411 [DAT](INFO): DAT read: Bearing  11.7,  32.7 (Local)

2025-08-21T19:40:30.411Z,1755805230.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.7,  32.7 (Local)

2025-08-21T19:40:30.413Z,1755805230.413 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:30.418Z,1755805230.418 [DAT](INFO): DAT read: 19:40:29.1861 LVL= 27168, 10449, 20978, 32755, AGC= 43, IDX= 506,-0.05,-2.596,-2.517, 2.674,-1.579, PHS=-0.916,-0.894,-2.074, RAW=  29.1,  49.6, CAL=  27.5,  54.0, ROT= 122.5, -54.0

2025-08-21T19:40:30.419Z,1755805230.419 [DAT](INFO): got valid direction response:
 19:40:29.1861 LVL= 27168, 10449, 20978, 32755, AGC= 43, IDX= 506,-0.05,-2.596,-2.517, 2.674,-1.579, PHS=-0.916,-0.894,-2.074, RAW=  29.1,  49.6, CAL=  27.5,  54.0, ROT= 122.5, -54.0

2025-08-21T19:40:30.419Z,1755805230.419 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-21T19:40:30.420Z,1755805230.420 [DAT](INFO): direction in FSK: [-0.315817,0.495733,0.809017]
2025-08-21T19:40:30.420Z,1755805230.420 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:30.424Z,1755805230.424 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.197372
2025-08-21T19:40:30.661Z,1755805230.661 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=52.434635
2025-08-21T19:40:30.754Z,1755805230.754 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-21T19:40:30.755Z,1755805230.755 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T19:40:30.755Z,1755805230.755 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-21T19:40:30.755Z,1755805230.755 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T19:40:30.755Z,1755805230.755 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-21T19:40:30.759Z,1755805230.759 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-21T19:40:30.760Z,1755805230.760 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-21T19:40:30.760Z,1755805230.760 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-21T19:40:30.760Z,1755805230.760 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-21T19:40:30.773Z,1755805230.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T19:40:30.774Z,1755805230.774 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-21T19:40:30.774Z,1755805230.774 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-21T19:40:30.916Z,1755805230.916 [DAT](INFO): DAT read: Rx Time:19:40:29.6861 

2025-08-21T19:40:30.916Z,1755805230.916 [DAT](INFO): Rx dataTimestamp_ set to:1755805230.915912
2025-08-21T19:40:30.917Z,1755805230.917 [DAT](INFO): DAT read: Bearing  10.5,  33.1 (Local)

2025-08-21T19:40:30.918Z,1755805230.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  33.1 (Local)

2025-08-21T19:40:30.920Z,1755805230.920 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:30.926Z,1755805230.926 [DAT](INFO): DAT read: 19:40:29.6861 LVL= 32752, 12353, 26034, 32755, AGC= 43, IDX= 505, 0.07,-2.663,-2.604, 2.600,-1.641, PHS=-0.919,-0.917,-2.086, RAW=  29.9,  49.9, CAL=  28.3,  54.3, ROT= 121.7, -54.3

2025-08-21T19:40:30.927Z,1755805230.927 [DAT](INFO): got valid direction response:
 19:40:29.6861 LVL= 32752, 12353, 26034, 32755, AGC= 43, IDX= 505, 0.07,-2.663,-2.604, 2.600,-1.641, PHS=-0.919,-0.917,-2.086, RAW=  29.9,  49.9, CAL=  28.3,  54.3, ROT= 121.7, -54.3

2025-08-21T19:40:30.928Z,1755805230.928 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-21T19:40:30.929Z,1755805230.929 [DAT](INFO): direction in FSK: [-0.306634,0.496483,0.812084]
2025-08-21T19:40:30.930Z,1755805230.930 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:30.933Z,1755805230.933 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.706753
2025-08-21T19:40:31.165Z,1755805231.165 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=52.938568
2025-08-21T19:40:31.166Z,1755805231.166 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-21T19:40:31.166Z,1755805231.166 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-21T19:40:31.417Z,1755805231.417 [DAT](INFO): DAT read: Rx Time:19:40:30.1861 

2025-08-21T19:40:31.417Z,1755805231.417 [DAT](INFO): Rx dataTimestamp_ set to:1755805231.417022
2025-08-21T19:40:31.419Z,1755805231.419 [DAT](INFO): DAT read: Bearing   6.3,  36.2 (Local)

2025-08-21T19:40:31.419Z,1755805231.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.3,  36.2 (Local)

2025-08-21T19:40:31.421Z,1755805231.421 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:31.426Z,1755805231.426 [DAT](INFO): DAT read: 19:40:30.1861 LVL= 32752, 12017, 26034, 32755, AGC= 44, IDX= 505, 0.22,-2.149,-2.245, 3.008,-1.180, PHS=-0.868,-1.020,-2.139, RAW=  36.3,  49.8, CAL=  34.5,  54.4, ROT= 115.5, -54.4

2025-08-21T19:40:31.427Z,1755805231.427 [DAT](INFO): got valid direction response:
 19:40:30.1861 LVL= 32752, 12017, 26034, 32755, AGC= 44, IDX= 505, 0.22,-2.149,-2.245, 3.008,-1.180, PHS=-0.868,-1.020,-2.139, RAW=  36.3,  49.8, CAL=  34.5,  54.4, ROT= 115.5, -54.4

2025-08-21T19:40:31.427Z,1755805231.427 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-21T19:40:31.428Z,1755805231.428 [DAT](INFO): direction in FSK: [-0.250610,0.525416,0.813101]
2025-08-21T19:40:31.428Z,1755805231.428 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:31.432Z,1755805231.432 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.205441
2025-08-21T19:40:31.557Z,1755805231.557 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-21T19:40:31.557Z,1755805231.557 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T19:40:31.557Z,1755805231.557 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-21T19:40:31.669Z,1755805231.669 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=53.442348
2025-08-21T19:40:31.910Z,1755805231.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:31.921Z,1755805231.921 [DAT](INFO): DAT read: Rx Time:19:40:30.6860 

2025-08-21T19:40:31.922Z,1755805231.922 [DAT](INFO): Rx dataTimestamp_ set to:1755805231.921255
2025-08-21T19:40:31.923Z,1755805231.923 [DAT](INFO): DAT read: Bearing   4.1,  37.7 (Local)

2025-08-21T19:40:31.923Z,1755805231.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  37.7 (Local)

2025-08-21T19:40:31.925Z,1755805231.925 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:31.930Z,1755805231.930 [DAT](INFO): DAT read: 19:40:30.6860 LVL= 32752, 12049, 26418, 32755, AGC= 45, IDX= 504, 0.37,-2.977,-3.141, 2.133,-2.039, PHS=-0.836,-1.057,-2.155, RAW=  39.0,  49.5, CAL=  37.2,  54.2, ROT= 112.8, -54.2

2025-08-21T19:40:31.931Z,1755805231.931 [DAT](INFO): got valid direction response:
 19:40:30.6860 LVL= 32752, 12049, 26418, 32755, AGC= 45, IDX= 504, 0.37,-2.977,-3.141, 2.133,-2.039, PHS=-0.836,-1.057,-2.155, RAW=  39.0,  49.5, CAL=  37.2,  54.2, ROT= 112.8, -54.2

2025-08-21T19:40:31.931Z,1755805231.931 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-21T19:40:31.932Z,1755805231.932 [DAT](INFO): direction in FSK: [-0.226680,0.539251,0.811064]
2025-08-21T19:40:31.933Z,1755805231.933 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:31.936Z,1755805231.936 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.709656
2025-08-21T19:40:32.179Z,1755805232.179 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=53.948277
2025-08-21T19:40:32.425Z,1755805232.425 [DAT](INFO): DAT read: Rx Time:19:40:31.1861 

2025-08-21T19:40:32.425Z,1755805232.425 [DAT](INFO): Rx dataTimestamp_ set to:1755805232.425066
2025-08-21T19:40:32.427Z,1755805232.427 [DAT](INFO): DAT read: Bearing   6.0,  37.3 (Local)

2025-08-21T19:40:32.427Z,1755805232.427 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.0,  37.3 (Local)

2025-08-21T19:40:32.429Z,1755805232.429 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:32.434Z,1755805232.434 [DAT](INFO): DAT read: 19:40:31.1861 LVL= 32752, 12081, 27634, 32755, AGC= 43, IDX= 506,-0.42, 2.662, 2.587, 1.522,-2.686, PHS=-0.833,-0.965,-2.119, RAW=  35.4,  48.5, CAL=  33.6,  53.2, ROT= 116.4, -53.2

2025-08-21T19:40:32.435Z,1755805232.435 [DAT](INFO): got valid direction response:
 19:40:31.1861 LVL= 32752, 12081, 27634, 32755, AGC= 43, IDX= 506,-0.42, 2.662, 2.587, 1.522,-2.686, PHS=-0.833,-0.965,-2.119, RAW=  35.4,  48.5, CAL=  33.6,  53.2, ROT= 116.4, -53.2

2025-08-21T19:40:32.435Z,1755805232.435 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-21T19:40:32.436Z,1755805232.436 [DAT](INFO): direction in FSK: [-0.266347,0.536552,0.800731]
2025-08-21T19:40:32.436Z,1755805232.436 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:32.444Z,1755805232.444 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:40:32.444Z,1755805232.444 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:40:32.444Z,1755805232.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:32.676Z,1755805232.676 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:32.677Z,1755805232.677 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:32.677Z,1755805232.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:32.930Z,1755805232.930 [DAT](INFO): DAT read: Rx Time:19:40:31.6860 

2025-08-21T19:40:32.930Z,1755805232.930 [DAT](INFO): Rx dataTimestamp_ set to:1755805232.929898
2025-08-21T19:40:32.932Z,1755805232.932 [DAT](INFO): DAT read: Bearing   6.6,  36.1 (Local)

2025-08-21T19:40:32.933Z,1755805232.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.6,  36.1 (Local)

2025-08-21T19:40:32.935Z,1755805232.935 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:32.944Z,1755805232.944 [DAT](INFO): DAT read: 19:40:31.6860 LVL= 32752, 12449, 27890, 32755, AGC= 43, IDX= 505,-0.25, 0.922, 0.915,-0.186, 1.876, PHS=-0.852,-0.916,-2.106, RAW=  32.6,  48.2, CAL=  30.9,  52.9, ROT= 119.1, -52.9

2025-08-21T19:40:32.945Z,1755805232.945 [DAT](INFO): got valid direction response:
 19:40:31.6860 LVL= 32752, 12449, 27890, 32755, AGC= 43, IDX= 505,-0.25, 0.922, 0.915,-0.186, 1.876, PHS=-0.852,-0.916,-2.106, RAW=  32.6,  48.2, CAL=  30.9,  52.9, ROT= 119.1, -52.9

2025-08-21T19:40:32.945Z,1755805232.945 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:32.946Z,1755805232.946 [DAT](INFO): direction in FSK: [-0.293361,0.527066,0.797584]
2025-08-21T19:40:32.947Z,1755805232.947 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:32.950Z,1755805232.950 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:32.950Z,1755805232.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:33.181Z,1755805233.181 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:33.181Z,1755805233.181 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:33.181Z,1755805233.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:33.433Z,1755805233.433 [DAT](INFO): DAT read: Rx Time:19:40:32.1861 

2025-08-21T19:40:33.434Z,1755805233.434 [DAT](INFO): Rx dataTimestamp_ set to:1755805233.433257
2025-08-21T19:40:33.435Z,1755805233.435 [DAT](INFO): DAT read: Bearing   4.4,  35.7 (Local)

2025-08-21T19:40:33.435Z,1755805233.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  35.7 (Local)

2025-08-21T19:40:33.437Z,1755805233.437 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:33.442Z,1755805233.442 [DAT](INFO): DAT read: 19:40:32.1861 LVL= 30672, 11313, 24466, 32755, AGC= 43, IDX= 506,-0.13, 3.073, 3.045, 1.976,-2.260, PHS=-0.848,-0.933,-2.091, RAW=  33.5,  48.7, CAL=  31.8,  53.3, ROT= 118.2, -53.3

2025-08-21T19:40:33.444Z,1755805233.444 [DAT](INFO): got valid direction response:
 19:40:32.1861 LVL= 30672, 11313, 24466, 32755, AGC= 43, IDX= 506,-0.13, 3.073, 3.045, 1.976,-2.260, PHS=-0.848,-0.933,-2.091, RAW=  33.5,  48.7, CAL=  31.8,  53.3, ROT= 118.2, -53.3

2025-08-21T19:40:33.444Z,1755805233.444 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:33.445Z,1755805233.445 [DAT](INFO): direction in FSK: [-0.282408,0.526689,0.801776]
2025-08-21T19:40:33.445Z,1755805233.445 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:33.449Z,1755805233.449 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:33.449Z,1755805233.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:33.684Z,1755805233.684 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:33.685Z,1755805233.685 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:33.685Z,1755805233.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:33.922Z,1755805233.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:33.937Z,1755805233.937 [DAT](INFO): DAT read: RxTme:19:40:32.6861 

2025-08-21T19:40:33.937Z,1755805233.937 [DAT](INFO): unknown deviceResponse_: RxTme:19:40:32.6861 

2025-08-21T19:40:33.938Z,1755805233.938 [DAT](INFO): DAT read: Bearing   1.6,  36.0 (Local)

2025-08-21T19:40:33.939Z,1755805233.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  36.0 (Local)

2025-08-21T19:40:33.941Z,1755805233.941 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:33.945Z,1755805233.945 [DAT](INFO): DAT read: 19:40:32.6861 LVL= 32752, 12561, 27458, 32755, AGC= 43, IDX= 505,-0.02, 2.156, 2.083, 1.044, 3.106, PHS=-0.848,-0.978,-2.106, RAW=  35.4,  49.2, CAL=  33.7,  53.9, ROT= 116.3, -53.9

2025-08-21T19:40:33.946Z,1755805233.946 [DAT](INFO): got valid direction response:
 19:40:32.6861 LVL= 32752, 12561, 27458, 32755, AGC= 43, IDX= 505,-0.02, 2.156, 2.083, 1.044, 3.106, PHS=-0.848,-0.978,-2.106, RAW=  35.4,  49.2, CAL=  33.7,  53.9, ROT= 116.3, -53.9

2025-08-21T19:40:33.947Z,1755805233.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:33.948Z,1755805233.948 [DAT](INFO): direction in FSK: [-0.261056,0.528206,0.807990]
2025-08-21T19:40:33.948Z,1755805233.948 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:33.951Z,1755805233.951 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:33.952Z,1755805233.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:34.194Z,1755805234.194 [DAT](INFO): DAT read: Rx Time:19:40:33.1862 

2025-08-21T19:40:34.196Z,1755805234.196 [DAT](INFO): Rx dataTimestamp_ set to:1755805234.194655
2025-08-21T19:40:34.197Z,1755805234.197 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:34.198Z,1755805234.198 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:34.200Z,1755805234.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:34.354Z,1755805234.354 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-21T19:40:34.354Z,1755805234.354 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-21T19:40:34.354Z,1755805234.354 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:40:34.354Z,1755805234.354 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-21T19:40:34.441Z,1755805234.441 [DAT](INFO): DAT read: Bearing 356.8,  36.8 (Local)

2025-08-21T19:40:34.441Z,1755805234.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  36.8 (Local)

2025-08-21T19:40:34.443Z,1755805234.443 [DAT](INFO): DAT read: Range 11 to 50 :   .8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:34.448Z,1755805234.448 [DAT](INFO): DAT read: 19:40:33.1862 LVL= 32752, 12337, 28066, 32755, AGC= 43, IDX= 506, 0.11,-1.912,-2.093,-3.051,-0.981, PHS=-0.828,-1.067,-2.114, RAW=  40.0,  50.1, CAL=  38.2,  54.8, ROT= 111.8, -54.8

2025-08-21T19:40:34.449Z,1755805234.449 [DAT](INFO): got valid direction response:
 19:40:33.1862 LVL= 32752, 12337, 28066, 32755, AGC= 43, IDX= 506, 0.11,-1.912,-2.093,-3.051,-0.981, PHS=-0.828,-1.067,-2.114, RAW=  40.0,  50.1, CAL=  38.2,  54.8, ROT= 111.8, -54.8

2025-08-21T19:40:34.449Z,1755805234.449 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:34.450Z,1755805234.450 [DAT](INFO): direction in FSK: [-0.214068,0.535209,0.817145]
2025-08-21T19:40:34.451Z,1755805234.451 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:34.454Z,1755805234.454 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:34.454Z,1755805234.454 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:34.694Z,1755805234.694 [DAT](INFO): DAT read: Rx Time:19:40:33.6861 

2025-08-21T19:40:34.696Z,1755805234.696 [DAT](INFO): Rx dataTimestamp_ set to:1755805234.694578
2025-08-21T19:40:34.696Z,1755805234.696 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:34.697Z,1755805234.697 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:34.697Z,1755805234.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:34.812Z,1755805234.812 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-21T19:40:34.812Z,1755805234.812 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-21T19:40:34.814Z,1755805234.814 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-21T19:40:34.815Z,1755805234.815 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-21T19:40:34.819Z,1755805234.819 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-21T19:40:34.819Z,1755805234.819 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-21T19:40:34.819Z,1755805234.819 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T19:40:34.819Z,1755805234.819 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-21T19:40:34.819Z,1755805234.819 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T19:40:34.945Z,1755805234.945 [DAT](INFO): DAT read: Bearing 355.1,  37.1 (Local)

2025-08-21T19:40:34.946Z,1755805234.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  37.1 (Local)

2025-08-21T19:40:34.948Z,1755805234.948 [DAT](INFO): DAT read: Rang 11to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:34.948Z,1755805234.948 [DAT](INFO): unknown deviceResponse_: Rang 11to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:34.952Z,1755805234.952 [DAT](INFO): DAT read: 19:40:33.6861 LVL= 26400, 12081, 20962, 32755, AGC= 43, IDX= 505, 0.23,-2.764,-2.964, 2.356,-1.836, PHS=-0.826,-1.083,-2.135, RAW=  40.7,  49.9, CAL=  38.8,  54.7, ROT= 111.2, -54.7

2025-08-21T19:40:34.953Z,1755805234.953 [DAT](INFO): got valid direction response:
 19:40:33.6861 LVL= 26400, 12081, 20962, 32755, AGC= 43, IDX= 505, 0.23,-2.764,-2.964, 2.356,-1.836, PHS=-0.826,-1.083,-2.135, RAW=  40.7,  49.9, CAL=  38.8,  54.7, ROT= 111.2, -54.7

2025-08-21T19:40:34.954Z,1755805234.954 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T19:40:34.955Z,1755805234.955 [DAT](INFO): direction in FSK: [-0.208967,0.538750,0.816138]
2025-08-21T19:40:34.958Z,1755805234.958 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:34.958Z,1755805234.958 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:34.958Z,1755805234.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:35.201Z,1755805235.201 [DAT](INFO): DAT read: Rx Time:19:40:34.1861 

2025-08-21T19:40:35.204Z,1755805235.204 [DAT](INFO): Rx dataTimestamp_ set to:1755805235.202075
2025-08-21T19:40:35.206Z,1755805235.206 [DAT](INFO): DAT read: Bearing 350.0,  37.4 (Local)

2025-08-21T19:40:35.207Z,1755805235.207 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.0,  37.4 (Local)

2025-08-21T19:40:35.208Z,1755805235.208 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:35.208Z,1755805235.208 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:35.209Z,1755805235.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:35.249Z,1755805235.249 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-21T19:40:35.249Z,1755805235.249 [lineCaptureHoming:Lap:B] Stopped
2025-08-21T19:40:35.249Z,1755805235.249 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-21T19:40:35.249Z,1755805235.249 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-21T19:40:35.450Z,1755805235.450 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:35.454Z,1755805235.454 [DAT](INFO): DAT read: 1:0:4.1861 LVL= 25312, 11249, 20450, 31347, AGC= 43, IDX= 505, 0.43, 3.042, 2.720, 1.862,-2.344, PHS=-0.796,-1.175,-2.122, RAW=  46.1,  50.7, CAL=  44.0,  55.3, ROT= 106.0, -55.3

2025-08-21T19:40:35.455Z,1755805235.455 [DAT](INFO): got valid direction response:
 1:0:4.1861 LVL= 25312, 11249, 20450, 31347, AGC= 43, IDX= 505, 0.43, 3.042, 2.720, 1.862,-2.344, PHS=-0.796,-1.175,-2.122, RAW=  46.1,  50.7, CAL=  44.0,  55.3, ROT= 106.0, -55.3

2025-08-21T19:40:35.456Z,1755805235.456 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:35.457Z,1755805235.457 [DAT](INFO): direction in FSK: [-0.156915,0.547227,0.822144]
2025-08-21T19:40:35.457Z,1755805235.457 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:35.460Z,1755805235.460 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:35.461Z,1755805235.461 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:35.585Z,1755805235.585 [lineCaptureHoming:Lap:C] Stopped
2025-08-21T19:40:35.585Z,1755805235.585 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-21T19:40:35.703Z,1755805235.703 [DAT](INFO): DAT read: Rx Time:19:40:34.6860 

2025-08-21T19:40:35.705Z,1755805235.705 [DAT](INFO): Rx dataTimestamp_ set to:1755805235.703929
2025-08-21T19:40:35.706Z,1755805235.706 [DAT](INFO): DAT read: Bearing 355.7,  36.8 (Local)

2025-08-21T19:40:35.708Z,1755805235.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.7,  36.8 (Local)

2025-08-21T19:40:35.708Z,1755805235.708 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:35.709Z,1755805235.709 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:35.710Z,1755805235.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:35.950Z,1755805235.950 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-21T19:40:35.950Z,1755805235.950 [lineCaptureHoming:Lap:D] Stopped
2025-08-21T19:40:35.951Z,1755805235.951 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-21T19:40:35.951Z,1755805235.951 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-21T19:40:35.954Z,1755805235.954 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:35.958Z,1755805235.958 [DAT](INFO): DAT read: 19:4:34.80 LVL= 23696, 10321, 19730, 28531, AGC= 43, IDX= 505,-0.34,-0.031,-0.148,-1.183, 0.882, PHS=-0.811,-0.984,-2.109, RAW=  37.1,  48.5, CAL=  35.2,  53.3, ROT= 114.8, -53.3

2025-08-21T19:40:35.972Z,1755805235.972 [DAT](INFO): got valid direction response:
 19:4:34.80 LVL= 23696, 10321, 19730, 28531, AGC= 43, IDX= 505,-0.34,-0.031,-0.148,-1.183, 0.882, PHS=-0.811,-0.984,-2.109, RAW=  37.1,  48.5, CAL=  35.2,  53.3, ROT= 114.8, -53.3

2025-08-21T19:40:35.972Z,1755805235.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:35.973Z,1755805235.973 [DAT](INFO): direction in FSK: [-0.250675,0.542511,0.801776]
2025-08-21T19:40:35.973Z,1755805235.973 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:35.977Z,1755805235.977 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:35.977Z,1755805235.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:35.992Z,1755805235.992 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T19:30:35.8Z
2025-08-21T19:40:35.992Z,1755805235.992 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T19:40:35.992Z,1755805235.992 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:40:35.992Z,1755805235.992 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T19:40:35.992Z,1755805235.992 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:40:35.993Z,1755805235.993 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T19:40:36.210Z,1755805236.210 [DAT](INFO): DAT read: Rx Time:19:40:35.1861 

2025-08-21T19:40:36.212Z,1755805236.212 [DAT](INFO): Rx dataTimestamp_ set to:1755805236.210606
2025-08-21T19:40:36.217Z,1755805236.217 [DAT](INFO): DAT read: Bearing 350.9,  38.7 (Local)

2025-08-21T19:40:36.218Z,1755805236.218 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.9,  38.7 (Local)

2025-08-21T19:40:36.226Z,1755805236.226 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:36.238Z,1755805236.238 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:40:36.240Z,1755805236.240 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:36.241Z,1755805236.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:36.378Z,1755805236.378 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-21T19:40:36.379Z,1755805236.379 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-21T19:40:36.379Z,1755805236.379 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-21T19:40:36.379Z,1755805236.379 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-21T19:40:36.379Z,1755805236.379 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-21T19:40:36.379Z,1755805236.379 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-21T19:40:36.384Z,1755805236.384 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:40:36.384Z,1755805236.384 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T19:40:36.384Z,1755805236.384 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T19:40:36.384Z,1755805236.384 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:40:36.384Z,1755805236.384 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T19:40:36.460Z,1755805236.460 [DAT](INFO): DAT read: 19:40:35.1861 LVL= 24352, 10337, 20946, 29203, AGC= 43, IDX= 506,-0.21, 1.416, 1.158, 0.203, 2.277, PHS=-0.759,-1.074,-2.117, RAW=  42.8,  48.6, CAL=  40.8,  53.5, ROT= 109.2, -535

2025-08-21T19:40:36.461Z,1755805236.461 [DAT](INFO): got valid direction response:
 19:40:35.1861 LVL= 24352, 10337, 20946, 29203, AGC= 43, IDX= 506,-0.21, 1.416, 1.158, 0.203, 2.277, PHS=-0.759,-1.074,-2.117, RAW=  42.8,  48.6, CAL=  40.8,  53.5, ROT= 109.2, -535

2025-08-21T19:40:36.462Z,1755805236.462 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T19:40:36.463Z,1755805236.463 [DAT](INFO): direction in FSK: [0.327615,-0.940783,0.087156]
2025-08-21T19:40:36.466Z,1755805236.466 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:36.466Z,1755805236.466 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:36.466Z,1755805236.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:36.711Z,1755805236.711 [DAT](INFO): DAT read: Rx Time:19:40:35.6860 

2025-08-21T19:40:36.713Z,1755805236.713 [DAT](INFO): Rx dataTimestamp_ set to:1755805236.711949
2025-08-21T19:40:36.715Z,1755805236.715 [DAT](INFO): DAT read: Bearing 347.5,  41.4 (Local)

2025-08-21T19:40:36.716Z,1755805236.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.5,  41.4 (Local)

2025-08-21T19:40:36.719Z,1755805236.719 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:36.721Z,1755805236.721 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:40:36.723Z,1755805236.723 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:36.724Z,1755805236.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:36.882Z,1755805236.882 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-21T19:40:36.883Z,1755805236.883 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-21T19:40:36.891Z,1755805236.891 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-21T19:40:36.891Z,1755805236.891 [lineCaptureHoming:restartDHCP] Stopped
2025-08-21T19:40:36.891Z,1755805236.891 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-21T19:40:36.933Z,1755805236.933 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-21T19:40:36.966Z,1755805236.966 [DAT](INFO): DAT read: 19:40:35.6860 LVL= 21392, 10321, 21186, 23939, AGC= 42, IDX= 505,-0.08,0.502, 0.129,-0.768, 1.308, PHS=-0.704,-1.134,-2.120, RAW=  47.2,  48.1, CAL=  44.9,  52.9, ROT= 105.1, -52.9

2025-08-21T19:40:36.968Z,1755805236.968 [DAT](INFO): got valid direction response:
 19:40:35.6860 LVL= 21392, 10321, 21186, 23939, AGC= 42, IDX= 505,-0.08,0.502, 0.129,-0.768, 1.308, PHS=-0.704,-1.134,-2.120, RAW=  47.2,  48.1, CAL=  44.9,  52.9, ROT= 105.1, -52.9

2025-08-21T19:40:36.969Z,1755805236.969 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T19:40:36.971Z,1755805236.971 [DAT](INFO): direction in FSK: [-0.157138,0.582381,0.797584]
2025-08-21T19:40:36.985Z,1755805236.985 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:36.986Z,1755805236.986 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:36.986Z,1755805236.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:37.226Z,1755805237.226 [DAT](INFO): DAT read: Rx Time:19:40:36.1862 

2025-08-21T19:40:37.232Z,1755805237.232 [DAT](INFO): Rx dataTimestamp_ set to:1755805237.226524
2025-08-21T19:40:37.260Z,1755805237.260 [DAT](INFO): DAT read: Bearing 342.9,  42.8 (Local)

2025-08-21T19:40:37.260Z,1755805237.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.9,  42.8 (Local)

2025-08-21T19:40:37.262Z,1755805237.262 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:37.267Z,1755805237.267 [DAT](INFO): DAT read: 19:40:36.1862 LVL= 24032,  9505, 22722, 27699, AGC= 44, IDX= 506, 0.05, 2.767, 2.263, 1.456,-2.745, PHS=-0.669,-1.230,-2.126, RAW=  52.4,  48.2, CAL=  49.7,  52.9, ROT= 100.3, -52.9

2025-08-21T19:40:37.296Z,1755805237.296 [DAT](INFO): got valid direction response:
 19:40:36.1862 LVL= 24032,  9505, 22722, 27699, AGC= 44, IDX= 506, 0.05, 2.767, 2.263, 1.456,-2.745, PHS=-0.669,-1.230,-2.126, RAW=  52.4,  48.2, CAL=  49.7,  52.9, ROT= 100.3, -52.9

2025-08-21T19:40:37.296Z,1755805237.296 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:37.297Z,1755805237.297 [DAT](INFO): direction in FSK: [-0.107855,0.593487,0.797584]
2025-08-21T19:40:37.298Z,1755805237.298 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:37.342Z,1755805237.342 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:37.342Z,1755805237.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:37.460Z,1755805237.460 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-21T19:40:37.460Z,1755805237.460 [lineCaptureHoming:Lap:E] Stopped
2025-08-21T19:40:37.460Z,1755805237.460 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-21T19:40:37.461Z,1755805237.461 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-21T19:40:37.461Z,1755805237.461 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-21T19:40:37.461Z,1755805237.461 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-21T19:40:37.464Z,1755805237.464 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:37.464Z,1755805237.464 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:37.465Z,1755805237.465 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:37.719Z,1755805237.719 [DAT](INFO): DAT read: Rx Time:19:40:36.6861 

2025-08-21T19:40:37.720Z,1755805237.720 [DAT](INFO): Rx dataTimestamp_ set to:1755805237.719879
2025-08-21T19:40:37.723Z,1755805237.723 [DAT](INFO): DAT read: Bearing 342.3,  43.1 (Local)

2025-08-21T19:40:37.725Z,1755805237.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.3,  43.1 (Local)

2025-08-21T19:40:37.729Z,1755805237.729 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:37.732Z,1755805237.732 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:40:37.734Z,1755805237.734 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:37.735Z,1755805237.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:37.834Z,1755805237.834 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-21T19:40:37.834Z,1755805237.834 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-21T19:40:37.834Z,1755805237.834 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-21T19:40:37.844Z,1755805237.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:40:37.957Z,1755805237.957 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-21UTC194037_sh
  
2025-08-21T19:40:37.972Z,1755805237.972 [DAT](INFO): DAT read: 19:40:36.6861 LVL= 21344, 10993, 21602, 24307, AGC= 43, IDX= 505, 0.17, 1.965, 1.463, 0.654, 2.732, PHS=-0.665,-1.224,-2.12,RW=  52.4,  48.1, CAL=  49.6,  52.8, ROT= 100.4, -52.8

2025-08-21T19:40:37.973Z,1755805237.973 [DAT](INFO): unknown deviceResponse_: 19:40:36.6861 LVL= 21344, 10993, 21602, 24307, AGC= 43, IDX= 505, 0.17, 1.965, 1.463, 0.654, 2.732, PHS=-0.665,-1.224,-2.12,RW=  52.4,  48.1, CAL=  49.6,  52.8, ROT= 100.4, -52.8

2025-08-21T19:40:37.974Z,1755805237.974 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:37.974Z,1755805237.974 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:37.974Z,1755805237.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:38.106Z,1755805238.106 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-21T19:40:38.106Z,1755805238.106 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-21T19:40:38.230Z,1755805238.230 [DAT](INFO): DAT read: Rx Time:19:40:37.1862 

2025-08-21T19:40:38.232Z,1755805238.232 [DAT](INFO): Rx dataTimestamp_ set to:1755805238.230468
2025-08-21T19:40:38.238Z,1755805238.238 [DAT](INFO): DAT read: Bearing 340.4,  42.9 (Local)

2025-08-21T19:40:38.240Z,1755805238.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.4,  42.9 (Local)

2025-08-21T19:40:38.251Z,1755805238.251 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-21T19:40:38.307Z,1755805238.307 [DAT](INFO): DAT read: 19:40:37.1862 LVL= 21200,  8961, 20146, 22771, AGC= 42, IDX= 506, 0.32, 2.694, 2.152, 1.385,-2.831, PHS=-0.656,-1.254,-2.110, RAW=  54.1,  48.3, CAL=  51.3,  53.1, ROT=  98.7, -53.1

2025-08-21T19:40:38.316Z,1755805238.316 [DAT](INFO): got valid direction response:
 19:40:37.1862 LVL= 21200,  8961, 20146, 22771, AGC= 42, IDX= 506, 0.32, 2.694, 2.152, 1.385,-2.831, PHS=-0.656,-1.254,-2.110, RAW=  54.1,  48.3, CAL=  51.3,  53.1, ROT=  98.7, -53.1

2025-08-21T19:40:38.316Z,1755805238.316 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:38.317Z,1755805238.317 [DAT](INFO): direction in FSK: [-0.090820,0.593512,0.799685]
2025-08-21T19:40:38.318Z,1755805238.318 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:38.329Z,1755805238.329 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:38.330Z,1755805238.330 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:38.476Z,1755805238.476 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:38.476Z,1755805238.476 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:38.476Z,1755805238.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:38.611Z,1755805238.611 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-21T19:40:38.611Z,1755805238.611 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-21T19:40:38.619Z,1755805238.619 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-21T19:40:38.620Z,1755805238.620 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T19:40:38.732Z,1755805238.732 [DAT](INFO): DAT read: Rx Time:19:40:37.6861 

2025-08-21T19:40:38.734Z,1755805238.734 [DAT](INFO): Rx dataTimestamp_ set to:1755805238.732868
2025-08-21T19:40:38.737Z,1755805238.737 [DAT](INFO): DAT read: Bearing 340.6,  42.1 (Local)

2025-08-21T19:40:38.738Z,1755805238.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.6,  42.1 (Local)

2025-08-21T19:40:38.742Z,1755805238.742 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:38.745Z,1755805238.745 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:40:38.750Z,1755805238.750 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:38.750Z,1755805238.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:38.914Z,1755805238.914 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-21T19:40:38.919Z,1755805238.919 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-21T19:40:38.984Z,1755805238.984 [DAT](INFO): DAT read: 19:40:37.6861 LVL= 21232,  8481, 19298, 23315, AGC= 42, IDX= 506,-0.46, 0.328,-0.185,-0.960, 1.097, PHS=-0.668,-1.237,-2.101, RAW=  53.2,  48.6, CAL=  50.5,  53.3, ROT=  99.5, -53.3

2025-08-21T19:40:38.985Z,1755805238.985 [DAT](INFO): got valid direction response:
 19:40:37.6861 LVL= 21232,  8481, 19298, 23315, AGC= 42, IDX= 506,-0.46, 0.328,-0.185,-0.960, 1.097, PHS=-0.668,-1.237,-2.101, RAW=  53.2,  48.6, CAL=  50.5,  53.3, ROT=  99.5, -53.3

2025-08-21T19:40:38.986Z,1755805238.986 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T19:40:38.987Z,1755805238.987 [DAT](INFO): direction in FSK: [-0.098637,0.589429,0.801776]
2025-08-21T19:40:38.990Z,1755805238.990 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:38.990Z,1755805238.990 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:38.991Z,1755805238.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:39.238Z,1755805239.238 [DAT](INFO): DAT read: Rx Time:19:40:38.1861 

2025-08-21T19:40:39.241Z,1755805239.241 [DAT](INFO): Rx dataTimestamp_ set to:1755805239.239750
2025-08-21T19:40:39.246Z,1755805239.246 [DAT](INFO): DAT read: Bearing 340.7,  41.1 (Local)

2025-08-21T19:40:39.279Z,1755805239.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.7,  41.1 (Local)

2025-08-21T19:40:39.287Z,1755805239.287 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:39.300Z,1755805239.300 [DAT](INFO): DAT read: 19:40:38.1861 LVL= 21712,  8369, 19346, 23411, AGC= 42, IDX= 506,-0.28,-0.201,-0.690,-1.461, 0.585, PHS=-0.684,-1.230,-2.091, RAW=  52.6,  49.1, CAL=  50.0,  53.7, ROT= 100.0, -53.7

2025-08-21T19:40:39.301Z,1755805239.301 [DAT](INFO): got valid direction response:
 19:40:38.1861 LVL= 21712,  8369, 19346, 23411, AGC= 42, IDX= 506,-0.28,-0.201,-0.690,-1.461, 0.585, PHS=-0.684,-1.230,-2.091, RAW=  52.6,  49.1, CAL=  50.0,  53.7, ROT= 100.0, -53.7

2025-08-21T19:40:39.302Z,1755805239.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:39.303Z,1755805239.303 [DAT](INFO): direction in FSK: [-0.102802,0.583019,0.805928]
2025-08-21T19:40:39.303Z,1755805239.303 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:39.315Z,1755805239.315 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:39.315Z,1755805239.315 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:39.484Z,1755805239.484 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:39.484Z,1755805239.484 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:39.484Z,1755805239.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:39.741Z,1755805239.741 [DAT](INFO): DAT read: Rx Time:19:40:38.6860 

2025-08-21T19:40:39.742Z,1755805239.742 [DAT](INFO): Rx dataTimestamp_ set to:1755805239.741245
2025-08-21T19:40:39.747Z,1755805239.747 [DAT](INFO): DAT read: Bearing 340.9,  40.5 (Local)

2025-08-21T19:40:39.748Z,1755805239.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.9,  40.5 (Local)

2025-08-21T19:40:39.750Z,1755805239.750 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-21T19:40:39.770Z,1755805239.770 [DAT](INFO): DAT read: 19:40:38.6860 LVL= 21968,  8209, 18898, 23315, AGC= 43, IDX= 505,-0.15,-1.175,-1.648,-2.422,-0.378, PHS=-0.696,-1.225,-2.088, RAW=  52.1,  49.3, CAL=  49.5,  53.9, ROT= 100.5, -53.9

2025-08-21T19:40:39.779Z,1755805239.779 [DAT](INFO): got valid direction response:
 19:40:38.6860 LVL= 21968,  8209, 18898, 23315, AGC= 43, IDX= 505,-0.15,-1.175,-1.648,-2.422,-0.378, PHS=-0.696,-1.225,-2.088, RAW=  52.1,  49.3, CAL=  49.5,  53.9, ROT= 100.5, -53.9

2025-08-21T19:40:39.780Z,1755805239.780 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:39.781Z,1755805239.781 [DAT](INFO): direction in FSK: [-0.107372,0.579330,0.807990]
2025-08-21T19:40:39.781Z,1755805239.781 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:39.793Z,1755805239.793 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:39.793Z,1755805239.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:39.804Z,1755805239.804 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:40:39.924Z,1755805239.924 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:40:39.988Z,1755805239.988 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:39.988Z,1755805239.988 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:39.988Z,1755805239.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:40.249Z,1755805240.249 [DAT](INFO): DAT read: Rx Time:19:40:39.1861 

2025-08-21T19:40:40.251Z,1755805240.251 [DAT](INFO): Rx dataTimestamp_ set to:1755805240.249954
2025-08-21T19:40:40.259Z,1755805240.259 [DAT](INFO): DAT read: Bearing 341.2,  40.6 (Local)

2025-08-21T19:40:40.260Z,1755805240.260 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.2,  40.6 (Local)

2025-08-21T19:40:40.296Z,1755805240.296 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-21T19:40:40.305Z,1755805240.305 [DAT](INFO): DAT read: 19:40:39.1861 LVL= 19920,  8305, 18738, 20691, AGC= 41, IDX= 506,-0.02, 0.280,-0.187,-0.972, 1.083, PHS=-0.700,-1.225,-2.099, RAW=  51.8,  49.3, CAL=  49.2,  53.9, ROT= 100.8, -53.9

2025-08-21T19:40:40.306Z,1755805240.306 [DAT](INFO): got valid direction response:
 19:40:39.1861 LVL= 19920,  8305, 18738, 20691, AGC= 41, IDX= 506,-0.02, 0.280,-0.187,-0.972, 1.083, PHS=-0.700,-1.225,-2.099, RAW=  51.8,  49.3, CAL=  49.2,  53.9, ROT= 100.8, -53.9

2025-08-21T19:40:40.306Z,1755805240.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:40.329Z,1755805240.329 [DAT](INFO): direction in FSK: [-0.110404,0.578760,0.807990]
2025-08-21T19:40:40.329Z,1755805240.329 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:40.348Z,1755805240.348 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:40.348Z,1755805240.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:40.492Z,1755805240.492 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:40.492Z,1755805240.492 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:40.492Z,1755805240.492 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:40.744Z,1755805240.744 [DAT](INFO): DAT read: user:4044>

2025-08-21T19:40:40.745Z,1755805240.745 [DAT](INFO): Reached modem response timeout
2025-08-21T19:40:40.745Z,1755805240.745 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:40:40.745Z,1755805240.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:40:40.996Z,1755805240.996 [DAT](INFO): DAT read: 0

2025-08-21T19:40:40.996Z,1755805240.996 [DAT](INFO): unknown deviceResponse_: 0

2025-08-21T19:40:40.997Z,1755805240.997 [DAT](INFO): DAT read: Ok

2025-08-21T19:40:40.997Z,1755805240.997 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-21T19:40:40.997Z,1755805240.997 [DAT](INFO): DAT read: user:4045>

2025-08-21T19:40:40.998Z,1755805240.998 [DAT](INFO): DAT read: Tx time:19:40:40.2041

2025-08-21T19:40:40.998Z,1755805240.998 [DAT](INFO): Ping request sent.
2025-08-21T19:40:40.998Z,1755805240.998 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:40.999Z,1755805240.999 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:40.999Z,1755805240.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000939
2025-08-21T19:40:41.252Z,1755805241.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252075
2025-08-21T19:40:41.500Z,1755805241.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501857
2025-08-21T19:40:41.753Z,1755805241.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754100
2025-08-21T19:40:42.004Z,1755805242.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005804
2025-08-21T19:40:42.256Z,1755805242.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257720
2025-08-21T19:40:42.509Z,1755805242.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510010
2025-08-21T19:40:42.760Z,1755805242.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761808
2025-08-21T19:40:43.012Z,1755805243.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013714
2025-08-21T19:40:43.266Z,1755805243.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267268
2025-08-21T19:40:43.410Z,1755805243.410 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:40:43.516Z,1755805243.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517772
2025-08-21T19:40:43.768Z,1755805243.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769837
2025-08-21T19:40:44.020Z,1755805244.020 [DAT](INFO): DAT read: Rx Time:19:40:42.6110

2025-08-21T19:40:44.021Z,1755805244.021 [DAT](INFO): Rx dataTimestamp_ set to:1755805244.020380
2025-08-21T19:40:44.021Z,1755805244.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022843
2025-08-21T19:40:44.275Z,1755805244.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275612
2025-08-21T19:40:44.529Z,1755805244.529 [DAT](INFO): DAT read: 19:40:42.6110 LVL= 21024,  8737, 20466, 25027, AGC= 44, IDX= 216, 0.08,-2.630,-2.930, 2.328,-1.830, PHS=-0.698,-1.055,-2.170, RAW=  43.4,  46.2, CAL=  41.3,  51.4, ROT= 108.7, -51.4

2025-08-21T19:40:44.530Z,1755805244.530 [DAT](INFO): got valid direction response:
 19:40:42.6110 LVL= 21024,  8737, 20466, 25027, AGC= 44, IDX= 216, 0.08,-2.630,-2.930, 2.328,-1.830, PHS=-0.698,-1.055,-2.170, RAW=  43.4,  46.2, CAL=  41.3,  51.4, ROT= 108.7, -51.4

2025-08-21T19:40:44.536Z,1755805244.536 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:40:44.537Z,1755805244.537 [DAT](INFO): DAT read: user:4046>

2025-08-21T19:40:44.537Z,1755805244.537 [DAT](INFO): DAT read: Tx time:19:40:43.7041

2025-08-21T19:40:44.538Z,1755805244.538 [DAT](INFO): Ping request sent.
2025-08-21T19:40:44.538Z,1755805244.538 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:44.538Z,1755805244.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:40:44.539Z,1755805244.539 [DAT](INFO): direction in FSK: [-0.200024,0.590945,0.781520]
2025-08-21T19:40:44.540Z,1755805244.540 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:44.540Z,1755805244.540 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:44.543Z,1755805244.543 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:44.544Z,1755805244.544 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:44.547Z,1755805244.547 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:40:44.776Z,1755805244.776 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:40:45.029Z,1755805245.029 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:40:47.297Z,1755805247.297 [DAT](INFO): DAT read: Rx Time:19:40:46.1109

2025-08-21T19:40:47.297Z,1755805247.297 [DAT](INFO): Rx dataTimestamp_ set to:1755805247.296872
2025-08-21T19:40:47.429Z,1755805247.429 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,
2025-08-21T19:40:47.952Z,1755805247.952 [MassServo](FAULT): Overload Error
2025-08-21T19:40:47.952Z,1755805247.952 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T19:40:47.952Z,1755805247.952 [MassServo](ERROR): Hardware Fault
2025-08-21T19:40:48.052Z,1755805248.052 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T19:40:48.066Z,1755805248.066 [DAT](INFO): DAT read: 19:40:46.1109 LVL= 24224, 10433, 26354, 28499, AGC= 44, IDX= 440, 0.15, 2.632, 2.330, 1.285,-2.854, PHS=-0.695,-1.053,-2.188, RAW=  43.3,  45.9, CAL=  41.1,  51.1, ROT= 108.9, -51.1

2025-08-21T19:40:48.082Z,1755805248.082 [DAT](INFO): got valid direction response:
 19:40:46.1109 LVL= 24224, 10433, 26354, 28499, AGC= 44, IDX= 440, 0.15, 2.632, 2.330, 1.285,-2.854, PHS=-0.695,-1.053,-2.188, RAW=  43.3,  45.9, CAL=  41.1,  51.1, ROT= 108.9, -51.1

2025-08-21T19:40:48.083Z,1755805248.083 [DAT](INFO): DAT read: Bearing 350.3,  43.5 (Local)

2025-08-21T19:40:48.084Z,1755805248.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.3,  43.5 (Local)

2025-08-21T19:40:48.085Z,1755805248.085 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:40:48.086Z,1755805248.086 [DAT](INFO): DAT read: user:4047>

2025-08-21T19:40:48.086Z,1755805248.086 [DAT](INFO): DAT read: Tx time:19:40:47.2041

2025-08-21T19:40:48.087Z,1755805248.087 [DAT](INFO): Ping request sent.
2025-08-21T19:40:48.087Z,1755805248.087 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:48.087Z,1755805248.087 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T19:40:48.088Z,1755805248.088 [DAT](INFO): direction in FSK: [-0.203408,0.594107,0.778243]
2025-08-21T19:40:48.089Z,1755805248.089 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:48.089Z,1755805248.089 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:48.097Z,1755805248.097 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:48.097Z,1755805248.097 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:48.320Z,1755805248.320 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T19:40:48.321Z,1755805248.321 [MassServo](INFO): Powering down
2025-08-21T19:40:49.065Z,1755805249.065 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T19:40:49.184Z,1755805249.184 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T19:40:49.189Z,1755805249.189 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T19:40:49.190Z,1755805249.190 [MassServo] No Fault, FailCount= 1
2025-08-21T19:40:50.833Z,1755805250.833 [DAT](INFO): DAT read: Rx Time:19:40:49.6109

2025-08-21T19:40:50.833Z,1755805250.833 [DAT](INFO): Rx dataTimestamp_ set to:1755805250.832703
2025-08-21T19:40:51.356Z,1755805251.356 [DAT](INFO): DAT read: 19:40:49.6109 LVL= 18576,  8289, 19554, 19891, AGC= 42, IDX= 440, 0.25, 1.880, 1.429, 0.539, 2.631, PHS=-0.649,-1.157,-2.136, RAW=  49.6,  46.8, CAL=  47.0,  51.7, ROT= 103.0, -51.7

2025-08-21T19:40:51.361Z,1755805251.361 [DAT](INFO): got valid direction response:
 19:40:49.6109 LVL= 18576,  8289, 19554, 19891, AGC= 42, IDX= 440, 0.25, 1.880, 1.429, 0.539, 2.631, PHS=-0.649,-1.157,-2.136, RAW=  49.6,  46.8, CAL=  47.0,  51.7, ROT= 103.0, -51.7

2025-08-21T19:40:51.364Z,1755805251.364 [DAT](INFO): DAT read: Bearing 342.4,  43.3 (Local)

2025-08-21T19:40:51.365Z,1755805251.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4,  43.3 (Local)

2025-08-21T19:40:51.368Z,1755805251.368 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:40:51.369Z,1755805251.369 [DAT](INFO): DAT read: user:4048>

2025-08-21T19:40:51.369Z,1755805251.369 [DAT](INFO): DAT read: Tx time:19:40:50.7041

2025-08-21T19:40:51.370Z,1755805251.370 [DAT](INFO): Ping request sent.
2025-08-21T19:40:51.370Z,1755805251.370 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:51.370Z,1755805251.370 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T19:40:51.371Z,1755805251.371 [DAT](INFO): direction in FSK: [-0.139420,0.603894,0.784776]
2025-08-21T19:40:51.372Z,1755805251.372 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:51.372Z,1755805251.372 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:51.375Z,1755805251.375 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:51.375Z,1755805251.375 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:54.365Z,1755805254.365 [DAT](INFO): DAT read: Rx Time:19:40:53.1109

2025-08-21T19:40:54.366Z,1755805254.366 [DAT](INFO): Rx dataTimestamp_ set to:1755805254.365575
2025-08-21T19:40:54.877Z,1755805254.877 [DAT](INFO): DAT read: 19:40:53.1109 LVL= 23264,  8273, 23490, 28883, AGC= 42, IDX= 441,-0.44,-2.355,-2.859, 2.575,-1.739, PHS=-0.514,-1.074,-2.013, RAW=  51.7,  44.1, CAL=  48.8,  49.3, ROT= 101.2, -49.3

2025-08-21T19:40:54.878Z,1755805254.878 [DAT](INFO): got valid direction response:
 19:40:53.1109 LVL= 23264,  8273, 23490, 28883, AGC= 42, IDX= 441,-0.44,-2.355,-2.859, 2.575,-1.739, PHS=-0.514,-1.074,-2.013, RAW=  51.7,  44.1, CAL=  48.8,  49.3, ROT= 101.2, -49.3

2025-08-21T19:40:54.879Z,1755805254.879 [DAT](INFO): DAT read: Bearing 339.5,  45.7 (Local)

2025-08-21T19:40:54.880Z,1755805254.880 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.5,  45.7 (Local)

2025-08-21T19:40:54.882Z,1755805254.882 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:40:54.883Z,1755805254.883 [DAT](INFO): DAT read: user:4049>

2025-08-21T19:40:54.884Z,1755805254.884 [DAT](INFO): DAT read: Tx time:19:40:54.2041

2025-08-21T19:40:54.885Z,1755805254.885 [DAT](INFO): Ping request sent.
2025-08-21T19:40:54.885Z,1755805254.885 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:54.885Z,1755805254.885 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T19:40:54.887Z,1755805254.887 [DAT](INFO): direction in FSK: [-0.126660,0.639679,0.758134]
2025-08-21T19:40:54.887Z,1755805254.887 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:54.888Z,1755805254.888 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:54.920Z,1755805254.920 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:54.920Z,1755805254.920 [DAT](INFO): publishing direction and range info
2025-08-21T19:40:57.892Z,1755805257.892 [DAT](INFO): DAT read: Rx Time:19:40:56.6109

2025-08-21T19:40:57.893Z,1755805257.893 [DAT](INFO): Rx dataTimestamp_ set to:1755805257.892634
2025-08-21T19:40:58.224Z,1755805258.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T19:40:58.402Z,1755805258.402 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:40:58.402Z,1755805258.402 [DAT](INFO): DAT read: user:4050>

2025-08-21T19:40:58.403Z,1755805258.403 [DAT](INFO): DAT read: Tx time:19:40:57.7041

2025-08-21T19:40:58.403Z,1755805258.403 [DAT](INFO): Ping request sent.
2025-08-21T19:40:58.404Z,1755805258.404 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:40:58.404Z,1755805258.404 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-21T19:40:58.404Z,1755805258.404 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:58.405Z,1755805258.405 [DAT](INFO): publishing transmit ping time
2025-08-21T19:40:59.231Z,1755805259.231 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T19:41:01.424Z,1755805261.424 [DAT](INFO): DAT read: Rx Time:19:41:00.1109

2025-08-21T19:41:01.425Z,1755805261.425 [DAT](INFO): Rx dataTimestamp_ set to:1755805261.424539
2025-08-21T19:41:01.929Z,1755805261.929 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:41:01.930Z,1755805261.930 [DAT](INFO): DAT read: user:4051>

2025-08-21T19:41:01.931Z,1755805261.931 [DAT](INFO): DAT read: Tx time:19:41:01.2041

2025-08-21T19:41:01.931Z,1755805261.931 [DAT](INFO): Ping request sent.
2025-08-21T19:41:01.931Z,1755805261.931 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:01.931Z,1755805261.931 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-21T19:41:01.932Z,1755805261.932 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:01.932Z,1755805261.932 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:04.952Z,1755805264.952 [DAT](INFO): DAT read: Rx Time:19:41:03.6109

2025-08-21T19:41:04.953Z,1755805264.953 [DAT](INFO): Rx dataTimestamp_ set to:1755805264.952398
2025-08-21T19:41:05.462Z,1755805265.462 [DAT](INFO): DAT read: 19:41:03.6109 LVL= 23264,  8753, 25746, 24611, AGC= 43, IDX= 441,-0.00,-0.863,-2.410,-2.134,-0.302, PHS=-0.459,-2.063,-1.876, RAW=  96.1,  45.7, CAL=  94.7,  51.8, ROT=  55.3, -51.8

2025-08-21T19:41:05.463Z,1755805265.463 [DAT](INFO): got valid direction response:
 19:41:03.6109 LVL= 23264,  8753, 25746, 24611, AGC= 43, IDX= 441,-0.00,-0.863,-2.410,-2.134,-0.302, PHS=-0.459,-2.063,-1.876, RAW=  96.1,  45.7, CAL=  94.7,  51.8, ROT=  55.3, -51.8

2025-08-21T19:41:05.464Z,1755805265.464 [DAT](INFO): DAT read: Bearing 302.1,  39.2 (Local)

2025-08-21T19:41:05.464Z,1755805265.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,  39.2 (Local)

2025-08-21T19:41:05.466Z,1755805265.466 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:41:05.466Z,1755805265.466 [DAT](INFO): DAT read: user:4052>

2025-08-21T19:41:05.467Z,1755805265.467 [DAT](INFO): DAT read: Tx time:19:41:04.7041

2025-08-21T19:41:05.468Z,1755805265.468 [DAT](INFO): Ping request sent.
2025-08-21T19:41:05.468Z,1755805265.468 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:05.468Z,1755805265.468 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T19:41:05.469Z,1755805265.469 [DAT](INFO): direction in FSK: [0.352047,0.508421,0.785857]
2025-08-21T19:41:05.469Z,1755805265.469 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:05.469Z,1755805265.469 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:05.473Z,1755805265.473 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:05.473Z,1755805265.473 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:08.480Z,1755805268.480 [DAT](INFO): DAT read: Rx Time:19:41:07.1109

2025-08-21T19:41:08.481Z,1755805268.481 [DAT](INFO): Rx dataTimestamp_ set to:1755805268.480550
2025-08-21T19:41:08.990Z,1755805268.990 [DAT](INFO): DAT read: 19:41:07.1109 LVL= 19248,  8305, 21714, 21251, AGC= 43, IDX= 441,-0.14, 0.200,-0.187,-1.174, 0.866, PHS=-0.564,-1.008,-2.085, RAW=  46.5,  43.7, CAL=  44.0,  49.1, ROT= 106.0, -49.1

2025-08-21T19:41:08.991Z,1755805268.991 [DAT](INFO): got valid direction response:
 19:41:07.1109 LVL= 19248,  8305, 21714, 21251, AGC= 43, IDX= 441,-0.14, 0.200,-0.187,-1.174, 0.866, PHS=-0.564,-1.008,-2.085, RAW=  46.5,  43.7, CAL=  44.0,  49.1, ROT= 106.0, -49.1

2025-08-21T19:41:08.992Z,1755805268.992 [DAT](INFO): DAT read: Bearing 339.3,  45.1 (Local)

2025-08-21T19:41:08.993Z,1755805268.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  45.1 (Local)

2025-08-21T19:41:08.994Z,1755805268.994 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T19:41:08.995Z,1755805268.995 [DAT](INFO): DAT read: user:4053>

2025-08-21T19:41:09.002Z,1755805269.002 [DAT](INFO): DAT read: Tx time:19:41:08.2041

2025-08-21T19:41:09.002Z,1755805269.002 [DAT](INFO): Ping request sent.
2025-08-21T19:41:09.002Z,1755805269.002 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:09.003Z,1755805269.003 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T19:41:09.004Z,1755805269.004 [DAT](INFO): direction in FSK: [-0.180471,0.629377,0.755853]
2025-08-21T19:41:09.004Z,1755805269.004 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:09.004Z,1755805269.004 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:09.008Z,1755805269.008 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:09.008Z,1755805269.008 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:12.010Z,1755805272.010 [DAT](INFO): DAT read: Rx Time:19:41:10.6109

2025-08-21T19:41:12.011Z,1755805272.011 [DAT](INFO): Rx dataTimestamp_ set to:1755805272.010522
2025-08-21T19:41:12.526Z,1755805272.526 [DAT](INFO): DAT read: 19:41:10.6109 LVL= 24176, 14801, 28594, 31443, AGC= 44, IDX= 441, 0.02,-0.055,-0.127,-1.324, 0.783, PHS=-0.736,-0.865,-2.151, RAW=  34.7,  44.4, CAL=  32.8,  49.5, ROT= 117.2, -49.5

2025-08-21T19:41:12.527Z,1755805272.527 [DAT](INFO): got valid direction response:
 19:41:10.6109 LVL= 24176, 14801, 28594, 31443, AGC= 44, IDX= 441, 0.02,-0.055,-0.127,-1.324, 0.783, PHS=-0.736,-0.865,-2.151, RAW=  34.7,  44.4, CAL=  32.8,  49.5, ROT= 117.2, -49.5

2025-08-21T19:41:12.528Z,1755805272.528 [DAT](INFO): DAT read: Bearing 344.3,  43.9 (Local)

2025-08-21T19:41:12.529Z,1755805272.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  43.9 (Local)

2025-08-21T19:41:12.530Z,1755805272.530 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:12.531Z,1755805272.531 [DAT](INFO): DAT read: user:4054>

2025-08-21T19:41:12.532Z,1755805272.532 [DAT](INFO): DAT read: Tx time:19:41:11.7040

2025-08-21T19:41:12.532Z,1755805272.532 [DAT](INFO): Ping request sent.
2025-08-21T19:41:12.532Z,1755805272.532 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:12.532Z,1755805272.532 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T19:41:12.533Z,1755805272.533 [DAT](INFO): direction in FSK: [-0.296861,0.577630,0.760406]
2025-08-21T19:41:12.534Z,1755805272.534 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:12.534Z,1755805272.534 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:12.539Z,1755805272.539 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:12.539Z,1755805272.539 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:15.294Z,1755805275.294 [DAT](INFO): DAT read: Rx Time:19:41:14.1109

2025-08-21T19:41:15.295Z,1755805275.295 [DAT](INFO): Rx dataTimestamp_ set to:1755805275.294895
2025-08-21T19:41:16.054Z,1755805276.054 [DAT](INFO): DAT read: 19:41:14.1109 LVL= 23248, 13505, 22562, 23971, AGC= 44, IDX= 441, 0.11,-1.557,-1.627,-2.862,-0.567, PHS=-0.888,-1.016,-2.339, RAW=  34.5,  47.2, CAL=  32.7,  52.0, ROT= 117.3, -52.0

2025-08-21T19:41:16.056Z,1755805276.056 [DAT](INFO): got valid direction response:
 19:41:14.1109 LVL= 23248, 13505, 22562, 23971, AGC= 44, IDX= 441, 0.11,-1.557,-1.627,-2.862,-0.567, PHS=-0.888,-1.016,-2.339, RAW=  34.5,  47.2, CAL=  32.7,  52.0, ROT= 117.3, -52.0

2025-08-21T19:41:16.057Z,1755805276.057 [DAT](INFO): DAT read: Bearing 338.0,  40.9 (Local)

2025-08-21T19:41:16.057Z,1755805276.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.0,  40.9 (Local)

2025-08-21T19:41:16.058Z,1755805276.058 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:16.059Z,1755805276.059 [DAT](INFO): DAT read: user:4055>

2025-08-21T19:41:16.060Z,1755805276.060 [DAT](INFO): DAT read: Tx time:19:41:15.2040

2025-08-21T19:41:16.060Z,1755805276.060 [DAT](INFO): Ping request sent.
2025-08-21T19:41:16.060Z,1755805276.060 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:16.061Z,1755805276.061 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T19:41:16.062Z,1755805276.062 [DAT](INFO): direction in FSK: [-0.282373,0.547087,0.788011]
2025-08-21T19:41:16.062Z,1755805276.062 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:16.062Z,1755805276.062 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:16.065Z,1755805276.065 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:16.066Z,1755805276.066 [DAT](INFO): publishing direction and range info
2025-08-21T19:41:18.823Z,1755805278.823 [DAT](INFO): DAT read: Rx Time:19:41:17.6109

2025-08-21T19:41:18.824Z,1755805278.824 [DAT](INFO): Rx dataTimestamp_ set to:1755805278.823442
2025-08-21T19:41:19.330Z,1755805279.330 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:19.330Z,1755805279.330 [DAT](INFO): DAT read: user:4056>

2025-08-21T19:41:19.331Z,1755805279.331 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-21T19:41:19.578Z,1755805279.578 [DAT](INFO): DAT read: Tx time:19:41:18.7040

2025-08-21T19:41:19.578Z,1755805279.578 [DAT](INFO): Ping request sent.
2025-08-21T19:41:19.578Z,1755805279.578 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:19.578Z,1755805279.578 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:22.349Z,1755805282.349 [DAT](INFO): DAT read: Rx Time:19:41:21.1109

2025-08-21T19:41:22.349Z,1755805282.349 [DAT](INFO): Rx dataTimestamp_ set to:1755805282.348826
2025-08-21T19:41:22.853Z,1755805282.853 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:22.854Z,1755805282.854 [DAT](INFO): DAT read: user:4057>

2025-08-21T19:41:22.855Z,1755805282.855 [DAT](INFO): DAT read: Tx time:19:41:22.2040

2025-08-21T19:41:22.855Z,1755805282.855 [DAT](INFO): Ping request sent.
2025-08-21T19:41:22.855Z,1755805282.855 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:22.855Z,1755805282.855 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-21T19:41:22.856Z,1755805282.856 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:22.856Z,1755805282.856 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:24.560Z,1755805284.560 [MassServo](FAULT): Overload Error
2025-08-21T19:41:24.560Z,1755805284.560 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T19:41:24.560Z,1755805284.560 [MassServo](ERROR): Hardware Fault
2025-08-21T19:41:24.664Z,1755805284.664 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T19:41:24.940Z,1755805284.940 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T19:41:24.940Z,1755805284.940 [MassServo](INFO): Powering down
2025-08-21T19:41:25.586Z,1755805285.586 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T19:41:25.705Z,1755805285.705 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T19:41:25.719Z,1755805285.719 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T19:41:25.719Z,1755805285.719 [MassServo] No Fault, FailCount= 1
2025-08-21T19:41:25.877Z,1755805285.877 [DAT](INFO): DAT read: Rx Time:19:41:24.6109

2025-08-21T19:41:25.878Z,1755805285.878 [DAT](INFO): Rx dataTimestamp_ set to:1755805285.877509
2025-08-21T19:41:26.381Z,1755805286.381 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:26.382Z,1755805286.382 [DAT](INFO): DAT read: user:4058>

2025-08-21T19:41:26.383Z,1755805286.383 [DAT](INFO): DAT read: Tx time:19:41:25.7040

2025-08-21T19:41:26.383Z,1755805286.383 [DAT](INFO): Ping request sent.
2025-08-21T19:41:26.383Z,1755805286.383 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:26.383Z,1755805286.383 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-21T19:41:26.384Z,1755805286.384 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:26.384Z,1755805286.384 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:29.405Z,1755805289.405 [DAT](INFO): DAT read: Rx Time:19:41:28.1109

2025-08-21T19:41:29.405Z,1755805289.405 [DAT](INFO): Rx dataTimestamp_ set to:1755805289.404686
2025-08-21T19:41:29.913Z,1755805289.913 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:29.914Z,1755805289.914 [DAT](INFO): DAT read: user:4059>

2025-08-21T19:41:29.915Z,1755805289.915 [DAT](INFO): DAT read: Tx time:19:41:29.2040

2025-08-21T19:41:29.915Z,1755805289.915 [DAT](INFO): Ping request sent.
2025-08-21T19:41:29.921Z,1755805289.921 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:29.922Z,1755805289.922 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-21T19:41:29.922Z,1755805289.922 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:29.922Z,1755805289.922 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:31.811Z,1755805291.811 [MassServo](FAULT): Overload Error
2025-08-21T19:41:31.812Z,1755805291.812 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T19:41:31.812Z,1755805291.812 [MassServo](ERROR): Hardware Fault
2025-08-21T19:41:31.924Z,1755805291.924 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T19:41:32.132Z,1755805292.132 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T19:41:32.132Z,1755805292.132 [MassServo](INFO): Powering down
2025-08-21T19:41:32.876Z,1755805292.876 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T19:41:32.944Z,1755805292.944 [DAT](INFO): DAT read: Rx Time:19:41:31.6108

2025-08-21T19:41:32.944Z,1755805292.944 [DAT](INFO): Rx dataTimestamp_ set to:1755805292.944061
2025-08-21T19:41:32.998Z,1755805292.998 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T19:41:33.003Z,1755805293.003 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T19:41:33.003Z,1755805293.003 [MassServo] No Fault, FailCount= 1
2025-08-21T19:41:33.445Z,1755805293.445 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:33.446Z,1755805293.446 [DAT](INFO): DAT read: user:4060>

2025-08-21T19:41:33.447Z,1755805293.447 [DAT](INFO): DAT read: Tx time:19:41:32.7039

2025-08-21T19:41:33.447Z,1755805293.447 [DAT](INFO): Ping request sent.
2025-08-21T19:41:33.447Z,1755805293.447 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:33.447Z,1755805293.447 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-21T19:41:33.448Z,1755805293.448 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:33.448Z,1755805293.448 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:36.468Z,1755805296.468 [DAT](INFO): DAT read: Rx Time:19:41:35.1108

2025-08-21T19:41:36.469Z,1755805296.469 [DAT](INFO): Rx dataTimestamp_ set to:1755805296.468511
2025-08-21T19:41:36.973Z,1755805296.973 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:36.974Z,1755805296.974 [DAT](INFO): DAT read: user:4061>

2025-08-21T19:41:36.975Z,1755805296.975 [DAT](INFO): DAT read: Tx time:19:41:36.2039

2025-08-21T19:41:36.975Z,1755805296.975 [DAT](INFO): Ping request sent.
2025-08-21T19:41:36.975Z,1755805296.975 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:36.976Z,1755805296.976 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-21T19:41:36.976Z,1755805296.976 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:36.976Z,1755805296.976 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:38.918Z,1755805298.918 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:41:38.918Z,1755805298.918 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:41:38.929Z,1755805298.929 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:41:39.997Z,1755805299.997 [DAT](INFO): DAT read: Rx Time:19:41:38.6108

2025-08-21T19:41:39.997Z,1755805299.997 [DAT](INFO): Rx dataTimestamp_ set to:1755805299.996767
2025-08-21T19:41:40.501Z,1755805300.501 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed -0.1 m/s

2025-08-21T19:41:40.502Z,1755805300.502 [DAT](INFO): DAT read: user:4062>

2025-08-21T19:41:40.503Z,1755805300.503 [DAT](INFO): DAT read: Tx time:19:41:39.7039

2025-08-21T19:41:40.503Z,1755805300.503 [DAT](INFO): Ping request sent.
2025-08-21T19:41:40.503Z,1755805300.503 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:40.504Z,1755805300.504 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-21T19:41:40.504Z,1755805300.504 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:40.504Z,1755805300.504 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:43.530Z,1755805303.530 [DAT](INFO): DAT read: Rx Time:19:41:42.1108

2025-08-21T19:41:43.530Z,1755805303.530 [DAT](INFO): Rx dataTimestamp_ set to:1755805303.529858
2025-08-21T19:41:44.035Z,1755805304.035 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:44.036Z,1755805304.036 [DAT](INFO): DAT read: user:4063>

2025-08-21T19:41:44.037Z,1755805304.037 [DAT](INFO): DAT read: Tx time:19:41:43.2039

2025-08-21T19:41:44.038Z,1755805304.038 [DAT](INFO): Ping request sent.
2025-08-21T19:41:44.038Z,1755805304.038 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:44.038Z,1755805304.038 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-21T19:41:44.039Z,1755805304.039 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:44.040Z,1755805304.040 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:46.805Z,1755805306.805 [DAT](INFO): DAT read: Rx Time:19:41:45.6108

2025-08-21T19:41:46.805Z,1755805306.805 [DAT](INFO): Rx dataTimestamp_ set to:1755805306.804743
2025-08-21T19:41:47.565Z,1755805307.565 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:47.566Z,1755805307.566 [DAT](INFO): DAT read: user:4064>

2025-08-21T19:41:47.567Z,1755805307.567 [DAT](INFO): DAT read: Tx time:19:41:46.7039

2025-08-21T19:41:47.567Z,1755805307.567 [DAT](INFO): Ping request sent.
2025-08-21T19:41:47.567Z,1755805307.567 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:47.567Z,1755805307.567 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-21T19:41:47.568Z,1755805307.568 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:47.568Z,1755805307.568 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:50.348Z,1755805310.348 [DAT](INFO): DAT read: Rx Time:19:41:49.1107

2025-08-21T19:41:50.349Z,1755805310.349 [DAT](INFO): Rx dataTimestamp_ set to:1755805310.348525
2025-08-21T19:41:50.853Z,1755805310.853 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T19:41:50.854Z,1755805310.854 [DAT](INFO): DAT read: user:4065>

2025-08-21T19:41:50.855Z,1755805310.855 [DAT](INFO): DAT read: Tx time:19:41:50.2028

2025-08-21T19:41:50.855Z,1755805310.855 [DAT](INFO): Ping request sent.
2025-08-21T19:41:50.855Z,1755805310.855 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:50.855Z,1755805310.855 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-08-21T19:41:50.856Z,1755805310.856 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:50.856Z,1755805310.856 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:53.374Z,1755805313.374 [DAT](INFO): DAT read: Rx Time:19:41:52.1037

2025-08-21T19:41:53.374Z,1755805313.374 [DAT](INFO): Rx dataTimestamp_ set to:1755805313.373930
2025-08-21T19:41:53.876Z,1755805313.876 [DAT](INFO): DAT read: OK

2025-08-21T19:41:53.877Z,1755805313.877 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:41:53.877Z,1755805313.877 [DAT](INFO): DAT read: user:4066>

2025-08-21T19:41:53.878Z,1755805313.878 [DAT](INFO): DAT read: Tx time:19:41:53.2028

2025-08-21T19:41:53.878Z,1755805313.878 [DAT](INFO): Ping request sent.
2025-08-21T19:41:53.878Z,1755805313.878 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:53.878Z,1755805313.878 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:56.399Z,1755805316.399 [DAT](INFO): DAT read: Rx Time:19:41:55.1038

2025-08-21T19:41:56.400Z,1755805316.400 [DAT](INFO): Rx dataTimestamp_ set to:1755805316.399573
2025-08-21T19:41:56.900Z,1755805316.900 [DAT](INFO): DAT read: OK

2025-08-21T19:41:56.900Z,1755805316.900 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:41:56.901Z,1755805316.901 [DAT](INFO): DAT read: user:4067>

2025-08-21T19:41:56.902Z,1755805316.902 [DAT](INFO): DAT read: Tx time:19:41:56.2028

2025-08-21T19:41:56.902Z,1755805316.902 [DAT](INFO): Ping request sent.
2025-08-21T19:41:56.902Z,1755805316.902 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:56.902Z,1755805316.902 [DAT](INFO): publishing transmit ping time
2025-08-21T19:41:57.456Z,1755805317.456 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623291654,35.0, +10.4,   0.0,1491

2025-08-21T19:41:59.437Z,1755805319.437 [DAT](INFO): DAT read: Rx Time:19:41:58.1039

2025-08-21T19:41:59.439Z,1755805319.439 [DAT](INFO): Rx dataTimestamp_ set to:1755805319.437819
2025-08-21T19:41:59.940Z,1755805319.940 [DAT](INFO): DAT read: OK

2025-08-21T19:41:59.940Z,1755805319.940 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:41:59.941Z,1755805319.941 [DAT](INFO): DAT read: user:4068>

2025-08-21T19:41:59.942Z,1755805319.942 [DAT](INFO): DAT read: Tx time:19:41:59.2028

2025-08-21T19:41:59.942Z,1755805319.942 [DAT](INFO): Ping request sent.
2025-08-21T19:41:59.942Z,1755805319.942 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:41:59.942Z,1755805319.942 [DAT](INFO): publishing transmit ping time
2025-08-21T19:42:02.463Z,1755805322.463 [DAT](INFO): DAT read: Rx Time:19:42:01.1040

2025-08-21T19:42:02.465Z,1755805322.465 [DAT](INFO): Rx dataTimestamp_ set to:1755805322.464159
2025-08-21T19:42:02.964Z,1755805322.964 [DAT](INFO): DAT read: OK

2025-08-21T19:42:02.964Z,1755805322.964 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:42:02.965Z,1755805322.965 [DAT](INFO): DAT read: user:4069>

2025-08-21T19:42:02.965Z,1755805322.965 [DAT](INFO): DAT read: Tx time:19:42:02.2028

2025-08-21T19:42:02.966Z,1755805322.966 [DAT](INFO): Ping request sent.
2025-08-21T19:42:02.966Z,1755805322.966 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:42:02.966Z,1755805322.966 [DAT](INFO): publishing transmit ping time
2025-08-21T19:42:05.502Z,1755805325.502 [DAT](INFO): DAT read: Rx Time:19:42:04.1040

2025-08-21T19:42:05.504Z,1755805325.504 [DAT](INFO): Rx dataTimestamp_ set to:1755805325.503040
2025-08-21T19:42:06.001Z,1755805326.001 [DAT](INFO): DAT read: OK

2025-08-21T19:42:06.002Z,1755805326.002 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:42:06.002Z,1755805326.002 [DAT](INFO): DAT read: user:4070>

2025-08-21T19:42:06.004Z,1755805326.004 [DAT](INFO): DAT read: Tx time:19:42:05.2027

2025-08-21T19:42:06.004Z,1755805326.004 [DAT](INFO): Ping request sent.
2025-08-21T19:42:06.004Z,1755805326.004 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:42:06.005Z,1755805326.005 [DAT](INFO): publishing transmit ping time
2025-08-21T19:42:08.523Z,1755805328.523 [DAT](INFO): DAT read: Rx Time:19:42:07.1041

2025-08-21T19:42:08.525Z,1755805328.525 [DAT](INFO): Rx dataTimestamp_ set to:1755805328.523695
2025-08-21T19:42:09.024Z,1755805329.024 [DAT](INFO): DAT read: OK

2025-08-21T19:42:09.024Z,1755805329.024 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:42:38.262Z,1755805358.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:42:38.268Z,1755805358.268 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:42:38.268Z,1755805358.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:42:38.520Z,1755805358.520 [DAT](INFO): DAT read: user:4071>

2025-08-21T19:42:38.521Z,1755805358.521 [DAT](INFO): DAT read: Tx time:19:42:37.7036

2025-08-21T19:42:38.521Z,1755805358.521 [DAT](INFO): Ping request sent.
2025-08-21T19:42:38.521Z,1755805358.521 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:42:38.522Z,1755805358.522 [DAT](INFO): publishing transmit ping time
2025-08-21T19:42:38.522Z,1755805358.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T19:42:38.772Z,1755805358.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772
2025-08-21T19:42:39.028Z,1755805359.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506112
2025-08-21T19:42:39.276Z,1755805359.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754861
2025-08-21T19:42:39.528Z,1755805359.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006848
2025-08-21T19:42:39.780Z,1755805359.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258804
2025-08-21T19:42:40.035Z,1755805360.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513052
2025-08-21T19:42:40.284Z,1755805360.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886
2025-08-21T19:42:40.536Z,1755805360.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015074
2025-08-21T19:42:40.788Z,1755805360.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864
2025-08-21T19:42:41.045Z,1755805361.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523381
2025-08-21T19:42:41.297Z,1755805361.297 [DAT](INFO): DAT read: Rx Time:19:42:40.1103

2025-08-21T19:42:41.297Z,1755805361.297 [DAT](INFO): Rx dataTimestamp_ set to:1755805361.296767
2025-08-21T19:42:41.298Z,1755805361.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776212
2025-08-21T19:42:41.548Z,1755805361.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026961
2025-08-21T19:42:41.803Z,1755805361.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280624
2025-08-21T19:42:42.070Z,1755805362.070 [DAT](INFO): DAT read: 19:42:40.1103 LVL= 23344, 14977, 22258, 29811, AGC= 46, IDX= 487, 0.16, 2.802, 2.707, 1.487,-2.455, PHS=-0.924,-1.076,-2.385, RAW=  35.4,  48.1, CAL=  33.6,  52.9, ROT= 116.4, -52.9

2025-08-21T19:42:42.074Z,1755805362.074 [DAT](INFO): got valid direction response:
 19:42:40.1103 LVL= 23344, 14977, 22258, 29811, AGC= 46, IDX= 487, 0.16, 2.802, 2.707, 1.487,-2.455, PHS=-0.924,-1.076,-2.385, RAW=  35.4,  48.1, CAL=  33.6,  52.9, ROT= 116.4, -52.9

2025-08-21T19:42:42.078Z,1755805362.078 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:42:42.080Z,1755805362.080 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:42:42.083Z,1755805362.083 [DAT](INFO): direction in FSK: [-0.268207,0.540300,0.797584]
2025-08-21T19:42:42.094Z,1755805362.094 [DAT](INFO): publishing direction and range info
2025-08-21T19:43:08.960Z,1755805388.960 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T19:43:08.960Z,1755805388.960 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T19:43:08.971Z,1755805388.971 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:43:09.568Z,1755805389.568 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:43:09.821Z,1755805389.821 [DAT](INFO): DAT read: user:4072>

2025-08-21T19:43:09.822Z,1755805389.822 [DAT](INFO): DAT read: Tx time:19:43:09.0024

2025-08-21T19:43:09.822Z,1755805389.822 [DAT](INFO): Ping request sent.
2025-08-21T19:43:09.822Z,1755805389.822 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:43:09.822Z,1755805389.822 [DAT](INFO): publishing transmit ping time
2025-08-21T19:43:09.824Z,1755805389.824 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:43:10.072Z,1755805390.072 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:43:12.093Z,1755805392.093 [DAT](INFO): DAT read: Rx Time:19:43:10.9057

2025-08-21T19:43:12.093Z,1755805392.093 [DAT](INFO): Rx dataTimestamp_ set to:1755805392.093012
2025-08-21T19:43:12.852Z,1755805392.852 [DAT](INFO): DAT read: 19:43:10.9057 LVL= 23984, 15153, 20274, 29427, AGC= 45, IDX= 411,-0.30,-1.557,-1.537,-2.532,-0.450, PHS=-1.005,-1.042,-2.126, RAW=  31.7,  53.2, CAL=  30.2,  57.3, ROT= 119.8, -57.3

2025-08-21T19:43:12.854Z,1755805392.854 [DAT](INFO): got valid direction response:
 19:43:10.9057 LVL= 23984, 15153, 20274, 29427, AGC= 45, IDX= 411,-0.30,-1.557,-1.537,-2.532,-0.450, PHS=-1.005,-1.042,-2.126, RAW=  31.7,  53.2, CAL=  30.2,  57.3, ROT= 119.8, -57.3

2025-08-21T19:43:12.854Z,1755805392.854 [DAT](INFO): DAT read: OK

2025-08-21T19:43:12.854Z,1755805392.854 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:43:12.855Z,1755805392.855 [DAT](INFO): DAT read: user:4073>

2025-08-21T19:43:12.856Z,1755805392.856 [DAT](INFO): DAT read: Tx time:19:43:12.0024

2025-08-21T19:43:12.856Z,1755805392.856 [DAT](INFO): Ping request sent.
2025-08-21T19:43:12.856Z,1755805392.856 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:43:12.856Z,1755805392.856 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:43:12.857Z,1755805392.857 [DAT](INFO): direction in FSK: [-0.268485,0.468802,0.841511]
2025-08-21T19:43:12.857Z,1755805392.857 [DAT](INFO): publishing transmit ping time
2025-08-21T19:43:12.860Z,1755805392.860 [DAT](INFO): publishing transmit ping time
2025-08-21T19:43:15.124Z,1755805395.124 [DAT](INFO): DAT read: Rx Time:19:43:13.9058

2025-08-21T19:43:15.125Z,1755805395.125 [DAT](INFO): Rx dataTimestamp_ set to:1755805395.124499
2025-08-21T19:43:15.656Z,1755805395.656 [DAT](INFO): DAT read: 19:43:13.9058 LVL= 24400, 14193, 20674, 30819, AGC= 45, IDX= 444,-0.30,-1.590,-1.550,-2.545,-0.467, PHS=-1.022,-1.039,-2.123, RAW=  30.8,  53.5, CAL=  29.3,  57.6, ROT= 120.7, -57.6

2025-08-21T19:43:15.657Z,1755805395.657 [DAT](INFO): got valid direction response:
 19:43:13.9058 LVL= 24400, 14193, 20674, 30819, AGC= 45, IDX= 444,-0.30,-1.590,-1.550,-2.545,-0.467, PHS=-1.022,-1.039,-2.123, RAW=  30.8,  53.5, CAL=  29.3,  57.6, ROT= 120.7, -57.6

2025-08-21T19:43:15.658Z,1755805395.658 [DAT](INFO): DAT read: OK

2025-08-21T19:43:15.658Z,1755805395.658 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:43:15.658Z,1755805395.658 [DAT](INFO): DAT read: user:4074>

2025-08-21T19:43:15.659Z,1755805395.659 [DAT](INFO): DAT read: Tx time:19:43:15.0024

2025-08-21T19:43:15.660Z,1755805395.660 [DAT](INFO): Ping request sent.
2025-08-21T19:43:15.660Z,1755805395.660 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:43:15.660Z,1755805395.660 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:43:15.661Z,1755805395.661 [DAT](INFO): direction in FSK: [-0.273563,0.460732,0.844328]
2025-08-21T19:43:15.661Z,1755805395.661 [DAT](INFO): publishing transmit ping time
2025-08-21T19:43:15.664Z,1755805395.664 [DAT](INFO): publishing transmit ping time
2025-08-21T19:43:18.169Z,1755805398.169 [DAT](INFO): DAT read: Rx Time:19:43:16.9059

2025-08-21T19:43:18.170Z,1755805398.170 [DAT](INFO): Rx dataTimestamp_ set to:1755805398.169069
2025-08-21T19:43:18.681Z,1755805398.681 [DAT](INFO): DAT read: 19:43:16.9059 LVL= 22768, 14321, 20162, 30419, AGC= 45, IDX= 445,-0.29,-1.540,-1.472,-2.564,-0.423, PHS=-1.015,-1.003,-2.185, RAW=  29.5,  51.6, CAL=  28.0,  55.9, ROT= 122.0, -55.9

2025-08-21T19:43:18.682Z,1755805398.682 [DAT](INFO): got valid direction response:
 19:43:16.9059 LVL= 22768, 14321, 20162, 30419, AGC= 45, IDX= 445,-0.29,-1.540,-1.472,-2.564,-0.423, PHS=-1.015,-1.003,-2.185, RAW=  29.5,  51.6, CAL=  28.0,  55.9, ROT= 122.0, -55.9

2025-08-21T19:43:18.682Z,1755805398.682 [DAT](INFO): DAT read: OK

2025-08-21T19:43:18.682Z,1755805398.682 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:43:18.683Z,1755805398.683 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:43:18.684Z,1755805398.684 [DAT](INFO): direction in FSK: [-0.297093,0.475449,0.828060]
2025-08-21T19:44:09.141Z,1755805449.141 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:44:09.141Z,1755805449.141 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:44:09.187Z,1755805449.187 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:44:09.412Z,1755805449.412 [DAT](INFO): DAT read: user:4075>

2025-08-21T19:44:09.413Z,1755805449.413 [DAT](INFO): DAT read: Tx time:19:44:08.6021

2025-08-21T19:44:09.413Z,1755805449.413 [DAT](INFO): Ping request sent.
2025-08-21T19:44:09.413Z,1755805449.413 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:44:09.413Z,1755805449.413 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:11.689Z,1755805451.689 [DAT](INFO): DAT read: Rx Time:19:44:10.5075

2025-08-21T19:44:11.690Z,1755805451.690 [DAT](INFO): Rx dataTimestamp_ set to:1755805451.689675
2025-08-21T19:44:12.452Z,1755805452.452 [DAT](INFO): DAT read: 19:44:10.5075 LVL= 26736, 17681, 25042, 27363, AGC= 44, IDX= 463, 0.32, 0.642, 0.654,-0.583, 1.692, PHS=-0.948,-0.992,-2.319, RAW=  31.6,  48.1, CAL=  29.9,  52.8, ROT= 120.1, -52.8

2025-08-21T19:44:12.454Z,1755805452.454 [DAT](INFO): got valid direction response:
 19:44:10.5075 LVL= 26736, 17681, 25042, 27363, AGC= 44, IDX= 463, 0.32, 0.642, 0.654,-0.583, 1.692, PHS=-0.948,-0.992,-2.319, RAW=  31.6,  48.1, CAL=  29.9,  52.8, ROT= 120.1, -52.8

2025-08-21T19:44:12.454Z,1755805452.454 [DAT](INFO): DAT read: OK

2025-08-21T19:44:12.454Z,1755805452.454 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:44:12.455Z,1755805452.455 [DAT](INFO): DAT read: user:4076>

2025-08-21T19:44:12.456Z,1755805452.456 [DAT](INFO): DAT read: Tx time:19:44:11.6021

2025-08-21T19:44:12.456Z,1755805452.456 [DAT](INFO): Ping request sent.
2025-08-21T19:44:12.456Z,1755805452.456 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:44:12.456Z,1755805452.456 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T19:44:12.457Z,1755805452.457 [DAT](INFO): direction in FSK: [-0.303213,0.523070,0.796530]
2025-08-21T19:44:12.457Z,1755805452.457 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:12.460Z,1755805452.460 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:14.716Z,1755805454.716 [DAT](INFO): DAT read: Rx Time:19:44:13.5076

2025-08-21T19:44:14.717Z,1755805454.717 [DAT](INFO): Rx dataTimestamp_ set to:1755805454.716519
2025-08-21T19:44:15.477Z,1755805455.477 [DAT](INFO): DAT read: 19:44:13.5076 LVL= 25648, 15953, 22562, 29555, AGC= 45, IDX= 448, 0.22, 1.698, 1.685, 0.554, 2.805, PHS=-1.005,-1.075,-2.295, RAW=  32.7,  50.9, CAL=  31.1,  55.3, ROT= 118.9, -55.3

2025-08-21T19:44:15.478Z,1755805455.478 [DAT](INFO): got valid direction response:
 19:44:13.5076 LVL= 25648, 15953, 22562, 29555, AGC= 45, IDX= 448, 0.22, 1.698, 1.685, 0.554, 2.805, PHS=-1.005,-1.075,-2.295, RAW=  32.7,  50.9, CAL=  31.1,  55.3, ROT= 118.9, -55.3

2025-08-21T19:44:15.478Z,1755805455.478 [DAT](INFO): DAT read: OK

2025-08-21T19:44:15.479Z,1755805455.479 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:44:15.479Z,1755805455.479 [DAT](INFO): DAT read: user:4077>

2025-08-21T19:44:15.480Z,1755805455.480 [DAT](INFO): DAT read: Tx time:19:44:14.6021

2025-08-21T19:44:15.480Z,1755805455.480 [DAT](INFO): Ping request sent.
2025-08-21T19:44:15.480Z,1755805455.480 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:44:15.481Z,1755805455.481 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T19:44:15.481Z,1755805455.481 [DAT](INFO): direction in FSK: [-0.275123,0.498384,0.822144]
2025-08-21T19:44:15.482Z,1755805455.482 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:15.485Z,1755805455.485 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:17.742Z,1755805457.742 [DAT](INFO): DAT read: Rx Time:19:44:16.5076

2025-08-21T19:44:17.742Z,1755805457.742 [DAT](INFO): Rx dataTimestamp_ set to:1755805457.741836
2025-08-21T19:44:18.249Z,1755805458.249 [DAT](INFO): DAT read: 19:44:16.5076 LVL= 23504, 16929, 21186, 27283, AGC= 46, IDX= 449, 0.23, 1.570, 1.508, 0.317, 2.653, PHS=-0.981,-1.100,-2.380, RAW=  34.4,  49.6, CAL=  32.7,  54.1, ROT= 117.3, -54.1

2025-08-21T19:44:18.250Z,1755805458.250 [DAT](INFO): got valid direction response:
 19:44:16.5076 LVL= 23504, 16929, 21186, 27283, AGC= 46, IDX= 449, 0.23, 1.570, 1.508, 0.317, 2.653, PHS=-0.981,-1.100,-2.380, RAW=  34.4,  49.6, CAL=  32.7,  54.1, ROT= 117.3, -54.1

2025-08-21T19:44:18.250Z,1755805458.250 [DAT](INFO): DAT read: OK

2025-08-21T19:44:18.251Z,1755805458.251 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:44:18.251Z,1755805458.251 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T19:44:18.252Z,1755805458.252 [DAT](INFO): direction in FSK: [-0.268939,0.521061,0.810042]
2025-08-21T19:44:22.897Z,1755805462.897 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, .87,      +305.48,    ,7:BI,   -32,    -,    +3,A
2025-08-21T19:44:38.274Z,1755805478.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:44:38.412Z,1755805478.412 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:44:38.412Z,1755805478.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:44:38.664Z,1755805478.664 [DAT](INFO): DAT read: user:4078>

2025-08-21T19:44:38.665Z,1755805478.665 [DAT](INFO): DAT read: Tx time:19:44:37.8529

2025-08-21T19:44:38.665Z,1755805478.665 [DAT](INFO): Ping request sent.
2025-08-21T19:44:38.665Z,1755805478.665 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:44:38.666Z,1755805478.666 [DAT](INFO): publishing transmit ping time
2025-08-21T19:44:38.666Z,1755805478.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000915
2025-08-21T19:44:38.916Z,1755805478.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251049
2025-08-21T19:44:39.169Z,1755805479.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503410
2025-08-21T19:44:39.420Z,1755805479.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923
2025-08-21T19:44:39.672Z,1755805479.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007004
2025-08-21T19:44:39.924Z,1755805479.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258921
2025-08-21T19:44:40.177Z,1755805480.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511132
2025-08-21T19:44:40.428Z,1755805480.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762739
2025-08-21T19:44:40.680Z,1755805480.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015044
2025-08-21T19:44:40.932Z,1755805480.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266858
2025-08-21T19:44:41.187Z,1755805481.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522023
2025-08-21T19:44:41.436Z,1755805481.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770718
2025-08-21T19:44:41.688Z,1755805481.688 [DAT](INFO): DAT read: Rx Time:19:44:40.2596

2025-08-21T19:44:41.689Z,1755805481.689 [DAT](INFO): Rx dataTimestamp_ set to:1755805481.688404
2025-08-21T19:44:41.689Z,1755805481.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023821
2025-08-21T19:44:41.942Z,1755805481.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276227
2025-08-21T19:44:42.197Z,1755805482.197 [DAT](INFO): DAT read: 19:44:40.2596 LVL= 29584, 16417, 24530, 30291, AGC= 45, IDX= 455, 0.25,-1.593,-1.622,-2.869,-0.513, PHS=-0.978,-1.064,-2.400, RAW=  33.1,  48.7, CAL=  31.4,  53.3, ROT= 118.6, -53.3

2025-08-21T19:44:42.199Z,1755805482.199 [DAT](INFO): got valid direction response:
 19:44:40.2596 LVL= 29584, 16417, 24530, 30291, AGC= 45, IDX= 455, 0.25,-1.593,-1.622,-2.869,-0.513, PHS=-0.978,-1.064,-2.400, RAW=  33.1,  48.7, CAL=  31.4,  53.3, ROT= 118.6, -53.3

2025-08-21T19:44:42.200Z,1755805482.200 [DAT](INFO): DAT read: Bearing  19.1,  38.2 (Local)

2025-08-21T19:44:42.200Z,1755805482.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.1,  38.2 (Local)

2025-08-21T19:44:42.201Z,1755805482.201 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:44:42.202Z,1755805482.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:44:42.203Z,1755805482.203 [DAT](INFO): direction in FSK: [-0.286078,0.524705,0.801776]
2025-08-21T19:44:42.203Z,1755805482.203 [DAT](INFO): publishing direction and range info
2025-08-21T19:45:32.814Z,1755805532.814 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,      -39.87,      +305.4819.68,  9.67
2025-08-21T19:45:39.329Z,1755805539.329 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T19:45:39.329Z,1755805539.329 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T19:45:39.372Z,1755805539.372 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:45:39.952Z,1755805539.952 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:45:40.204Z,1755805540.204 [DAT](INFO): DAT read: user:4079>

2025-08-21T19:45:40.205Z,1755805540.205 [DAT](INFO): DAT read: Tx time:19:45:39.4017

2025-08-21T19:45:40.205Z,1755805540.205 [DAT](INFO): Ping request sent.
2025-08-21T19:45:40.206Z,1755805540.206 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:45:40.206Z,1755805540.206 [DAT](INFO): publishing transmit ping time
2025-08-21T19:45:40.206Z,1755805540.206 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:45:40.460Z,1755805540.460 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:45:42.480Z,1755805542.480 [DAT](INFO): DAT read: Rx Time:19:45:41.2600

2025-08-21T19:45:42.481Z,1755805542.481 [DAT](INFO): Rx dataTimestamp_ set to:1755805542.480616
2025-08-21T19:45:42.994Z,1755805542.994 [DAT](INFO): DAT read: 19:45:41.2600 LVL= 25040, 14577, 20962, 31123, AGC= 45, IDX= 462,-0.16,-1.750,-1.714,-2.791,-0.626, PHS=-1.022,-1.043,-2.209, RAW=  30.9,  52.1, CAL=  29.4,  56.3, ROT= 120.6, -56.3

2025-08-21T19:45:42.995Z,1755805542.995 [DAT](INFO): got valid direction response:
 19:45:41.2600 LVL= 25040, 14577, 20962, 31123, AGC= 45, IDX= 462,-0.16,-1.750,-1.714,-2.791,-0.626, PHS=-1.022,-1.043,-2.209, RAW=  30.9,  52.1, CAL=  29.4,  56.3, ROT= 120.6, -56.3

2025-08-21T19:45:42.995Z,1755805542.995 [DAT](INFO): DAT read: OK

2025-08-21T19:45:42.996Z,1755805542.996 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:45:42.996Z,1755805542.996 [DAT](INFO): DAT read: user:4080>

2025-08-21T19:45:42.997Z,1755805542.997 [DAT](INFO): DAT read: Tx time:19:45:42.3516

2025-08-21T19:45:42.997Z,1755805542.997 [DAT](INFO): Ping request sent.
2025-08-21T19:45:42.997Z,1755805542.997 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:45:42.997Z,1755805542.997 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:45:42.998Z,1755805542.998 [DAT](INFO): direction in FSK: [-0.282439,0.477578,0.831954]
2025-08-21T19:45:42.999Z,1755805542.999 [DAT](INFO): publishing transmit ping time
2025-08-21T19:45:43.006Z,1755805543.006 [DAT](INFO): publishing transmit ping time
2025-08-21T19:45:45.508Z,1755805545.508 [DAT](INFO): DAT read: Rx Time:19:45:44.2100

2025-08-21T19:45:45.509Z,1755805545.509 [DAT](INFO): Rx dataTimestamp_ set to:1755805545.508469
2025-08-21T19:45:46.016Z,1755805546.016 [DAT](INFO): DAT read: 19:45:44.2100 LVL= 20880, 15265, 20578, 28275, AGC= 44, IDX= 447,-0.23,-1.722,-1.665,-2.730,-0.609, PHS=-1.011,-1.012,-2.165, RAW=  30.0,  52.1, CAL=  28.5,  56.3, ROT= 121.5, -56.3

2025-08-21T19:45:46.018Z,1755805546.018 [DAT](INFO): got valid direction response:
 19:45:44.2100 LVL= 20880, 15265, 20578, 28275, AGC= 44, IDX= 447,-0.23,-1.722,-1.665,-2.730,-0.609, PHS=-1.011,-1.012,-2.165, RAW=  30.0,  52.1, CAL=  28.5,  56.3, ROT= 121.5, -56.3

2025-08-21T19:45:46.018Z,1755805546.018 [DAT](INFO): DAT read: OK

2025-08-21T19:45:46.018Z,1755805546.018 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:45:46.019Z,1755805546.019 [DAT](INFO): DAT read: user:4081>

2025-08-21T19:45:46.020Z,1755805546.020 [DAT](INFO): DAT read: Tx time:19:45:45.3016

2025-08-21T19:45:46.020Z,1755805546.020 [DAT](INFO): Ping request sent.
2025-08-21T19:45:46.020Z,1755805546.020 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:45:46.020Z,1755805546.020 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:45:46.021Z,1755805546.021 [DAT](INFO): direction in FSK: [-0.289905,0.473083,0.831954]
2025-08-21T19:45:46.021Z,1755805546.021 [DAT](INFO): publishing transmit ping time
2025-08-21T19:45:46.024Z,1755805546.024 [DAT](INFO): publishing transmit ping time
2025-08-21T19:45:48.532Z,1755805548.532 [DAT](INFO): DAT read: Rx Time:19:45:47.1601

2025-08-21T19:45:48.533Z,1755805548.533 [DAT](INFO): Rx dataTimestamp_ set to:1755805548.532663
2025-08-21T19:45:49.042Z,1755805549.042 [DAT](INFO): DAT read: 19:45:47.1601 LVL= 19696, 15921, 23026, 29779, AGC= 44, IDX= 448,-0.32,-1.052,-1.010,-2.074, 0.053, PHS=-1.003,-1.018,-2.171, RAW=  30.7,  51.9, CAL=  29.2,  56.1, ROT= 120.8, -56.1

2025-08-21T19:45:49.044Z,1755805549.044 [DAT](INFO): got valid direction response:
 19:45:47.1601 LVL= 19696, 15921, 23026, 29779, AGC= 44, IDX= 448,-0.32,-1.052,-1.010,-2.074, 0.053, PHS=-1.003,-1.018,-2.171, RAW=  30.7,  51.9, CAL=  29.2,  56.1, ROT= 120.8, -56.1

2025-08-21T19:45:49.044Z,1755805549.044 [DAT](INFO): DAT read: OK

2025-08-21T19:45:49.045Z,1755805549.045 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:45:49.045Z,1755805549.045 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:45:49.046Z,1755805549.046 [DAT](INFO): direction in FSK: [-0.285590,0.479081,0.830012]
2025-08-21T19:46:38.689Z,1755805598.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:46:38.721Z,1755805598.721 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:46:38.721Z,1755805598.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:46:38.972Z,1755805598.972 [DAT](INFO): DAT read: user:4082>

2025-08-21T19:46:38.973Z,1755805598.973 [DAT](INFO): DAT read: Tx time:19:46:38.1523

2025-08-21T19:46:38.973Z,1755805598.973 [DAT](INFO): Ping request sent.
2025-08-21T19:46:38.973Z,1755805598.973 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:46:38.973Z,1755805598.973 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:38.974Z,1755805598.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T19:46:39.224Z,1755805599.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908
2025-08-21T19:46:39.472Z,1755805599.472 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:46:39.472Z,1755805599.472 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:46:39.476Z,1755805599.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503113
2025-08-21T19:46:39.484Z,1755805599.484 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:46:39.728Z,1755805599.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900
2025-08-21T19:46:39.981Z,1755805599.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007777
2025-08-21T19:46:40.232Z,1755805600.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258987
2025-08-21T19:46:40.484Z,1755805600.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510926
2025-08-21T19:46:40.737Z,1755805600.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763402
2025-08-21T19:46:40.988Z,1755805600.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014966
2025-08-21T19:46:41.240Z,1755805601.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266937
2025-08-21T19:46:41.492Z,1755805601.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519097
2025-08-21T19:46:41.744Z,1755805601.744 [DAT](INFO): DAT read: Rx Time:19:46:40.5590

2025-08-21T19:46:41.745Z,1755805601.745 [DAT](INFO): Rx dataTimestamp_ set to:1755805601.744478
2025-08-21T19:46:41.745Z,1755805601.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772036
2025-08-21T19:46:41.996Z,1755805601.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022875
2025-08-21T19:46:42.249Z,1755805602.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275238
2025-08-21T19:46:42.507Z,1755805602.507 [DAT](INFO): DAT read: 19:46:40.5590 LVL= 25152, 16817, 24050, 32323, AGC= 45, IDX= 423,-0.03,-1.547,-1.607,-2.765,-0.497, PHS=-0.947,-1.065,-2.312, RAW=  34.5,  49.4, CAL=  32.7,  54.0, ROT= 117.3, -54.0

2025-08-21T19:46:42.509Z,1755805602.509 [DAT](INFO): got valid direction response:
 19:46:40.5590 LVL= 25152, 16817, 24050, 32323, AGC= 45, IDX= 423,-0.03,-1.547,-1.607,-2.765,-0.497, PHS=-0.947,-1.065,-2.312, RAW=  34.5,  49.4, CAL=  32.7,  54.0, ROT= 117.3, -54.0

2025-08-21T19:46:42.511Z,1755805602.511 [DAT](INFO): DAT read: Bearing  17.7,  38.6 (Local)

2025-08-21T19:46:42.515Z,1755805602.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.7,  38.6 (Local)

2025-08-21T19:46:42.518Z,1755805602.518 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:46:42.518Z,1755805602.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:46:42.521Z,1755805602.521 [DAT](INFO): direction in FSK: [-0.269587,0.522316,0.809017]
2025-08-21T19:46:42.521Z,1755805602.521 [DAT](INFO): publishing direction and range info
2025-08-21T19:46:42.752Z,1755805602.752 [DAT](INFO): DAT read: user:4083>

2025-08-21T19:46:42.753Z,1755805602.753 [DAT](INFO): DAT read: Tx time:19:46:41.9513

2025-08-21T19:46:42.753Z,1755805602.753 [DAT](INFO): Ping request sent.
2025-08-21T19:46:42.753Z,1755805602.753 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:46:42.754Z,1755805602.754 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:45.021Z,1755805605.021 [DAT](INFO): DAT read: Rx Time:19:46:43.8118

2025-08-21T19:46:45.021Z,1755805605.021 [DAT](INFO): Rx dataTimestamp_ set to:1755805605.020830
2025-08-21T19:46:45.781Z,1755805605.781 [DAT](INFO): DAT read: 19:46:43.8118 LVL= 26096, 16801, 22466, 29683, AGC= 45, IDX= 483,-0.04,-0.725,-0.761,-1.920, 0.340, PHS=-0.963,-1.056,-2.304, RAW=  33.6,  49.7, CAL=  31.9,  54.2, ROT= 118.1, -54.2

2025-08-21T19:46:45.782Z,1755805605.782 [DAT](INFO): got valid direction response:
 19:46:43.8118 LVL= 26096, 16801, 22466, 29683, AGC= 45, IDX= 483,-0.04,-0.725,-0.761,-1.920, 0.340, PHS=-0.963,-1.056,-2.304, RAW=  33.6,  49.7, CAL=  31.9,  54.2, ROT= 118.1, -54.2

2025-08-21T19:46:45.783Z,1755805605.783 [DAT](INFO): DAT read: OK

2025-08-21T19:46:45.784Z,1755805605.784 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:46:45.784Z,1755805605.784 [DAT](INFO): DAT read: user:4084>

2025-08-21T19:46:45.785Z,1755805605.785 [DAT](INFO): DAT read: Tx time:19:46:44.9013

2025-08-21T19:46:45.786Z,1755805605.786 [DAT](INFO): Ping request sent.
2025-08-21T19:46:45.786Z,1755805605.786 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:46:45.786Z,1755805605.786 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:46:45.797Z,1755805605.797 [DAT](INFO): direction in FSK: [-0.275522,0.516007,0.811064]
2025-08-21T19:46:45.797Z,1755805605.797 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:45.801Z,1755805605.801 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:48.044Z,1755805608.044 [DAT](INFO): DAT read: Rx Time:19:46:46.7619

2025-08-21T19:46:48.045Z,1755805608.045 [DAT](INFO): Rx dataTimestamp_ set to:1755805608.044474
2025-08-21T19:46:48.553Z,1755805608.553 [DAT](INFO): DAT read: 19:46:46.7619 LVL= 31104, 14625, 22034, 31475, AGC= 46, IDX= 436,-0.12,-0.854,-0.905,-2.073, 0.219, PHS=-0.972,-1.079,-2.337, RAW=  34.0,  49.7, CAL=  32.3,  54.2, ROT= 117.7, -54.2

2025-08-21T19:46:48.554Z,1755805608.554 [DAT](INFO): got valid direction response:
 19:46:46.7619 LVL= 31104, 14625, 22034, 31475, AGC= 46, IDX= 436,-0.12,-0.854,-0.905,-2.073, 0.219, PHS=-0.972,-1.079,-2.337, RAW=  34.0,  49.7, CAL=  32.3,  54.2, ROT= 117.7, -54.2

2025-08-21T19:46:48.554Z,1755805608.554 [DAT](INFO): DAT read: OK

2025-08-21T19:46:48.554Z,1755805608.554 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:46:48.555Z,1755805608.555 [DAT](INFO): DAT read: user:4085>

2025-08-21T19:46:48.556Z,1755805608.556 [DAT](INFO): DAT read: Tx time:19:46:47.8513

2025-08-21T19:46:48.556Z,1755805608.556 [DAT](INFO): Ping request sent.
2025-08-21T19:46:48.556Z,1755805608.556 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:46:48.557Z,1755805608.557 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:46:48.558Z,1755805608.558 [DAT](INFO): direction in FSK: [-0.271913,0.517918,0.811064]
2025-08-21T19:46:48.558Z,1755805608.558 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:48.561Z,1755805608.561 [DAT](INFO): publishing transmit ping time
2025-08-21T19:46:50.769Z,1755805610.769 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-08-21T19:46:50.770Z,1755805610.770 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:46:50.771Z,1755805610.771 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:46:50.772Z,1755805610.772 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:46:50.773Z,1755805610.773 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:46:50.774Z,1755805610.774 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T19:46:50.774Z,1755805610.774 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T19:46:50.775Z,1755805610.775 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.
2025-08-21T19:46:50.783Z,1755805610.783 [BPC1](FAULT): Failed to receive data from 26 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 37, 38, 39, 44, 58.
2025-08-21T19:46:51.080Z,1755805611.080 [DAT](INFO): DAT read: Rx Time:19:46:49.7120

2025-08-21T19:46:51.081Z,1755805611.081 [DAT](INFO): Rx dataTimestamp_ set to:1755805611.080446
2025-08-21T19:46:51.588Z,1755805611.588 [DAT](INFO): DAT read: 19:46:49.7120 LVL= 27232, 16273, 22178, 29251, AGC= 45, IDX= 437,-0.17,-0.856,-0.916,-2.085, 0.214, PHS=-0.969,-1.085,-2.344, RAW=  34.4,  49.7, CAL=  32.7,  54.2, ROT= 117.3, -54.2

2025-08-21T19:46:51.589Z,1755805611.589 [DAT](INFO): got valid direction response:
 19:46:49.7120 LVL= 27232, 16273, 22178, 29251, AGC= 45, IDX= 437,-0.17,-0.856,-0.916,-2.085, 0.214, PHS=-0.969,-1.085,-2.344, RAW=  34.4,  49.7, CAL=  32.7,  54.2, ROT= 117.3, -54.2

2025-08-21T19:46:51.590Z,1755805611.590 [DAT](INFO): DAT read: OK

2025-08-21T19:46:51.590Z,1755805611.590 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:46:51.590Z,1755805611.590 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:46:51.591Z,1755805611.591 [DAT](INFO): direction in FSK: [-0.268291,0.519803,0.811064]
2025-08-21T19:48:09.578Z,1755805689.578 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T19:48:09.578Z,1755805689.578 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T19:48:09.588Z,1755805689.588 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:48:10.041Z,1755805690.041 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:48:10.292Z,1755805690.292 [DAT](INFO): DAT read: user:4086>

2025-08-21T19:48:10.293Z,1755805690.293 [DAT](INFO): DAT read: Tx time:19:48:09.4510

2025-08-21T19:48:10.293Z,1755805690.293 [DAT](INFO): Ping request sent.
2025-08-21T19:48:10.293Z,1755805690.293 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:48:10.293Z,1755805690.293 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:10.294Z,1755805690.294 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:48:10.544Z,1755805690.544 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:48:12.560Z,1755805692.560 [DAT](INFO): DAT read: Rx Time:19:48:11.3142

2025-08-21T19:48:12.561Z,1755805692.561 [DAT](INFO): Rx dataTimestamp_ set to:1755805692.560523
2025-08-21T19:48:13.068Z,1755805693.068 [DAT](INFO): DAT read: 19:48:11.3142 LVL= 24496, 16993, 22226, 30355, AGC= 45, IDX= 464,-0.12,-2.009,-1.975, 3.136,-0.893, PHS=-1.014,-1.037,-2.299, RAW=  30.9,  50.4, CAL=  29.3,  54.8, ROT= 120.7, -54.8

2025-08-21T19:48:13.070Z,1755805693.070 [DAT](INFO): got valid direction response:
 19:48:11.3142 LVL= 24496, 16993, 22226, 30355, AGC= 45, IDX= 464,-0.12,-2.009,-1.975, 3.136,-0.893, PHS=-1.014,-1.037,-2.299, RAW=  30.9,  50.4, CAL=  29.3,  54.8, ROT= 120.7, -54.8

2025-08-21T19:48:13.070Z,1755805693.070 [DAT](INFO): DAT read: OK

2025-08-21T19:48:13.070Z,1755805693.070 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:48:13.071Z,1755805693.071 [DAT](INFO): DAT read: user:4087>

2025-08-21T19:48:13.071Z,1755805693.071 [DAT](INFO): DAT read: Tx time:19:48:12.4009

2025-08-21T19:48:13.072Z,1755805693.072 [DAT](INFO): Ping request sent.
2025-08-21T19:48:13.072Z,1755805693.072 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:48:13.072Z,1755805693.072 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T19:48:13.073Z,1755805693.073 [DAT](INFO): direction in FSK: [-0.294293,0.495647,0.817145]
2025-08-21T19:48:13.073Z,1755805693.073 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:13.076Z,1755805693.076 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:15.584Z,1755805695.584 [DAT](INFO): DAT read: Rx Time:19:48:14.2642

2025-08-21T19:48:15.585Z,1755805695.585 [DAT](INFO): Rx dataTimestamp_ set to:1755805695.584461
2025-08-21T19:48:16.094Z,1755805696.094 [DAT](INFO): DAT read: 19:48:14.2642 LVL= 23184, 15841, 21122, 30291, AGC= 45, IDX= 449,-0.21,-1.574,-1.537,-2.648,-0.466, PHS=-1.006,-1.025,-2.225, RAW=  30.8,  51.2, CAL=  29.3,  55.5, ROT= 120.7, -55.5

2025-08-21T19:48:16.095Z,1755805696.095 [DAT](INFO): got valid direction response:
 19:48:14.2642 LVL= 23184, 15841, 21122, 30291, AGC= 45, IDX= 449,-0.21,-1.574,-1.537,-2.648,-0.466, PHS=-1.006,-1.025,-2.225, RAW=  30.8,  51.2, CAL=  29.3,  55.5, ROT= 120.7, -55.5

2025-08-21T19:48:16.095Z,1755805696.095 [DAT](INFO): DAT read: OK

2025-08-21T19:48:16.095Z,1755805696.095 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:48:16.096Z,1755805696.096 [DAT](INFO): DAT read: user:4088>

2025-08-21T19:48:16.096Z,1755805696.096 [DAT](INFO): DAT read: Tx time:19:48:15.3509

2025-08-21T19:48:16.097Z,1755805696.097 [DAT](INFO): Ping request sent.
2025-08-21T19:48:16.097Z,1755805696.097 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:48:16.097Z,1755805696.097 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T19:48:16.098Z,1755805696.098 [DAT](INFO): direction in FSK: [-0.289175,0.487026,0.824126]
2025-08-21T19:48:16.099Z,1755805696.099 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:16.116Z,1755805696.116 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:18.609Z,1755805698.609 [DAT](INFO): DAT read: Rx Time:19:48:17.2143

2025-08-21T19:48:18.609Z,1755805698.609 [DAT](INFO): Rx dataTimestamp_ set to:1755805698.608829
2025-08-21T19:48:19.116Z,1755805699.116 [DAT](INFO): DAT read: 19:48:17.2143 LVL= 26080, 16225, 21426, 32755, AGC= 46, IDX= 450,-0.32,-1.090,-1.063,-2.168, 0.027, PHS=-1.015,-1.045,-2.238, RAW=  31.2,  51.5, CAL=  29.7,  55.8, ROT= 120.3, -55.8

2025-08-21T19:48:19.117Z,1755805699.117 [DAT](INFO): got valid direction response:
 19:48:17.2143 LVL= 26080, 16225, 21426, 32755, AGC= 46, IDX= 450,-0.32,-1.090,-1.063,-2.168, 0.027, PHS=-1.015,-1.045,-2.238, RAW=  31.2,  51.5, CAL=  29.7,  55.8, ROT= 120.3, -55.8

2025-08-21T19:48:19.118Z,1755805699.118 [DAT](INFO): DAT read: OK

2025-08-21T19:48:19.118Z,1755805699.118 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:48:19.118Z,1755805699.118 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T19:48:19.120Z,1755805699.120 [DAT](INFO): direction in FSK: [-0.283587,0.485300,0.827081]
2025-08-21T19:48:39.064Z,1755805719.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:48:39.290Z,1755805719.290 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:48:39.291Z,1755805719.291 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:48:39.541Z,1755805719.541 [DAT](INFO): DAT read: user:4089>

2025-08-21T19:48:39.542Z,1755805719.542 [DAT](INFO): DAT read: Tx time:19:48:38.7018

2025-08-21T19:48:39.542Z,1755805719.542 [DAT](INFO): Ping request sent.
2025-08-21T19:48:39.543Z,1755805719.543 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:48:39.543Z,1755805719.543 [DAT](INFO): publishing transmit ping time
2025-08-21T19:48:39.544Z,1755805719.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001488
2025-08-21T19:48:39.792Z,1755805719.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249910
2025-08-21T19:48:40.044Z,1755805720.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501849
2025-08-21T19:48:40.297Z,1755805720.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754366
2025-08-21T19:48:40.548Z,1755805720.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005924
2025-08-21T19:48:40.801Z,1755805720.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933
2025-08-21T19:48:41.053Z,1755805721.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510580
2025-08-21T19:48:41.305Z,1755805721.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762511
2025-08-21T19:48:41.557Z,1755805721.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014418
2025-08-21T19:48:41.809Z,1755805721.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266482
2025-08-21T19:48:42.060Z,1755805722.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518101
2025-08-21T19:48:42.313Z,1755805722.313 [DAT](INFO): DAT read: Rx Time:19:48:41.1085

2025-08-21T19:48:42.314Z,1755805722.314 [DAT](INFO): Rx dataTimestamp_ set to:1755805722.313304
2025-08-21T19:48:42.315Z,1755805722.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772349
2025-08-21T19:48:42.564Z,1755805722.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021903
2025-08-21T19:48:42.820Z,1755805722.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277450
2025-08-21T19:48:43.073Z,1755805723.073 [DAT](INFO): DAT read: 19:48:41.1085 LVL= 23664, 15025, 25058, 32755, AGC= 45, IDX= 376,-0.29, 2.050, 2.101, 0.939, 3.131, PHS=-0.978,-0.984,-2.236, RAW=  30.2,  49.8, CAL=  28.7,  54.2, ROT= 121.3, -54.2

2025-08-21T19:48:43.074Z,1755805723.074 [DAT](INFO): got valid direction response:
 19:48:41.1085 LVL= 23664, 15025, 25058, 32755, AGC= 45, IDX= 376,-0.29, 2.050, 2.101, 0.939, 3.131, PHS=-0.978,-0.984,-2.236, RAW=  30.2,  49.8, CAL=  28.7,  54.2, ROT= 121.3, -54.2

2025-08-21T19:48:43.075Z,1755805723.075 [DAT](INFO): DAT read: Bearing  19.4,  34.7 (Local)

2025-08-21T19:48:43.076Z,1755805723.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4,  34.7 (Local)

2025-08-21T19:48:43.077Z,1755805723.077 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:48:43.078Z,1755805723.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:48:43.079Z,1755805723.079 [DAT](INFO): direction in FSK: [-0.303897,0.499822,0.811064]
2025-08-21T19:48:43.079Z,1755805723.079 [DAT](INFO): publishing direction and range info
2025-08-21T19:49:09.857Z,1755805749.857 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:49:09.857Z,1755805749.857 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:49:09.868Z,1755805749.868 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:49:10.316Z,1755805750.316 [DAT](INFO): DAT read: user:4090>

2025-08-21T19:49:10.317Z,1755805750.317 [DAT](INFO): DAT read: Tx time:19:49:09.5007

2025-08-21T19:49:10.317Z,1755805750.317 [DAT](INFO): Ping request sent.
2025-08-21T19:49:10.317Z,1755805750.317 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:49:10.317Z,1755805750.317 [DAT](INFO): publishing transmit ping time
2025-08-21T19:49:12.584Z,1755805752.584 [DAT](INFO): DAT read: Rx Time:19:49:11.3660

2025-08-21T19:49:12.585Z,1755805752.585 [DAT](INFO): Rx dataTimestamp_ set to:1755805752.584573
2025-08-21T19:49:13.005Z,1755805753.005 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623363196,35.0, +10.3,   0.0  0
2025-08-21T19:49:13.345Z,1755805753.345 [DAT](INFO): DAT read: 19:49:11.3660 LVL= 20976, 13377, 21234, 27379, AGC= 48, IDX=  20,-0.28,-1.261,-1.347,-2.521,-0.260, PHS=-0.899,-1.042,-2.304, RAW=  35.3,  48.2, CAL=  33.5,  53.0, ROT= 116.5, -53.0

2025-08-21T19:49:13.346Z,1755805753.346 [DAT](INFO): got valid direction response:
 19:49:11.3660 LVL= 20976, 13377, 21234, 27379, AGC= 48, IDX=  20,-0.28,-1.261,-1.347,-2.521,-0.260, PHS=-0.899,-1.042,-2.304, RAW=  35.3,  48.2, CAL=  33.5,  53.0, ROT= 116.5, -53.0

2025-08-21T19:49:13.346Z,1755805753.346 [DAT](INFO): DAT read: OK

2025-08-21T19:49:13.346Z,1755805753.346 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:49:13.347Z,1755805753.347 [DAT](INFO): DAT read: user:4091>

2025-08-21T19:49:13.347Z,1755805753.347 [DAT](INFO): DAT read: Tx time:19:49:12.4507

2025-08-21T19:49:13.348Z,1755805753.348 [DAT](INFO): Ping request sent.
2025-08-21T19:49:13.348Z,1755805753.348 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:49:13.348Z,1755805753.348 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:49:13.349Z,1755805753.349 [DAT](INFO): direction in FSK: [-0.268529,0.538585,0.798636]
2025-08-21T19:49:13.349Z,1755805753.349 [DAT](INFO): publishing transmit ping time
2025-08-21T19:49:13.352Z,1755805753.352 [DAT](INFO): publishing transmit ping time
2025-08-21T19:49:15.609Z,1755805755.609 [DAT](INFO): DAT read: Rx Time:19:49:14.3160

2025-08-21T19:49:15.609Z,1755805755.609 [DAT](INFO): Rx dataTimestamp_ set to:1755805755.608688
2025-08-21T19:49:16.117Z,1755805756.117 [DAT](INFO): DAT read: 19:49:14.3160 LVL= 25392, 15393, 23650, 32755, AGC= 46, IDX= 437,-0.45,-0.678,-0.716,-1.925, 0.378, PHS=-0.954,-1.050,-2.348, RAW=  33.5,  48.8, CAL=  31.8,  53.4, ROT= 118.2, -53.4

2025-08-21T19:49:16.118Z,1755805756.118 [DAT](INFO): got valid direction response:
 19:49:14.3160 LVL= 25392, 15393, 23650, 32755, AGC= 46, IDX= 437,-0.45,-0.678,-0.716,-1.925, 0.378, PHS=-0.954,-1.050,-2.348, RAW=  33.5,  48.8, CAL=  31.8,  53.4, ROT= 118.2, -53.4

2025-08-21T19:49:16.118Z,1755805756.118 [DAT](INFO): DAT read: OK

2025-08-21T19:49:16.118Z,1755805756.118 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:49:16.119Z,1755805756.119 [DAT](INFO): DAT read: user:4092>

2025-08-21T19:49:16.120Z,1755805756.120 [DAT](INFO): DAT read: Tx time:19:49:15.4007

2025-08-21T19:49:16.120Z,1755805756.120 [DAT](INFO): Ping request sent.
2025-08-21T19:49:16.120Z,1755805756.120 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:49:16.120Z,1755805756.120 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:49:16.121Z,1755805756.121 [DAT](INFO): direction in FSK: [-0.281747,0.525455,0.802817]
2025-08-21T19:49:16.121Z,1755805756.121 [DAT](INFO): publishing transmit ping time
2025-08-21T19:49:16.124Z,1755805756.124 [DAT](INFO): publishing transmit ping time
2025-08-21T19:49:18.632Z,1755805758.632 [DAT](INFO): DAT read: Rx Time:19:49:17.2660

2025-08-21T19:49:18.633Z,1755805758.633 [DAT](INFO): Rx dataTimestamp_ set to:1755805758.632403
2025-08-21T19:49:19.141Z,1755805759.141 [DAT](INFO): DAT read: 19:49:17.2660 LVL= 26960, 16081, 22978, 28915, AGC= 45, IDX= 437, 0.37, 0.750, 0.717,-0.482, 1.837, PHS=-0.985,-1.075,-2.364, RAW=  33.4,  49.5, CAL=  31.7,  54.0, ROT= 118.3, -54.0

2025-08-21T19:49:19.143Z,1755805759.143 [DAT](INFO): got valid direction response:
 19:49:17.2660 LVL= 26960, 16081, 22978, 28915, AGC= 45, IDX= 437, 0.37, 0.750, 0.717,-0.482, 1.837, PHS=-0.985,-1.075,-2.364, RAW=  33.4,  49.5, CAL=  31.7,  54.0, ROT= 118.3, -54.0

2025-08-21T19:49:19.143Z,1755805759.143 [DAT](INFO): DAT read: OK

2025-08-21T19:49:19.144Z,1755805759.144 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:49:19.144Z,1755805759.144 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:49:19.146Z,1755805759.146 [DAT](INFO): direction in FSK: [-0.278662,0.517532,0.809017]
2025-08-21T19:50:22.943Z,1755805822.943 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  81.14,  87.93,  78.47
2025-08-21T19:50:36.652Z,1755805836.652 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T19:40:36.4Z
2025-08-21T19:50:36.652Z,1755805836.652 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T19:50:36.653Z,1755805836.653 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:50:36.653Z,1755805836.653 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T19:50:36.653Z,1755805836.653 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:50:36.653Z,1755805836.653 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T19:50:37.132Z,1755805837.132 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T19:50:37.133Z,1755805837.133 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T19:50:37.133Z,1755805837.133 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T19:50:37.133Z,1755805837.133 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:50:37.133Z,1755805837.133 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T19:50:39.154Z,1755805839.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:50:39.404Z,1755805839.404 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:50:39.404Z,1755805839.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:50:39.657Z,1755805839.657 [DAT](INFO): DAT read: user:4093>

2025-08-21T19:50:39.658Z,1755805839.658 [DAT](INFO): DAT read: Tx time:19:50:38.8513

2025-08-21T19:50:39.658Z,1755805839.658 [DAT](INFO): Ping request sent.
2025-08-21T19:50:39.658Z,1755805839.658 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:50:39.658Z,1755805839.658 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:39.659Z,1755805839.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T19:50:39.892Z,1755805839.892 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T19:50:39.892Z,1755805839.892 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T19:50:39.893Z,1755805839.893 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-21T19:50:39.908Z,1755805839.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250174
2025-08-21T19:50:39.909Z,1755805839.909 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:50:40.161Z,1755805840.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502572
2025-08-21T19:50:40.413Z,1755805840.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754689
2025-08-21T19:50:40.664Z,1755805840.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006083
2025-08-21T19:50:40.916Z,1755805840.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258029
2025-08-21T19:50:41.169Z,1755805841.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510649
2025-08-21T19:50:41.420Z,1755805841.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762080
2025-08-21T19:50:41.672Z,1755805841.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014053
2025-08-21T19:50:41.924Z,1755805841.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266304
2025-08-21T19:50:42.177Z,1755805842.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518498
2025-08-21T19:50:42.429Z,1755805842.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770698
2025-08-21T19:50:42.680Z,1755805842.680 [DAT](INFO): DAT read: Rx Time:19:50:41.2581

2025-08-21T19:50:42.681Z,1755805842.681 [DAT](INFO): Rx dataTimestamp_ set to:1755805842.680655
2025-08-21T19:50:42.681Z,1755805842.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023328
2025-08-21T19:50:42.932Z,1755805842.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274224
2025-08-21T19:50:43.198Z,1755805843.198 [DAT](INFO): DAT read: 19:50:41.2581 LVL= 23536, 14561, 23346, 32755, AGC= 46, IDX= 343,-0.03,-0.017,-0.004,-0.913, 1.085, PHS=-1.000,-1.044,-2.042, RAW=  32.2,  54.8, CAL=  30.7,  58.7, ROT= 119.3, -58.7

2025-08-21T19:50:43.204Z,1755805843.204 [DAT](INFO): got valid direction response:
 19:50:41.2581 LVL= 23536, 14561, 23346, 32755, AGC= 46, IDX= 343,-0.03,-0.017,-0.004,-0.913, 1.085, PHS=-1.000,-1.044,-2.042, RAW=  32.2,  54.8, CAL=  30.7,  58.7, ROT= 119.3, -58.7

2025-08-21T19:50:43.204Z,1755805843.204 [DAT](INFO): DAT read: Bearing  17.4,  28.4 (Local)

2025-08-21T19:50:43.205Z,1755805843.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.4,  28.4 (Local)

2025-08-21T19:50:43.206Z,1755805843.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:50:43.207Z,1755805843.207 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:50:43.216Z,1755805843.216 [DAT](INFO): direction in FSK: [-0.254244,0.453057,0.854459]
2025-08-21T19:50:43.216Z,1755805843.216 [DAT](INFO): publishing direction and range info
2025-08-21T19:50:43.228Z,1755805843.228 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:50:43.437Z,1755805843.437 [DAT](INFO): DAT read: user:4094>

2025-08-21T19:50:43.437Z,1755805843.437 [DAT](INFO): DAT read: Tx time:19:50:42.6503

2025-08-21T19:50:43.438Z,1755805843.438 [DAT](INFO): Ping request sent.
2025-08-21T19:50:43.438Z,1755805843.438 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:50:43.438Z,1755805843.438 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:43.438Z,1755805843.438 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:50:43.688Z,1755805843.688 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:50:45.704Z,1755805845.704 [DAT](INFO): DAT read: Rx Time:19:50:44.5185

2025-08-21T19:50:45.705Z,1755805845.705 [DAT](INFO): Rx dataTimestamp_ set to:1755805845.704443
2025-08-21T19:50:46.465Z,1755805846.465 [DAT](INFO): DAT read: 19:50:44.5185 LVL= 17104, 13217, 21586, 32755, AGC= 47, IDX=  50,-0.08,-0.547,-0.572,-1.382, 0.542, PHS=-0.987,-1.069,-1.968, RAW=  34.3,  56.5, CAL=  32.9,  60.2, ROT= 117.1, -60.2

2025-08-21T19:50:46.466Z,1755805846.466 [DAT](INFO): got valid direction response:
 19:50:44.5185 LVL= 17104, 13217, 21586, 32755, AGC= 47, IDX=  50,-0.08,-0.547,-0.572,-1.382, 0.542, PHS=-0.987,-1.069,-1.968, RAW=  34.3,  56.5, CAL=  32.9,  60.2, ROT= 117.1, -60.2

2025-08-21T19:50:46.466Z,1755805846.466 [DAT](INFO): DAT read: OK

2025-08-21T19:50:46.466Z,1755805846.466 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:50:46.467Z,1755805846.467 [DAT](INFO): DAT read: user:4095>

2025-08-21T19:50:46.468Z,1755805846.468 [DAT](INFO): DAT read: Tx time:19:50:45.6003

2025-08-21T19:50:46.468Z,1755805846.468 [DAT](INFO): Ping request sent.
2025-08-21T19:50:46.468Z,1755805846.468 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:50:46.468Z,1755805846.468 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:50:46.469Z,1755805846.469 [DAT](INFO): direction in FSK: [-0.226394,0.442413,0.867765]
2025-08-21T19:50:46.470Z,1755805846.470 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:46.472Z,1755805846.472 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:48.729Z,1755805848.729 [DAT](INFO): DAT read: Rx Time:19:50:47.4685

2025-08-21T19:50:48.729Z,1755805848.729 [DAT](INFO): Rx dataTimestamp_ set to:1755805848.728711
2025-08-21T19:50:49.248Z,1755805849.248 [DAT](INFO): DAT read: 19:50:47.4685 LVL= 20720, 12689, 22178, 32755, AGC= 44, IDX= 435,-0.17,-1.152,-1.093,-1.995,-0.049, PHS=-1.001,-0.999,-1.990, RAW=  29.9,  54.9, CAL=  28.5,  58.8, ROT= 121.5, -58.8

2025-08-21T19:50:49.251Z,1755805849.251 [DAT](INFO): got valid direction response:
 19:50:47.4685 LVL= 20720, 12689, 22178, 32755, AGC= 44, IDX= 435,-0.17,-1.152,-1.093,-1.995,-0.049, PHS=-1.001,-0.999,-1.990, RAW=  29.9,  54.9, CAL=  28.5,  58.8, ROT= 121.5, -58.8

2025-08-21T19:50:49.252Z,1755805849.252 [DAT](INFO): DAT read: OK

2025-08-21T19:50:49.253Z,1755805849.253 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:50:49.255Z,1755805849.255 [DAT](INFO): DAT read: user:4096>

2025-08-21T19:50:49.257Z,1755805849.257 [DAT](INFO): DAT read: Tx time:19:50:48.6003

2025-08-21T19:50:49.258Z,1755805849.258 [DAT](INFO): Ping request sent.
2025-08-21T19:50:49.259Z,1755805849.259 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:50:49.260Z,1755805849.260 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:50:49.263Z,1755805849.263 [DAT](INFO): direction in FSK: [-0.270668,0.441691,0.855364]
2025-08-21T19:50:49.280Z,1755805849.280 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:49.294Z,1755805849.294 [DAT](INFO): publishing transmit ping time
2025-08-21T19:50:51.752Z,1755805851.752 [DAT](INFO): DAT read: Rx Time:19:50:50.4686

2025-08-21T19:50:51.753Z,1755805851.753 [DAT](INFO): Rx dataTimestamp_ set to:1755805851.752456
2025-08-21T19:50:52.274Z,1755805852.274 [DAT](INFO): DAT read: 19:50:50.4686 LVL= 26448, 12273, 23330, 32755, AGC= 44, IDX= 436,-0.18,-2.011,-1.899,-2.957,-0.956, PHS=-0.953,-0.898,-2.046, RAW=  27.6,  50.9, CAL=  26.1,  55.2, ROT= 123.9, -55.2

2025-08-21T19:50:52.278Z,1755805852.278 [DAT](INFO): got valid direction response:
 19:50:50.4686 LVL= 26448, 12273, 23330, 32755, AGC= 44, IDX= 436,-0.18,-2.011,-1.899,-2.957,-0.956, PHS=-0.953,-0.898,-2.046, RAW=  27.6,  50.9, CAL=  26.1,  55.2, ROT= 123.9, -55.2

2025-08-21T19:50:52.280Z,1755805852.280 [DAT](INFO): DAT read: OK

2025-08-21T19:50:52.281Z,1755805852.281 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:50:52.282Z,1755805852.282 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:50:52.285Z,1755805852.285 [DAT](INFO): direction in FSK: [-0.318313,0.473699,0.821149]
2025-08-21T19:51:40.113Z,1755805900.113 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:51:40.114Z,1755805900.114 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:51:40.125Z,1755805900.125 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:51:40.436Z,1755805900.436 [DAT](INFO): DAT read: user:4097>

2025-08-21T19:51:40.437Z,1755805900.437 [DAT](INFO): DAT read: Tx time:19:51:39.6001

2025-08-21T19:51:40.437Z,1755805900.437 [DAT](INFO): Ping request sent.
2025-08-21T19:51:40.437Z,1755805900.437 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:51:40.438Z,1755805900.438 [DAT](INFO): publishing transmit ping time
2025-08-21T19:51:42.704Z,1755805902.704 [DAT](INFO): DAT read: Rx Time:19:51:41.4701

2025-08-21T19:51:42.705Z,1755805902.705 [DAT](INFO): Rx dataTimestamp_ set to:1755805902.704490
2025-08-21T19:51:43.220Z,1755805903.220 [DAT](INFO): DAT read: 19:51:41.4701 LVL= 22192, 15089, 25202, 27331, AGC= 44, IDX= 452,-0.01,-0.611,-0.764,-1.862, 0.364, PHS=-0.873,-1.083,-2.270, RAW=  38.0,  48.9, CAL=  36.2,  53.6, ROT= 113.8, -53.6

2025-08-21T19:51:43.221Z,1755805903.221 [DAT](INFO): got valid direction response:
 19:51:41.4701 LVL= 22192, 15089, 25202, 27331, AGC= 44, IDX= 452,-0.01,-0.611,-0.764,-1.862, 0.364, PHS=-0.873,-1.083,-2.270, RAW=  38.0,  48.9, CAL=  36.2,  53.6, ROT= 113.8, -53.6

2025-08-21T19:51:43.222Z,1755805903.222 [DAT](INFO): DAT read: OK

2025-08-21T19:51:43.222Z,1755805903.222 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:51:43.222Z,1755805903.222 [DAT](INFO): DAT read: user:4098>

2025-08-21T19:51:43.223Z,1755805903.223 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T19:51:43.224Z,1755805903.224 [DAT](INFO): direction in FSK: [-0.239471,0.542954,0.804894]
2025-08-21T19:51:43.468Z,1755805903.468 [DAT](INFO): DAT read: Tx time:19:51:42.6001

2025-08-21T19:51:43.469Z,1755805903.469 [DAT](INFO): Ping request sent.
2025-08-21T19:51:43.469Z,1755805903.469 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:51:43.469Z,1755805903.469 [DAT](INFO): publishing transmit ping time
2025-08-21T19:51:45.740Z,1755805905.740 [DAT](INFO): DAT read: Rx Time:19:51:44.4702

2025-08-21T19:51:45.741Z,1755805905.741 [DAT](INFO): Rx dataTimestamp_ set to:1755805905.740626
2025-08-21T19:51:46.249Z,1755805906.249 [DAT](INFO): DAT read: 19:51:44.4702 LVL= 20784, 12113, 22162, 32067, AGC= 45, IDX= 437,-0.15,-0.587,-0.808,-1.725, 0.421, PHS=-0.905,-1.184,-2.190, RAW=  41.9,  52.3, CAL=  40.1,  56.7, ROT= 109.9, -56.7

2025-08-21T19:51:46.250Z,1755805906.250 [DAT](INFO): got valid direction response:
 19:51:44.4702 LVL= 20784, 12113, 22162, 32067, AGC= 45, IDX= 437,-0.15,-0.587,-0.808,-1.725, 0.421, PHS=-0.905,-1.184,-2.190, RAW=  41.9,  52.3, CAL=  40.1,  56.7, ROT= 109.9, -56.7

2025-08-21T19:51:46.250Z,1755805906.250 [DAT](INFO): DAT read: OK

2025-08-21T19:51:46.251Z,1755805906.251 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:51:46.251Z,1755805906.251 [DAT](INFO): DAT read: user:4099>

2025-08-21T19:51:46.252Z,1755805906.252 [DAT](INFO): DAT read: Tx time:19:51:45.5501

2025-08-21T19:51:46.252Z,1755805906.252 [DAT](INFO): Ping request sent.
2025-08-21T19:51:46.252Z,1755805906.252 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:51:46.252Z,1755805906.252 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T19:51:46.253Z,1755805906.253 [DAT](INFO): direction in FSK: [-0.186876,0.516240,0.835807]
2025-08-21T19:51:46.254Z,1755805906.254 [DAT](INFO): publishing transmit ping time
2025-08-21T19:51:46.257Z,1755805906.257 [DAT](INFO): publishing transmit ping time
2025-08-21T19:51:48.777Z,1755805908.777 [DAT](INFO): DAT read: Rx Time:19:51:47.4203

2025-08-21T19:51:48.777Z,1755805908.777 [DAT](INFO): Rx dataTimestamp_ set to:1755805908.776870
2025-08-21T19:51:49.284Z,1755805909.284 [DAT](INFO): DAT read: 19:51:47.4203 LVL= 20256, 14625, 23474, 26483, AGC= 45, IDX= 438,-0.22,-0.997,-1.183,-2.291,-0.031, PHS=-0.863,-1.106,-2.303, RAW=  39.1,  48.5, CAL=  37.2,  53.3, ROT= 112.8, -53.3

2025-08-21T19:51:49.285Z,1755805909.285 [DAT](INFO): got valid direction response:
 19:51:47.4203 LVL= 20256, 14625, 23474, 26483, AGC= 45, IDX= 438,-0.22,-0.997,-1.183,-2.291,-0.031, PHS=-0.863,-1.106,-2.303, RAW=  39.1,  48.5, CAL=  37.2,  53.3, ROT= 112.8, -53.3

2025-08-21T19:51:49.286Z,1755805909.286 [DAT](INFO): DAT read: OK

2025-08-21T19:51:49.286Z,1755805909.286 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:51:49.286Z,1755805909.286 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T19:51:49.288Z,1755805909.288 [DAT](INFO): direction in FSK: [-0.231589,0.550929,0.801776]
2025-08-21T19:52:39.484Z,1755805959.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:52:39.700Z,1755805959.700 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:52:39.700Z,1755805959.700 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:52:39.953Z,1755805959.953 [DAT](INFO): DAT read: user:4100>

2025-08-21T19:52:39.953Z,1755805959.953 [DAT](INFO): DAT read: Tx time:19:52:39.1510

2025-08-21T19:52:39.954Z,1755805959.954 [DAT](INFO): Ping request sent.
2025-08-21T19:52:39.954Z,1755805959.954 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:52:39.954Z,1755805959.954 [DAT](INFO): publishing transmit ping time
2025-08-21T19:52:39.955Z,1755805959.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-21T19:52:40.204Z,1755805960.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250360
2025-08-21T19:52:40.456Z,1755805960.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502365
2025-08-21T19:52:40.709Z,1755805960.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738
2025-08-21T19:52:40.964Z,1755805960.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010381
2025-08-21T19:52:41.213Z,1755805961.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259415
2025-08-21T19:52:41.465Z,1755805961.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510655
2025-08-21T19:52:41.716Z,1755805961.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762398
2025-08-21T19:52:41.968Z,1755805961.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014462
2025-08-21T19:52:42.220Z,1755805962.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266360
2025-08-21T19:52:42.477Z,1755805962.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522921
2025-08-21T19:52:42.724Z,1755805962.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770425
2025-08-21T19:52:42.977Z,1755805962.977 [DAT](INFO): DAT read: Rx Time:19:52:41.5577

2025-08-21T19:52:42.978Z,1755805962.978 [DAT](INFO): Rx dataTimestamp_ set to:1755805962.977289
2025-08-21T19:52:42.978Z,1755805962.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024287
2025-08-21T19:52:43.124Z,1755805963.124 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    +9,    -2,    +E,    +9,    -2, 
2025-08-21T19:52:43.228Z,1755805963.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274432
2025-08-21T19:52:43.485Z,1755805963.485 [DAT](INFO): DAT read: 19:52:41.5577 LVL= 25280, 16865, 21010, 27203, AGC= 46, IDX= 295,-0.07,-0.290,-0.415,-1.603, 0.735, PHS=-0.923,-1.106,-2.383, RAW=  36.6,  48.5, CAL=  34.8,  53.3, ROT= 115.2, -53.3

2025-08-21T19:52:43.487Z,1755805963.487 [DAT](INFO): got valid direction response:
 19:52:41.5577 LVL= 25280, 16865, 21010, 27203, AGC= 46, IDX= 295,-0.07,-0.290,-0.415,-1.603, 0.735, PHS=-0.923,-1.106,-2.383, RAW=  36.6,  48.5, CAL=  34.8,  53.3, ROT= 115.2, -53.3

2025-08-21T19:52:43.488Z,1755805963.488 [DAT](INFO): DAT read: Bearing  19.9,  39.2 (Local)

2025-08-21T19:52:43.488Z,1755805963.488 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.9,  39.2 (Local)

2025-08-21T19:52:43.489Z,1755805963.489 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:52:43.490Z,1755805963.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:52:43.491Z,1755805963.491 [DAT](INFO): direction in FSK: [-0.254456,0.540747,0.801776]
2025-08-21T19:52:43.503Z,1755805963.503 [DAT](INFO): publishing direction and range info
2025-08-21T19:52:48.058Z,1755805968.058 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  80.80,  86.91,  89.29
2025-08-21T19:53:10.196Z,1755805990.196 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T19:53:10.197Z,1755805990.197 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T19:53:10.227Z,1755805990.227 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T19:53:10.716Z,1755805990.716 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:53:10.972Z,1755805990.972 [DAT](INFO): DAT read: user:4101>

2025-08-21T19:53:10.973Z,1755805990.973 [DAT](INFO): DAT read: Tx time:19:53:10.1499

2025-08-21T19:53:10.973Z,1755805990.973 [DAT](INFO): Ping request sent.
2025-08-21T19:53:10.973Z,1755805990.973 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:53:10.973Z,1755805990.973 [DAT](INFO): publishing transmit ping time
2025-08-21T19:53:10.974Z,1755805990.974 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:53:11.224Z,1755805991.224 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T19:53:13.241Z,1755805993.241 [DAT](INFO): DAT read: Rx Time:19:53:12.0225

2025-08-21T19:53:13.241Z,1755805993.241 [DAT](INFO): Rx dataTimestamp_ set to:1755805993.240681
2025-08-21T19:53:14.001Z,1755805994.001 [DAT](INFO): DAT read: 19:53:12.0225 LVL= 20288, 12273, 18306, 30675, AGC= 46, IDX=  97,-0.37,-1.188,-1.123,-1.897,-0.080, PHS=-1.006,-0.998,-1.861, RAW=  29.6,  57.8, CAL=  28.3,  61.4, ROT= 121.7, -61.4

2025-08-21T19:53:14.002Z,1755805994.002 [DAT](INFO): got valid direction response:
 19:53:12.0225 LVL= 20288, 12273, 18306, 30675, AGC= 46, IDX=  97,-0.37,-1.188,-1.123,-1.897,-0.080, PHS=-1.006,-0.998,-1.861, RAW=  29.6,  57.8, CAL=  28.3,  61.4, ROT= 121.7, -61.4

2025-08-21T19:53:14.002Z,1755805994.002 [DAT](INFO): DAT read: OK

2025-08-21T19:53:14.003Z,1755805994.003 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:53:14.003Z,1755805994.003 [DAT](INFO): DAT read: user:4102>

2025-08-21T19:53:14.004Z,1755805994.004 [DAT](INFO): DAT read: Tx time:19:53:13.1499

2025-08-21T19:53:14.004Z,1755805994.004 [DAT](INFO): Ping request sent.
2025-08-21T19:53:14.004Z,1755805994.004 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:53:14.005Z,1755805994.005 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T19:53:14.006Z,1755805994.006 [DAT](INFO): direction in FSK: [-0.251539,0.407276,0.877983]
2025-08-21T19:53:14.006Z,1755805994.006 [DAT](INFO): publishing transmit ping time
2025-08-21T19:53:14.009Z,1755805994.009 [DAT](INFO): publishing transmit ping time
2025-08-21T19:53:16.268Z,1755805996.268 [DAT](INFO): DAT read: Rx Time:19:53:15.0226

2025-08-21T19:53:16.269Z,1755805996.269 [DAT](INFO): Rx dataTimestamp_ set to:1755805996.268422
2025-08-21T19:53:16.776Z,1755805996.776 [DAT](INFO): DAT read: 19:53:15.0226 LVL= 20592, 13809, 23026, 26723, AGC= 43, IDX= 449, 0.45, 0.237, 0.308,-0.630, 1.369, PHS=-1.030,-1.016,-2.044, RAW=  29.3,  54.8, CAL=  27.9,  58.7, ROT= 122.1, -58.7

2025-08-21T19:53:16.777Z,1755805996.777 [DAT](INFO): got valid direction response:
 19:53:15.0226 LVL= 20592, 13809, 23026, 26723, AGC= 43, IDX= 449, 0.45, 0.237, 0.308,-0.630, 1.369, PHS=-1.030,-1.016,-2.044, RAW=  29.3,  54.8, CAL=  27.9,  58.7, ROT= 122.1, -58.7

2025-08-21T19:53:16.778Z,1755805996.778 [DAT](INFO): DAT read: OK

2025-08-21T19:53:16.778Z,1755805996.778 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:53:16.778Z,1755805996.778 [DAT](INFO): DAT read: user:4103>

2025-08-21T19:53:16.779Z,1755805996.779 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T19:53:16.785Z,1755805996.785 [DAT](INFO): direction in FSK: [-0.276072,0.440096,0.854459]
2025-08-21T19:53:17.024Z,1755805997.024 [DAT](INFO): DAT read: Tx time:19:53:16.1499

2025-08-21T19:53:17.025Z,1755805997.025 [DAT](INFO): Ping request sent.
2025-08-21T19:53:17.025Z,1755805997.025 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:53:17.025Z,1755805997.025 [DAT](INFO): publishing transmit ping time
2025-08-21T19:53:19.296Z,1755805999.296 [DAT](INFO): DAT read: Rx Time:19:53:18.0227

2025-08-21T19:53:19.297Z,1755805999.297 [DAT](INFO): Rx dataTimestamp_ set to:1755805999.296564
2025-08-21T19:53:19.800Z,1755805999.800 [DAT](INFO): DAT read: 19:53:18.0227 LVL= 23488, 13153, 24482, 32755, AGC= 44, IDX= 450, 0.27, 0.631, 0.770,-0.320, 1.754, PHS=-1.020,-0.939,-2.118, RAW=  26.5,  51.6, CAL=  25.1,  55.9, ROT= 124.9, -55.9

2025-08-21T19:53:19.801Z,1755805999.801 [DAT](INFO): got valid direction response:
 19:53:18.0227 LVL= 23488, 13153, 24482, 32755, AGC= 44, IDX= 450, 0.27, 0.631, 0.770,-0.320, 1.754, PHS=-1.020,-0.939,-2.118, RAW=  26.5,  51.6, CAL=  25.1,  55.9, ROT= 124.9, -55.9

2025-08-21T19:53:19.802Z,1755805999.802 [DAT](INFO): DAT read: OK

2025-08-21T19:53:19.802Z,1755805999.802 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:53:19.802Z,1755805999.802 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T19:53:19.803Z,1755805999.803 [DAT](INFO): direction in FSK: [-0.320767,0.459809,0.828060]
2025-08-21T19:54:10.415Z,1755806050.415 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T19:54:10.415Z,1755806050.415 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-08-21T19:54:10.415Z,1755806050.415 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T19:54:10.426Z,1755806050.426 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T19:54:10.722Z,1755806050.722 [DAT](INFO): DAT read: user:4104>

2025-08-21T19:54:10.724Z,1755806050.724 [DAT](INFO): DAT read: Tx time:19:54:09.8998

2025-08-21T19:54:10.724Z,1755806050.724 [DAT](INFO): Ping request sent.
2025-08-21T19:54:10.724Z,1755806050.724 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:54:10.725Z,1755806050.725 [DAT](INFO): publishing transmit ping time
2025-08-21T19:54:10.822Z,1755806050.822 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-21T19:54:12.988Z,1755806052.988 [DAT](INFO): DAT read: Rx Time:19:54:11.7743

2025-08-21T19:54:12.989Z,1755806052.989 [DAT](INFO): Rx dataTimestamp_ set to:1755806052.988456
2025-08-21T19:54:13.750Z,1755806053.750 [DAT](INFO): DAT read: 19:54:11.7743 LVL= 21488, 15681, 23698, 23539, AGC= 43, IDX= 451, 0.14,-0.177,-0.208,-1.455, 0.825, PHS=-0.900,-0.988,-2.324, RAW=  33.2,  47.1, CAL=  31.4,  51.9, ROT= 118.6, -51.9

2025-08-21T19:54:13.752Z,1755806053.752 [DAT](INFO): got valid direction response:
 19:54:11.7743 LVL= 21488, 15681, 23698, 23539, AGC= 43, IDX= 451, 0.14,-0.177,-0.208,-1.455, 0.825, PHS=-0.900,-0.988,-2.324, RAW=  33.2,  47.1, CAL=  31.4,  51.9, ROT= 118.6, -51.9

2025-08-21T19:54:13.752Z,1755806053.752 [DAT](INFO): DAT read: OK

2025-08-21T19:54:13.752Z,1755806053.752 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:54:13.753Z,1755806053.753 [DAT](INFO): DAT read: user:4105>

2025-08-21T19:54:13.754Z,1755806053.754 [DAT](INFO): DAT read: Tx time:19:54:12.8998

2025-08-21T19:54:13.754Z,1755806053.754 [DAT](INFO): Ping request sent.
2025-08-21T19:54:13.754Z,1755806053.754 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:54:13.754Z,1755806053.754 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T19:54:13.757Z,1755806053.757 [DAT](INFO): direction in FSK: [-0.295370,0.541747,0.786935]
2025-08-21T19:54:13.758Z,1755806053.758 [DAT](INFO): publishing transmit ping time
2025-08-21T19:54:13.761Z,1755806053.761 [DAT](INFO): publishing transmit ping time
2025-08-21T19:54:16.020Z,1755806056.020 [DAT](INFO): DAT read: Rx Time:19:54:14.7744

2025-08-21T19:54:16.021Z,1755806056.021 [DAT](INFO): Rx dataTimestamp_ set to:1755806056.020356
2025-08-21T19:54:16.528Z,1755806056.528 [DAT](INFO): DAT read: 19:54:14.7744 LVL= 27632, 12529, 24946, 28979, AGC= 44, IDX= 436, 0.01,-0.369,-0.431,-1.558, 0.655, PHS=-0.922,-1.041,-2.257, RAW=  34.6,  49.4, CAL=  32.9,  54.0, ROT= 117.1, -54.0

2025-08-21T19:54:16.529Z,1755806056.529 [DAT](INFO): got valid direction response:
 19:54:14.7744 LVL= 27632, 12529, 24946, 28979, AGC= 44, IDX= 436, 0.01,-0.369,-0.431,-1.558, 0.655, PHS=-0.922,-1.041,-2.257, RAW=  34.6,  49.4, CAL=  32.9,  54.0, ROT= 117.1, -54.0

2025-08-21T19:54:16.530Z,1755806056.530 [DAT](INFO): DAT read: OK

2025-08-21T19:54:16.530Z,1755806056.530 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:54:16.530Z,1755806056.530 [DAT](INFO): DAT read: user:4106>

2025-08-21T19:54:16.531Z,1755806056.531 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T19:54:16.532Z,1755806056.532 [DAT](INFO): direction in FSK: [-0.267763,0.523254,0.809017]
2025-08-21T19:54:16.776Z,1755806056.776 [DAT](INFO): DAT read: Tx time:19:54:15.8998

2025-08-21T19:54:16.777Z,1755806056.777 [DAT](INFO): Ping request sent.
2025-08-21T19:54:16.777Z,1755806056.777 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:54:16.777Z,1755806056.777 [DAT](INFO): publishing transmit ping time
2025-08-21T19:54:19.048Z,1755806059.048 [DAT](INFO): DAT read: Rx Time:19:54:17.7745

2025-08-21T19:54:19.049Z,1755806059.049 [DAT](INFO): Rx dataTimestamp_ set to:1755806059.048656
2025-08-21T19:54:19.556Z,1755806059.556 [DAT](INFO): DAT read: 19:54:17.7745 LVL= 21168, 11729, 20914, 27411, AGC= 45, IDX= 437,-0.15,-0.488,-0.683,-1.695, 0.535, PHS=-0.921,-1.173,-2.273, RAW=  40.1,  51.1, CAL=  38.3,  55.7, ROT= 111.7, -55.7

2025-08-21T19:54:19.557Z,1755806059.557 [DAT](INFO): got valid direction response:
 19:54:17.7745 LVL= 21168, 11729, 20914, 27411, AGC= 45, IDX= 437,-0.15,-0.488,-0.683,-1.695, 0.535, PHS=-0.921,-1.173,-2.273, RAW=  40.1,  51.1, CAL=  38.3,  55.7, ROT= 111.7, -55.7

2025-08-21T19:54:19.557Z,1755806059.557 [DAT](INFO): DAT read: OK

2025-08-21T19:54:19.558Z,1755806059.558 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T19:54:19.558Z,1755806059.558 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T19:54:19.559Z,1755806059.559 [DAT](INFO): direction in FSK: [-0.208362,0.523590,0.826098]
2025-08-21T19:54:39.494Z,1755806079.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T19:54:39.724Z,1755806079.724 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:54:39.724Z,1755806079.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:54:39.976Z,1755806079.976 [DAT](INFO): DAT read: user:4107>

2025-08-21T19:54:39.977Z,1755806079.977 [DAT](INFO): DAT read: Tx time:19:54:39.1506

2025-08-21T19:54:39.977Z,1755806079.977 [DAT](INFO): Ping request sent.
2025-08-21T19:54:39.977Z,1755806079.977 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:54:39.977Z,1755806079.977 [DAT](INFO): publishing transmit ping time
2025-08-21T19:54:39.978Z,1755806079.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T19:54:40.228Z,1755806080.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251149
2025-08-21T19:54:40.480Z,1755806080.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502932
2025-08-21T19:54:40.732Z,1755806080.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972
2025-08-21T19:54:40.984Z,1755806080.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007105
2025-08-21T19:54:41.094Z,1755806081.094 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-21T19:54:41.094Z,1755806081.094 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-21T19:54:41.094Z,1755806081.094 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-21T19:54:41.095Z,1755806081.095 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-21T19:54:41.095Z,1755806081.095 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-21T19:54:41.104Z,1755806081.104 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T19:54:41.236Z,1755806081.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258957
2025-08-21T19:54:41.488Z,1755806081.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510825
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-21T19:54:41.516Z,1755806081.516 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-21T19:54:41.741Z,1755806081.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763767
2025-08-21T19:54:41.927Z,1755806081.927 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-21T19:54:41.927Z,1755806081.927 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-21T19:54:41.927Z,1755806081.927 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-21T19:54:41.927Z,1755806081.927 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-21T19:54:41.928Z,1755806081.928 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-21T19:54:41.992Z,1755806081.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015090
2025-08-21T19:54:42.244Z,1755806082.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266798
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T19:54:42.314Z,1755806082.314 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-21T19:54:42.315Z,1755806082.315 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-21T19:54:42.315Z,1755806082.315 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-21T19:54:42.315Z,1755806082.315 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T19:54:42.315Z,1755806082.315 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-21T19:54:42.315Z,1755806082.315 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-21T19:54:42.335Z,1755806082.335 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-21T19:54:42.335Z,1755806082.335 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-21T19:54:42.335Z,1755806082.335 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-21T19:54:42.336Z,1755806082.336 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-21T19:54:42.336Z,1755806082.336 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-21T19:54:42.497Z,1755806082.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519236
2025-08-21T19:54:42.748Z,1755806082.748 [DAT](INFO): DAT read: Rx Time:19:54:41.5574

2025-08-21T19:54:42.749Z,1755806082.749 [DAT](INFO): Rx dataTimestamp_ set to:1755806082.748560
2025-08-21T19:54:42.749Z,1755806082.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772063
2025-08-21T19:54:42.775Z,1755806082.775 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-21T19:54:42.775Z,1755806082.775 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-21T19:54:42.775Z,1755806082.775 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-21T19:54:42.775Z,1755806082.775 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-21T19:54:42.775Z,1755806082.775 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T19:54:42.775Z,1755806082.776 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap] Stopped
2025-08-21T19:54:42.776Z,1755806082.776 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-21T19:54:42.781Z,1755806082.781 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-21T19:54:42.781Z,1755806082.781 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-21T19:54:42.781Z,1755806082.781 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-21T19:54:42.781Z,1755806082.781 [lineCaptureHoming] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:B] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:C] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:E] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-21T19:54:42.782Z,1755806082.782 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-21T19:54:42.783Z,1755806082.783 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-21T19:54:42.784Z,1755806082.784 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T19:54:42.784Z,1755806082.784 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T19:54:42.784Z,1755806082.784 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T19:54:42.784Z,1755806082.784 [lineCaptureHoming:TrackAC.] Stopped
2025-08-21T19:54:42.784Z,1755806082.784 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-21T19:54:42.976Z,1755806082.976 [WetLabsBB2FL](INFO): Powering down
2025-08-21T19:54:43.000Z,1755806083.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022873
2025-08-21T19:54:43.256Z,1755806083.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278458
2025-08-21T19:54:43.352Z,1755806083.352 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-21T19:54:43.352Z,1755806083.352 [DefaultWithUndock] Running Loop=1
2025-08-21T19:54:43.352Z,1755806083.352 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-21T19:54:43.353Z,1755806083.353 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-21T19:54:43.353Z,1755806083.353 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-21T19:54:43.509Z,1755806083.509 [DAT](INFO): DAT read: 19:54:41.5574 LVL= 25136, 15489, 22482, 27891, AGC= 46, IDX= 247, 0.07, 0.907, 0.814,-0.452, 1.919, PHS=-0.910,-1.060,-2.415, RAW=  35.2,  47.2, CAL=  33.4,  52.0, ROT= 116.6, -52.0

2025-08-21T19:54:43.511Z,1755806083.511 [DAT](INFO): got valid direction response:
 19:54:41.5574 LVL= 25136, 15489, 22482, 27891, AGC= 46, IDX= 247, 0.07, 0.907, 0.814,-0.452, 1.919, PHS=-0.910,-1.060,-2.415, RAW=  35.2,  47.2, CAL=  33.4,  52.0, ROT= 116.6, -52.0

2025-08-21T19:54:43.512Z,1755806083.512 [DAT](INFO): DAT read: Bearing  22.8,  40.0 (Local)

2025-08-21T19:54:43.512Z,1755806083.512 [DAT](INFO): Local bearing/azimuth received:
 Bearing  22.8,  40.0 (Local)

2025-08-21T19:54:43.513Z,1755806083.513 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T19:54:43.514Z,1755806083.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:54:43.515Z,1755806083.515 [DAT](INFO): direction in FSK: [-0.275668,0.550496,0.788011]
2025-08-21T19:54:43.515Z,1755806083.515 [DAT](INFO): publishing direction and range info
2025-08-21T19:55:13.656Z,1755806113.656 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-08-21T19:55:13.656Z,1755806113.656 [DefaultWithUndock:A.Wait] Stopped
2025-08-21T19:55:13.656Z,1755806113.656 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T19:55:13.656Z,1755806113.656 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-21T19:55:13.657Z,1755806113.657 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:55:14.071Z,1755806114.071 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-21T19:55:14.072Z,1755806114.072 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T19:55:14.072Z,1755806114.072 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 66.348953 m.
2025-08-21T19:55:14.074Z,1755806114.074 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-21T19:55:14.908Z,1755806114.908 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T19:55:15.029Z,1755806115.029 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T19:55:17.460Z,1755806117.460 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-21T19:55:18.565Z,1755806118.565 [DockingStepper](INFO): Changing to mode: 3
2025-08-21T19:55:18.899Z,1755806118.899 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T19:55:23.748Z,1755806123.748 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:55:23.885Z,1755806123.885 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:55:23.885Z,1755806123.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:55:24.136Z,1755806124.136 [DAT](INFO): DAT read: user:4108>

2025-08-21T19:55:24.137Z,1755806124.137 [DAT](INFO): DAT read: Tx time:19:55:23.3005

2025-08-21T19:55:24.138Z,1755806124.138 [DAT](INFO): Ping request sent.
2025-08-21T19:55:24.138Z,1755806124.138 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:55:24.138Z,1755806124.138 [DAT](INFO): publishing transmit ping time
2025-08-21T19:55:24.138Z,1755806124.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:55:24.388Z,1755806124.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250603
2025-08-21T19:55:24.641Z,1755806124.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503204
2025-08-21T19:55:24.892Z,1755806124.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754722
2025-08-21T19:55:25.145Z,1755806125.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007243
2025-08-21T19:55:25.396Z,1755806125.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258574
2025-08-21T19:55:25.648Z,1755806125.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510476
2025-08-21T19:55:25.900Z,1755806125.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762601
2025-08-21T19:55:26.152Z,1755806126.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014780
2025-08-21T19:55:26.404Z,1755806126.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266791
2025-08-21T19:55:26.656Z,1755806126.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518611
2025-08-21T19:55:26.908Z,1755806126.908 [DAT](INFO): DAT read: Rx Time:19:55:25.7072

2025-08-21T19:55:26.909Z,1755806126.909 [DAT](INFO): Rx dataTimestamp_ set to:1755806126.908626
2025-08-21T19:55:26.909Z,1755806126.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771779
2025-08-21T19:55:27.161Z,1755806127.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023205
2025-08-21T19:55:27.415Z,1755806127.415 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:55:27.424Z,1755806127.424 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:55:29.007Z,1755806129.007 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T19:55:33.851Z,1755806133.851 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:55:33.972Z,1755806133.972 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:55:33.972Z,1755806133.972 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:55:33.972Z,1755806133.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:55:34.224Z,1755806134.224 [DAT](INFO): DAT read: user:4109>

2025-08-21T19:55:34.225Z,1755806134.225 [DAT](INFO): DAT read: Tx time:19:55:33.4005

2025-08-21T19:55:34.225Z,1755806134.225 [DAT](INFO): Ping request sent.
2025-08-21T19:55:34.225Z,1755806134.225 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:55:34.225Z,1755806134.225 [DAT](INFO): publishing transmit ping time
2025-08-21T19:55:34.226Z,1755806134.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T19:55:34.479Z,1755806134.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253051
2025-08-21T19:55:34.730Z,1755806134.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504830
2025-08-21T19:55:34.980Z,1755806134.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754962
2025-08-21T19:55:35.232Z,1755806135.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840
2025-08-21T19:55:35.487Z,1755806135.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261170
2025-08-21T19:55:35.736Z,1755806135.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510922
2025-08-21T19:55:35.988Z,1755806135.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762942
2025-08-21T19:55:36.240Z,1755806136.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014866
2025-08-21T19:55:36.495Z,1755806136.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268872
2025-08-21T19:55:36.744Z,1755806136.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519021
2025-08-21T19:55:36.996Z,1755806136.996 [DAT](INFO): DAT read: Rx Time:19:55:35.8072

2025-08-21T19:55:36.997Z,1755806136.997 [DAT](INFO): Rx dataTimestamp_ set to:1755806136.996685
2025-08-21T19:55:36.998Z,1755806136.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772219
2025-08-21T19:55:37.248Z,1755806137.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022957
2025-08-21T19:55:37.505Z,1755806137.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278584
2025-08-21T19:55:37.757Z,1755806137.757 [DAT](INFO): DAT read: 19:55:35.8072 LVL= 18464, 19409, 22338, 23747, AGC= 43, IDX= 438, 0.39, 1.751, 1.973, 0.472, 2.917, PHS=-1.064,-0.900,-2.489, RAW=  24.6,  46.1, CAL=  23.1,  51.0, ROT= 126.9, -51.0

2025-08-21T19:55:37.759Z,1755806137.759 [DAT](INFO): got valid direction response:
 19:55:35.8072 LVL= 18464, 19409, 22338, 23747, AGC= 43, IDX= 438, 0.39, 1.751, 1.973, 0.472, 2.917, PHS=-1.064,-0.900,-2.489, RAW=  24.6,  46.1, CAL=  23.1,  51.0, ROT= 126.9, -51.0

2025-08-21T19:55:37.760Z,1755806137.760 [DAT](INFO): DAT read: Bearing  27.8,  39.1 (Local)

2025-08-21T19:55:37.761Z,1755806137.761 [DAT](INFO): Local bearing/azimuth received:
 Bearing  27.8,  39.1 (Local)

2025-08-21T19:55:37.762Z,1755806137.762 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:55:37.763Z,1755806137.763 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:55:37.764Z,1755806137.764 [DAT](INFO): direction in FSK: [-0.377857,0.503258,0.777146]
2025-08-21T19:55:37.764Z,1755806137.764 [DAT](INFO): publishing direction and range info
2025-08-21T19:55:41.934Z,1755806141.934 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,     -114.21,     +1800   +13.26,   8.45,  0.00
2025-08-21T19:55:43.974Z,1755806143.974 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:55:44.057Z,1755806144.057 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:55:44.057Z,1755806144.057 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:55:44.058Z,1755806144.058 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:55:44.308Z,1755806144.308 [DAT](INFO): DAT read: user:4110>

2025-08-21T19:55:44.309Z,1755806144.309 [DAT](INFO): DAT read: Tx time:19:55:43.5005

2025-08-21T19:55:44.309Z,1755806144.309 [DAT](INFO): Ping request sent.
2025-08-21T19:55:44.309Z,1755806144.309 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:55:44.309Z,1755806144.309 [DAT](INFO): publishing transmit ping time
2025-08-21T19:55:44.310Z,1755806144.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T19:55:44.561Z,1755806144.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251238
2025-08-21T19:55:44.813Z,1755806144.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503581
2025-08-21T19:55:45.064Z,1755806145.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755050
2025-08-21T19:55:45.316Z,1755806145.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006917
2025-08-21T19:55:45.569Z,1755806145.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259796
2025-08-21T19:55:45.820Z,1755806145.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510930
2025-08-21T19:55:46.073Z,1755806146.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763777
2025-08-21T19:55:46.324Z,1755806146.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958
2025-08-21T19:55:46.576Z,1755806146.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266839
2025-08-21T19:55:46.829Z,1755806146.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519638
2025-08-21T19:55:47.080Z,1755806147.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771000
2025-08-21T19:55:47.332Z,1755806147.332 [DAT](INFO): DAT read: Rx Time:19:55:45.9072

2025-08-21T19:55:47.333Z,1755806147.333 [DAT](INFO): Rx dataTimestamp_ set to:1755806147.332369
2025-08-21T19:55:47.333Z,1755806147.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023909
2025-08-21T19:55:47.584Z,1755806147.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275018
2025-08-21T19:55:47.842Z,1755806147.842 [DAT](INFO): DAT read: 19:55:45.9072 LVL= 20464, 19953, 23634, 31315, AGC= 45, IDX= 438, 0.28,-1.828,-1.886,-3.103,-0.794, PHS=-0.932,-1.047,-2.353, RAW=  34.2,  48.2, CAL=  32.4,  52.9, ROT= 117.6, -52.9

2025-08-21T19:55:47.843Z,1755806147.843 [DAT](INFO): got valid direction response:
 19:55:45.9072 LVL= 20464, 19953, 23634, 31315, AGC= 45, IDX= 438, 0.28,-1.828,-1.886,-3.103,-0.794, PHS=-0.932,-1.047,-2.353, RAW=  34.2,  48.2, CAL=  32.4,  52.9, ROT= 117.6, -52.9

2025-08-21T19:55:47.844Z,1755806147.844 [DAT](INFO): DAT read: Bearing  16.8,  38.6 (Local)

2025-08-21T19:55:47.844Z,1755806147.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.8,  38.6 (Local)

2025-08-21T19:55:47.845Z,1755806147.845 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:55:47.846Z,1755806147.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:55:47.847Z,1755806147.847 [DAT](INFO): direction in FSK: [-0.279464,0.534565,0.797584]
2025-08-21T19:55:47.847Z,1755806147.847 [DAT](INFO): publishing direction and range info
2025-08-21T19:55:54.085Z,1755806154.085 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:55:54.144Z,1755806154.144 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:55:54.145Z,1755806154.145 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:55:54.145Z,1755806154.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:55:54.396Z,1755806154.396 [DAT](INFO): DAT read: user:4111>

2025-08-21T19:55:54.397Z,1755806154.397 [DAT](INFO): DAT read: Tx time:19:55:53.5505

2025-08-21T19:55:54.397Z,1755806154.397 [DAT](INFO): Ping request sent.
2025-08-21T19:55:54.397Z,1755806154.397 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:55:54.398Z,1755806154.398 [DAT](INFO): publishing transmit ping time
2025-08-21T19:55:54.398Z,1755806154.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:55:54.648Z,1755806154.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250633
2025-08-21T19:55:54.901Z,1755806154.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502927
2025-08-21T19:55:55.153Z,1755806155.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755233
2025-08-21T19:55:55.404Z,1755806155.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006731
2025-08-21T19:55:55.656Z,1755806155.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258788
2025-08-21T19:55:55.908Z,1755806155.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510689
2025-08-21T19:55:56.161Z,1755806156.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763414
2025-08-21T19:55:56.412Z,1755806156.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609
2025-08-21T19:55:56.665Z,1755806156.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266989
2025-08-21T19:55:56.916Z,1755806156.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518739
2025-08-21T19:55:57.169Z,1755806157.169 [DAT](INFO): DAT read: Rx Time:19:55:55.9571

2025-08-21T19:55:57.170Z,1755806157.170 [DAT](INFO): Rx dataTimestamp_ set to:1755806157.169015
2025-08-21T19:55:57.170Z,1755806157.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772624
2025-08-21T19:55:57.420Z,1755806157.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022726
2025-08-21T19:55:57.676Z,1755806157.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277502
2025-08-21T19:55:57.929Z,1755806157.929 [DAT](INFO): DAT read: 19:55:55.9571 LVL= 21536, 16209, 24866, 26419, AGC= 44, IDX= 438, 0.32, 0.130,-0.006,-1.209, 1.062, PHS=-0.830,-1.023,-2.314, RAW=  36.9,  46.5, CAL=  35.0,  51.5, ROT= 115.0, -51.5

2025-08-21T19:55:57.930Z,1755806157.930 [DAT](INFO): got valid direction response:
 19:55:55.9571 LVL= 21536, 16209, 24866, 26419, AGC= 44, IDX= 438, 0.32, 0.130,-0.006,-1.209, 1.062, PHS=-0.830,-1.023,-2.314, RAW=  36.9,  46.5, CAL=  35.0,  51.5, ROT= 115.0, -51.5

2025-08-21T19:55:57.932Z,1755806157.932 [DAT](INFO): DAT read: Bearing  23.0,  42.6 (Local)

2025-08-21T19:55:57.932Z,1755806157.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.0,  42.6 (Local)

2025-08-21T19:55:57.933Z,1755806157.933 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:55:57.934Z,1755806157.934 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:55:57.935Z,1755806157.935 [DAT](INFO): direction in FSK: [-0.263086,0.564190,0.782608]
2025-08-21T19:55:57.938Z,1755806157.938 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:04.188Z,1755806164.188 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:04.230Z,1755806164.230 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:56:04.230Z,1755806164.230 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:56:04.231Z,1755806164.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:04.480Z,1755806164.480 [DAT](INFO): DAT read: user:4112>

2025-08-21T19:56:04.481Z,1755806164.481 [DAT](INFO): DAT read: Tx time:19:56:03.6504

2025-08-21T19:56:04.481Z,1755806164.481 [DAT](INFO): Ping request sent.
2025-08-21T19:56:04.481Z,1755806164.481 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:04.482Z,1755806164.482 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:04.482Z,1755806164.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:56:04.732Z,1755806164.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250844
2025-08-21T19:56:04.984Z,1755806164.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503102
2025-08-21T19:56:05.237Z,1755806165.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755271
2025-08-21T19:56:05.488Z,1755806165.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006819
2025-08-21T19:56:05.744Z,1755806165.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262845
2025-08-21T19:56:05.996Z,1755806165.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514879
2025-08-21T19:56:06.248Z,1755806166.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766792
2025-08-21T19:56:06.500Z,1755806166.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018844
2025-08-21T19:56:06.752Z,1755806166.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270926
2025-08-21T19:56:07.004Z,1755806167.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522954
2025-08-21T19:56:07.256Z,1755806167.256 [DAT](INFO): DAT read: Rx Time:19:56:06.0571

2025-08-21T19:56:07.257Z,1755806167.257 [DAT](INFO): Rx dataTimestamp_ set to:1755806167.256450
2025-08-21T19:56:07.257Z,1755806167.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775919
2025-08-21T19:56:07.508Z,1755806167.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026897
2025-08-21T19:56:07.766Z,1755806167.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284514
2025-08-21T19:56:08.022Z,1755806168.022 [DAT](INFO): DAT read: 19:56:06.0571 LVL= 19824, 11441, 22402, 26387, AGC= 44, IDX= 438, 0.50, 2.326, 2.046, 1.063,-3.107, PHS=-0.748,-1.086,-2.157, RAW=  43.3,  47.9, CAL=  41.2,  52.9, ROT= 108.8, -52.9

2025-08-21T19:56:08.023Z,1755806168.023 [DAT](INFO): got valid direction response:
 19:56:06.0571 LVL= 19824, 11441, 22402, 26387, AGC= 44, IDX= 438, 0.50, 2.326, 2.046, 1.063,-3.107, PHS=-0.748,-1.086,-2.157, RAW=  43.3,  47.9, CAL=  41.2,  52.9, ROT= 108.8, -52.9

2025-08-21T19:56:08.024Z,1755806168.024 [DAT](INFO): DAT read: Bearing  16.7,  41.9 (Local)

2025-08-21T19:56:08.025Z,1755806168.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.7,  41.9 (Local)

2025-08-21T19:56:08.026Z,1755806168.026 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:08.027Z,1755806168.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:08.028Z,1755806168.028 [DAT](INFO): direction in FSK: [-0.194393,0.571026,0.797584]
2025-08-21T19:56:08.028Z,1755806168.028 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:14.278Z,1755806174.278 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:14.321Z,1755806174.321 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:56:14.321Z,1755806174.321 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:56:14.321Z,1755806174.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:14.572Z,1755806174.572 [DAT](INFO): DAT read: user:4113>

2025-08-21T19:56:14.573Z,1755806174.573 [DAT](INFO): DAT read: Tx time:19:56:13.7504

2025-08-21T19:56:14.573Z,1755806174.573 [DAT](INFO): Ping request sent.
2025-08-21T19:56:14.573Z,1755806174.573 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:14.573Z,1755806174.573 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:14.574Z,1755806174.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T19:56:14.825Z,1755806174.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251154
2025-08-21T19:56:15.079Z,1755806175.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504997
2025-08-21T19:56:15.328Z,1755806175.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754832
2025-08-21T19:56:15.580Z,1755806175.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007055
2025-08-21T19:56:15.833Z,1755806175.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259780
2025-08-21T19:56:16.087Z,1755806176.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512996
2025-08-21T19:56:16.337Z,1755806176.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763805
2025-08-21T19:56:16.588Z,1755806176.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919
2025-08-21T19:56:16.840Z,1755806176.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841
2025-08-21T19:56:17.096Z,1755806177.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522035
2025-08-21T19:56:17.344Z,1755806177.344 [DAT](INFO): DAT read: Rx Time:19:56:16.1571

2025-08-21T19:56:17.345Z,1755806177.345 [DAT](INFO): Rx dataTimestamp_ set to:1755806177.344491
2025-08-21T19:56:17.345Z,1755806177.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771975
2025-08-21T19:56:17.596Z,1755806177.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022908
2025-08-21T19:56:17.852Z,1755806177.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277910
2025-08-21T19:56:18.154Z,1755806178.154 [DAT](INFO): DAT read: 19:56:16.1571 LVL= 22560, 12161, 24866, 24979, AGC= 42, IDX= 439,-0.31,-2.488,-2.690, 2.509,-1.749, PHS=-0.637,-0.896,-2.070, RAW=  39.8,  43.9, CAL=  37.6,  49.3, ROT= 112.4, -49.3

2025-08-21T19:56:18.171Z,1755806178.171 [DAT](INFO): got valid direction response:
 19:56:16.1571 LVL= 22560, 12161, 24866, 24979, AGC= 42, IDX= 439,-0.31,-2.488,-2.690, 2.509,-1.749, PHS=-0.637,-0.896,-2.070, RAW=  39.8,  43.9, CAL=  37.6,  49.3, ROT= 112.4, -49.3

2025-08-21T19:56:18.172Z,1755806178.172 [DAT](INFO): DAT read: Bearing  26.6,  43.6 (Local)

2025-08-21T19:56:18.173Z,1755806178.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.6,  43.6 (Local)

2025-08-21T19:56:18.174Z,1755806178.174 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:18.176Z,1755806178.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:18.178Z,1755806178.178 [DAT](INFO): direction in FSK: [-0.248495,0.602895,0.758134]
2025-08-21T19:56:18.178Z,1755806178.178 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:24.373Z,1755806184.373 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:24.404Z,1755806184.404 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:56:24.405Z,1755806184.405 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:56:24.405Z,1755806184.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:24.656Z,1755806184.656 [DAT](INFO): DAT read: user:4114>

2025-08-21T19:56:24.657Z,1755806184.657 [DAT](INFO): DAT read: Tx time:19:56:23.8504

2025-08-21T19:56:24.657Z,1755806184.657 [DAT](INFO): Ping request sent.
2025-08-21T19:56:24.657Z,1755806184.657 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:24.657Z,1755806184.657 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:24.658Z,1755806184.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-21T19:56:24.908Z,1755806184.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923
2025-08-21T19:56:25.161Z,1755806185.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503526
2025-08-21T19:56:25.412Z,1755806185.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755073
2025-08-21T19:56:25.664Z,1755806185.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006865
2025-08-21T19:56:25.916Z,1755806185.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258833
2025-08-21T19:56:26.169Z,1755806186.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511454
2025-08-21T19:56:26.420Z,1755806186.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762975
2025-08-21T19:56:26.672Z,1755806186.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014845
2025-08-21T19:56:26.924Z,1755806186.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266858
2025-08-21T19:56:27.177Z,1755806187.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519370
2025-08-21T19:56:27.428Z,1755806187.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770793
2025-08-21T19:56:27.680Z,1755806187.680 [DAT](INFO): DAT read: Rx Time:19:56:26.2571

2025-08-21T19:56:27.681Z,1755806187.681 [DAT](INFO): Rx dataTimestamp_ set to:1755806187.680451
2025-08-21T19:56:27.681Z,1755806187.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023935
2025-08-21T19:56:27.932Z,1755806187.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275081
2025-08-21T19:56:28.190Z,1755806188.190 [DAT](INFO): DAT read: 19:56:26.2571 LVL= 22976, 13441, 21794, 21571, AGC= 41, IDX= 439,-0.15, 0.346, 0.739,-0.940, 1.051, PHS=-0.603,-0.267,-2.035, RAW=  19.7,  32.3, CAL=  17.9,  38.2, ROT= 132.1, -38.2

2025-08-21T19:56:28.191Z,1755806188.191 [DAT](INFO): got valid direction response:
 19:56:26.2571 LVL= 22976, 13441, 21794, 21571, AGC= 41, IDX= 439,-0.15, 0.346, 0.739,-0.940, 1.051, PHS=-0.603,-0.267,-2.035, RAW=  19.7,  32.3, CAL=  17.9,  38.2, ROT= 132.1, -38.2

2025-08-21T19:56:28.192Z,1755806188.192 [DAT](INFO): DAT read: Bearing  51.8,  39.1 (Local)

2025-08-21T19:56:28.192Z,1755806188.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.8,  39.1 (Local)

2025-08-21T19:56:28.194Z,1755806188.194 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:28.194Z,1755806188.194 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:28.195Z,1755806188.195 [DAT](INFO): direction in FSK: [-0.526859,0.583087,0.618408]
2025-08-21T19:56:28.196Z,1755806188.196 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:34.474Z,1755806194.474 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:34.488Z,1755806194.488 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:56:34.488Z,1755806194.488 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:56:34.488Z,1755806194.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:34.740Z,1755806194.740 [DAT](INFO): DAT read: user:4115>

2025-08-21T19:56:34.741Z,1755806194.741 [DAT](INFO): DAT read: Tx time:19:56:33.9003

2025-08-21T19:56:34.741Z,1755806194.741 [DAT](INFO): Ping request sent.
2025-08-21T19:56:34.741Z,1755806194.741 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:34.741Z,1755806194.741 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:34.742Z,1755806194.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-21T19:56:34.992Z,1755806194.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250881
2025-08-21T19:56:35.244Z,1755806195.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503139
2025-08-21T19:56:35.496Z,1755806195.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934
2025-08-21T19:56:35.748Z,1755806195.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006898
2025-08-21T19:56:36.000Z,1755806196.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258939
2025-08-21T19:56:36.253Z,1755806196.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511884
2025-08-21T19:56:36.504Z,1755806196.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762948
2025-08-21T19:56:36.756Z,1755806196.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924
2025-08-21T19:56:37.008Z,1755806197.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266952
2025-08-21T19:56:37.260Z,1755806197.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518941
2025-08-21T19:56:37.512Z,1755806197.512 [DAT](INFO): DAT read: Rx Time:19:56:36.3070

2025-08-21T19:56:37.513Z,1755806197.513 [DAT](INFO): Rx dataTimestamp_ set to:1755806197.512671
2025-08-21T19:56:37.513Z,1755806197.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772187
2025-08-21T19:56:37.769Z,1755806197.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027238
2025-08-21T19:56:38.024Z,1755806198.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281425
2025-08-21T19:56:38.277Z,1755806198.277 [DAT](INFO): DAT read: 19:56:36.3070 LVL= 21728, 12705, 22642, 22083, AGC= 39, IDX= 439,-0.13,-2.891,-2.720, 2.114,-2.179, PHS=-0.609,-0.496,-2.034, RAW=  26.2,  36.8, CAL=  24.3,  42.7, ROT= 125.7, -42.7

2025-08-21T19:56:38.279Z,1755806198.279 [DAT](INFO): got valid direction response:
 19:56:36.3070 LVL= 21728, 12705, 22642, 22083, AGC= 39, IDX= 439,-0.13,-2.891,-2.720, 2.114,-2.179, PHS=-0.609,-0.496,-2.034, RAW=  26.2,  36.8, CAL=  24.3,  42.7, ROT= 125.7, -42.7

2025-08-21T19:56:38.280Z,1755806198.280 [DAT](INFO): DAT read: Bearing  41.0,  41.0 (Local)

2025-08-21T19:56:38.280Z,1755806198.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.0,  41.0 (Local)

2025-08-21T19:56:38.281Z,1755806198.281 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:38.282Z,1755806198.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:38.283Z,1755806198.283 [DAT](INFO): direction in FSK: [-0.428853,0.596812,0.678160]
2025-08-21T19:56:38.283Z,1755806198.283 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:44.578Z,1755806204.578 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:44.580Z,1755806204.580 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:56:44.580Z,1755806204.580 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:56:44.580Z,1755806204.580 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:44.832Z,1755806204.832 [DAT](INFO): DAT read: user:4116>

2025-08-21T19:56:44.833Z,1755806204.833 [DAT](INFO): DAT read: Tx time:19:56:44.0003

2025-08-21T19:56:44.833Z,1755806204.833 [DAT](INFO): Ping request sent.
2025-08-21T19:56:44.833Z,1755806204.833 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:44.833Z,1755806204.833 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:44.834Z,1755806204.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T19:56:45.084Z,1755806205.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250986
2025-08-21T19:56:45.336Z,1755806205.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503168
2025-08-21T19:56:45.588Z,1755806205.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984
2025-08-21T19:56:45.841Z,1755806205.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007826
2025-08-21T19:56:46.092Z,1755806206.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024
2025-08-21T19:56:46.344Z,1755806206.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946
2025-08-21T19:56:46.597Z,1755806206.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763344
2025-08-21T19:56:46.848Z,1755806206.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014964
2025-08-21T19:56:47.100Z,1755806207.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266964
2025-08-21T19:56:47.355Z,1755806207.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521654
2025-08-21T19:56:47.609Z,1755806207.609 [DAT](INFO): DAT read: Rx Time:19:56:46.4070

2025-08-21T19:56:47.610Z,1755806207.610 [DAT](INFO): Rx dataTimestamp_ set to:1755806207.609350
2025-08-21T19:56:47.610Z,1755806207.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776954
2025-08-21T19:56:47.871Z,1755806207.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.037559
2025-08-21T19:56:48.130Z,1755806208.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.296081
2025-08-21T19:56:48.382Z,1755806208.382 [DAT](INFO): DAT read: 19:56:46.4070 LVL= 22992, 13169, 23490, 23187, AGC= 39, IDX= 438,-0.03,-1.576,-1.201,-2.865,-0.864, PHS=-0.610,-0.292,-2.044, RAW=  20.2,  32.8, CAL=  18.4,  38.8, ROT= 131.6, -38.8

2025-08-21T19:56:48.383Z,1755806208.383 [DAT](INFO): got valid direction response:
 19:56:46.4070 LVL= 22992, 13169, 23490, 23187, AGC= 39, IDX= 438,-0.03,-1.576,-1.201,-2.865,-0.864, PHS=-0.610,-0.292,-2.044, RAW=  20.2,  32.8, CAL=  18.4,  38.8, ROT= 131.6, -38.8

2025-08-21T19:56:48.384Z,1755806208.384 [DAT](INFO): DAT read: Bearing  51.6,  40.1 (Local)

2025-08-21T19:56:48.384Z,1755806208.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing  51.6,  40.1 (Local)

2025-08-21T19:56:48.385Z,1755806208.385 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:48.386Z,1755806208.386 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:48.387Z,1755806208.387 [DAT](INFO): direction in FSK: [-0.517423,0.582787,0.626604]
2025-08-21T19:56:48.387Z,1755806208.387 [DAT](INFO): publishing direction and range info
2025-08-21T19:56:54.716Z,1755806214.716 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:56:54.928Z,1755806214.928 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:56:54.928Z,1755806214.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:56:55.180Z,1755806215.180 [DAT](INFO): DAT read: user:4117>

2025-08-21T19:56:55.181Z,1755806215.181 [DAT](INFO): DAT read: Tx time:19:56:54.3503

2025-08-21T19:56:55.181Z,1755806215.181 [DAT](INFO): Ping request sent.
2025-08-21T19:56:55.181Z,1755806215.181 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:56:55.182Z,1755806215.182 [DAT](INFO): publishing transmit ping time
2025-08-21T19:56:55.182Z,1755806215.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T19:56:55.436Z,1755806215.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254745
2025-08-21T19:56:55.688Z,1755806215.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506994
2025-08-21T19:56:55.942Z,1755806215.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760451
2025-08-21T19:56:56.192Z,1755806216.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010937
2025-08-21T19:56:56.444Z,1755806216.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262786
2025-08-21T19:56:56.699Z,1755806216.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516899
2025-08-21T19:56:56.948Z,1755806216.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766672
2025-08-21T19:56:57.201Z,1755806217.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019075
2025-08-21T19:56:57.456Z,1755806217.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274820
2025-08-21T19:56:57.710Z,1755806217.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528483
2025-08-21T19:56:57.961Z,1755806217.961 [DAT](INFO): DAT read: Rx Time:19:56:56.7570

2025-08-21T19:56:57.962Z,1755806217.962 [DAT](INFO): Rx dataTimestamp_ set to:1755806217.961499
2025-08-21T19:56:57.963Z,1755806217.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780966
2025-08-21T19:56:58.212Z,1755806218.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030824
2025-08-21T19:56:58.467Z,1755806218.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284755
2025-08-21T19:56:58.752Z,1755806218.752 [DAT](INFO): DAT read: 19:56:56.7570 LVL= 23792, 11985, 24626, 24899, AGC= 40, IDX= 438,-0.04, 2.582, 1.995, 1.269,-3.005, PHS=-0.595,-1.238,-2.054, RAW=  56.1,  47.3, CAL=  53.1,  52.3, ROT=  96.9, -52.3

2025-08-21T19:56:58.753Z,1755806218.753 [DAT](INFO): got valid direction response:
 19:56:56.7570 LVL= 23792, 11985, 24626, 24899, AGC= 40, IDX= 438,-0.04, 2.582, 1.995, 1.269,-3.005, PHS=-0.595,-1.238,-2.054, RAW=  56.1,  47.3, CAL=  53.1,  52.3, ROT=  96.9, -52.3

2025-08-21T19:56:58.754Z,1755806218.754 [DAT](INFO): DAT read: Bearing  10.1,  43.3 (Local)

2025-08-21T19:56:58.754Z,1755806218.754 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  43.3 (Local)

2025-08-21T19:56:58.760Z,1755806218.760 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:56:58.760Z,1755806218.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:56:58.761Z,1755806218.761 [DAT](INFO): direction in FSK: [-0.073467,0.607098,0.791224]
2025-08-21T19:56:58.762Z,1755806218.762 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:04.762Z,1755806224.762 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:04.780Z,1755806224.780 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:57:04.780Z,1755806224.780 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:57:04.781Z,1755806224.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:05.028Z,1755806225.028 [DAT](INFO): DAT read: user:4118>

2025-08-21T19:57:05.029Z,1755806225.029 [DAT](INFO): DAT read: Tx time:19:57:04.2003

2025-08-21T19:57:05.029Z,1755806225.029 [DAT](INFO): Ping request sent.
2025-08-21T19:57:05.029Z,1755806225.029 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:05.030Z,1755806225.030 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:05.030Z,1755806225.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-21T19:57:05.280Z,1755806225.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250839
2025-08-21T19:57:05.540Z,1755806225.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510989
2025-08-21T19:57:05.795Z,1755806225.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.765004
2025-08-21T19:57:06.045Z,1755806226.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.015459
2025-08-21T19:57:06.296Z,1755806226.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.267080
2025-08-21T19:57:06.548Z,1755806226.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518902
2025-08-21T19:57:06.803Z,1755806226.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772893
2025-08-21T19:57:07.052Z,1755806227.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023095
2025-08-21T19:57:07.304Z,1755806227.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274917
2025-08-21T19:57:07.562Z,1755806227.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532405
2025-08-21T19:57:07.816Z,1755806227.816 [DAT](INFO): DAT read: Rx Time:19:57:06.6069

2025-08-21T19:57:07.817Z,1755806227.817 [DAT](INFO): Rx dataTimestamp_ set to:1755806227.816510
2025-08-21T19:57:07.820Z,1755806227.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.789440
2025-08-21T19:57:08.064Z,1755806228.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035117
2025-08-21T19:57:08.319Z,1755806228.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288789
2025-08-21T19:57:08.573Z,1755806228.573 [DAT](INFO): DAT read: 19:57:06.6069 LVL= 21888, 10177, 23682, 23251, AGC= 42, IDX= 438,-0.04,-1.396,-1.761,-2.717,-0.695, PHS=-0.598,-1.021,-2.065, RAW=  46.3,  44.9, CAL=  43.8,  50.1, ROT= 106.2, -50.1

2025-08-21T19:57:08.574Z,1755806228.574 [DAT](INFO): got valid direction response:
 19:57:06.6069 LVL= 21888, 10177, 23682, 23251, AGC= 42, IDX= 438,-0.04,-1.396,-1.761,-2.717,-0.695, PHS=-0.598,-1.021,-2.065, RAW=  46.3,  44.9, CAL=  43.8,  50.1, ROT= 106.2, -50.1

2025-08-21T19:57:08.576Z,1755806228.576 [DAT](INFO): DAT read: Bearing  18.0,  43.6 (Local)

2025-08-21T19:57:08.576Z,1755806228.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0,  43.6 (Local)

2025-08-21T19:57:08.577Z,1755806228.577 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:08.578Z,1755806228.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:08.579Z,1755806228.579 [DAT](INFO): direction in FSK: [-0.178959,0.615980,0.767165]
2025-08-21T19:57:08.579Z,1755806228.579 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:14.847Z,1755806234.847 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:14.877Z,1755806234.877 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:57:14.877Z,1755806234.877 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:57:14.877Z,1755806234.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:15.128Z,1755806235.128 [DAT](INFO): DAT read: user:4119>

2025-08-21T19:57:15.129Z,1755806235.129 [DAT](INFO): DAT read: Tx time:19:57:14.3002

2025-08-21T19:57:15.129Z,1755806235.129 [DAT](INFO): Ping request sent.
2025-08-21T19:57:15.129Z,1755806235.129 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:15.129Z,1755806235.129 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:15.130Z,1755806235.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:57:15.381Z,1755806235.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251332
2025-08-21T19:57:15.632Z,1755806235.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041
2025-08-21T19:57:15.884Z,1755806235.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754992
2025-08-21T19:57:16.137Z,1755806236.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007383
2025-08-21T19:57:16.388Z,1755806236.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259042
2025-08-21T19:57:16.640Z,1755806236.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511085
2025-08-21T19:57:16.893Z,1755806236.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763521
2025-08-21T19:57:17.145Z,1755806237.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015714
2025-08-21T19:57:17.396Z,1755806237.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267017
2025-08-21T19:57:17.661Z,1755806237.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.531339
2025-08-21T19:57:17.912Z,1755806237.912 [DAT](INFO): DAT read: Rx Time:19:57:16.7069

2025-08-21T19:57:17.913Z,1755806237.913 [DAT](INFO): Rx dataTimestamp_ set to:1755806237.912504
2025-08-21T19:57:17.913Z,1755806237.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784153
2025-08-21T19:57:18.166Z,1755806238.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036677
2025-08-21T19:57:18.420Z,1755806238.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289795
2025-08-21T19:57:18.673Z,1755806238.673 [DAT](INFO): DAT read: 19:57:16.7069 LVL= 22096, 12273, 23090, 23219, AGC= 40, IDX= 438, 0.10, 2.009, 1.727, 0.694, 2.711, PHS=-0.600,-0.939,-2.061, RAW=  42.8,  43.9, CAL=  40.6,  49.3, ROT= 109.4, -49.3

2025-08-21T19:57:18.675Z,1755806238.675 [DAT](INFO): got valid direction response:
 19:57:16.7069 LVL= 22096, 12273, 23090, 23219, AGC= 40, IDX= 438, 0.10, 2.009, 1.727, 0.694, 2.711, PHS=-0.600,-0.939,-2.061, RAW=  42.8,  43.9, CAL=  40.6,  49.3, ROT= 109.4, -49.3

2025-08-21T19:57:18.676Z,1755806238.676 [DAT](INFO): DAT read: Bearing  24.4,  44.4 (Local)

2025-08-21T19:57:18.676Z,1755806238.676 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.4,  44.4 (Local)

2025-08-21T19:57:18.677Z,1755806238.677 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:18.678Z,1755806238.678 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:18.679Z,1755806238.679 [DAT](INFO): direction in FSK: [-0.216602,0.615074,0.758134]
2025-08-21T19:57:18.679Z,1755806238.679 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:24.949Z,1755806244.949 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:24.968Z,1755806244.968 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:57:24.968Z,1755806244.968 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:57:24.968Z,1755806244.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:25.220Z,1755806245.220 [DAT](INFO): DAT read: user:4120>

2025-08-21T19:57:25.221Z,1755806245.221 [DAT](INFO): DAT read: Tx time:19:57:24.4002

2025-08-21T19:57:25.221Z,1755806245.221 [DAT](INFO): Ping request sent.
2025-08-21T19:57:25.222Z,1755806245.222 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:25.222Z,1755806245.222 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:25.222Z,1755806245.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-21T19:57:25.472Z,1755806245.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250746
2025-08-21T19:57:25.724Z,1755806245.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502615
2025-08-21T19:57:25.976Z,1755806245.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819
2025-08-21T19:57:26.229Z,1755806246.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007040
2025-08-21T19:57:26.480Z,1755806246.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258602
2025-08-21T19:57:26.732Z,1755806246.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510650
2025-08-21T19:57:26.986Z,1755806246.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764644
2025-08-21T19:57:27.236Z,1755806247.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014523
2025-08-21T19:57:27.488Z,1755806247.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266854
2025-08-21T19:57:27.740Z,1755806247.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518626
2025-08-21T19:57:27.992Z,1755806247.992 [DAT](INFO): DAT read: Rx Time:19:57:26.8069

2025-08-21T19:57:27.993Z,1755806247.993 [DAT](INFO): Rx dataTimestamp_ set to:1755806247.992472
2025-08-21T19:57:27.993Z,1755806247.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771740
2025-08-21T19:57:28.244Z,1755806248.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022739
2025-08-21T19:57:28.499Z,1755806248.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277089
2025-08-21T19:57:28.753Z,1755806248.753 [DAT](INFO): DAT read: 19:57:26.8069 LVL= 21776, 11297, 21682, 22691, AGC= 40, IDX= 438, 0.09,-0.777,-1.685,-2.106,-0.087, PHS=-0.588,-1.553,-2.063, RAW=  70.1,  48.9, CAL=  66.6,  54.3, ROT=  83.4, -54.3

2025-08-21T19:57:28.755Z,1755806248.755 [DAT](INFO): got valid direction response:
 19:57:26.8069 LVL= 21776, 11297, 21682, 22691, AGC= 40, IDX= 438, 0.09,-0.777,-1.685,-2.106,-0.087, PHS=-0.588,-1.553,-2.063, RAW=  70.1,  48.9, CAL=  66.6,  54.3, ROT=  83.4, -54.3

2025-08-21T19:57:28.756Z,1755806248.756 [DAT](INFO): DAT read: Bearing 358.4,  41.6 (Local)

2025-08-21T19:57:28.756Z,1755806248.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  41.6 (Local)

2025-08-21T19:57:28.757Z,1755806248.757 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:28.758Z,1755806248.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:28.759Z,1755806248.759 [DAT](INFO): direction in FSK: [0.067071,0.579674,0.812084]
2025-08-21T19:57:28.759Z,1755806248.759 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:35.064Z,1755806255.064 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:35.312Z,1755806255.312 [DAT](DEBUG): Acoustic response timeout
2025-08-21T19:57:35.312Z,1755806255.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:35.564Z,1755806255.564 [DAT](INFO): DAT read: user:4121>

2025-08-21T19:57:35.565Z,1755806255.565 [DAT](INFO): DAT read: Tx time:19:57:34.7502

2025-08-21T19:57:35.565Z,1755806255.565 [DAT](INFO): Ping request sent.
2025-08-21T19:57:35.565Z,1755806255.565 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:35.565Z,1755806255.565 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:35.566Z,1755806255.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-21T19:57:35.816Z,1755806255.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251138
2025-08-21T19:57:36.068Z,1755806256.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503031
2025-08-21T19:57:36.320Z,1755806256.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755114
2025-08-21T19:57:36.572Z,1755806256.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006971
2025-08-21T19:57:36.824Z,1755806256.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259022
2025-08-21T19:57:37.084Z,1755806257.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.519008
2025-08-21T19:57:37.337Z,1755806257.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771356
2025-08-21T19:57:37.588Z,1755806257.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022973
2025-08-21T19:57:37.840Z,1755806257.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274943
2025-08-21T19:57:38.092Z,1755806258.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527185
2025-08-21T19:57:38.344Z,1755806258.344 [DAT](INFO): DAT read: Rx Time:19:57:37.1569

2025-08-21T19:57:38.345Z,1755806258.345 [DAT](INFO): Rx dataTimestamp_ set to:1755806258.344572
2025-08-21T19:57:38.345Z,1755806258.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780166
2025-08-21T19:57:38.596Z,1755806258.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030941
2025-08-21T19:57:38.852Z,1755806258.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285577
2025-08-21T19:57:39.105Z,1755806259.105 [DAT](INFO): DAT read: 19:57:37.1569 LVL= 22000, 10321, 22386, 23667, AGC= 41, IDX= 438, 0.19, 1.995, 1.371, 0.651, 2.683, PHS=-0.586,-1.266,-2.076, RAW=  57.1,  47.1, CAL=  54.0,  52.1, ROT=  96.0, -52.1

2025-08-21T19:57:39.107Z,1755806259.107 [DAT](INFO): got valid direction response:
 19:57:37.1569 LVL= 22000, 10321, 22386, 23667, AGC= 41, IDX= 438, 0.19, 1.995, 1.371, 0.651, 2.683, PHS=-0.586,-1.266,-2.076, RAW=  57.1,  47.1, CAL=  54.0,  52.1, ROT=  96.0, -52.1

2025-08-21T19:57:39.109Z,1755806259.109 [DAT](INFO): DAT read: Bearing   8.4,  44.2 (Local)

2025-08-21T19:57:39.110Z,1755806259.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,  44.2 (Local)

2025-08-21T19:57:39.114Z,1755806259.114 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:39.115Z,1755806259.115 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:39.116Z,1755806259.116 [DAT](INFO): direction in FSK: [-0.064210,0.610920,0.789084]
2025-08-21T19:57:39.116Z,1755806259.116 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:45.184Z,1755806265.184 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:45.402Z,1755806265.402 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:57:45.402Z,1755806265.402 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:57:45.403Z,1755806265.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:45.652Z,1755806265.652 [DAT](INFO): DAT read: user:4122>

2025-08-21T19:57:45.653Z,1755806265.653 [DAT](INFO): DAT read: Tx time:19:57:44.8502

2025-08-21T19:57:45.653Z,1755806265.653 [DAT](INFO): Ping request sent.
2025-08-21T19:57:45.654Z,1755806265.654 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:45.654Z,1755806265.654 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:45.654Z,1755806265.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-21T19:57:45.904Z,1755806265.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250641
2025-08-21T19:57:46.157Z,1755806266.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502972
2025-08-21T19:57:46.412Z,1755806266.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758155
2025-08-21T19:57:46.660Z,1755806266.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006631
2025-08-21T19:57:46.912Z,1755806266.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258628
2025-08-21T19:57:47.165Z,1755806267.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511579
2025-08-21T19:57:47.419Z,1755806267.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764909
2025-08-21T19:57:47.668Z,1755806267.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014665
2025-08-21T19:57:47.924Z,1755806267.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270343
2025-08-21T19:57:48.173Z,1755806268.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518949
2025-08-21T19:57:48.427Z,1755806268.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772712
2025-08-21T19:57:48.676Z,1755806268.676 [DAT](INFO): DAT read: Rx Time:19:57:47.2569

2025-08-21T19:57:48.677Z,1755806268.677 [DAT](INFO): Rx dataTimestamp_ set to:1755806268.676464
2025-08-21T19:57:48.677Z,1755806268.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023742
2025-08-21T19:57:48.928Z,1755806268.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274684
2025-08-21T19:57:49.186Z,1755806269.186 [DAT](INFO): DAT read: 19:57:47.2569 LVL= 22128, 10737, 22338, 22883, AGC= 40, IDX= 438, 0.30,-1.567,-2.189,-2.899,-0.885, PHS=-0.580,-1.259,-2.058, RAW=  57.3,  47.1, CAL=  54.2,  52.1, ROT=  95.8, -52.1

2025-08-21T19:57:49.187Z,1755806269.187 [DAT](INFO): got valid direction response:
 19:57:47.2569 LVL= 22128, 10737, 22338, 22883, AGC= 40, IDX= 438, 0.30,-1.567,-2.189,-2.899,-0.885, PHS=-0.580,-1.259,-2.058, RAW=  57.3,  47.1, CAL=  54.2,  52.1, ROT=  95.8, -52.1

2025-08-21T19:57:49.188Z,1755806269.188 [DAT](INFO): DAT read: Bearing   8.5,  44.5 (Local)

2025-08-21T19:57:49.188Z,1755806269.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.5,  44.5 (Local)

2025-08-21T19:57:49.190Z,1755806269.190 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:49.190Z,1755806269.190 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:49.206Z,1755806269.206 [DAT](INFO): direction in FSK: [-0.062077,0.611140,0.789084]
2025-08-21T19:57:49.206Z,1755806269.206 [DAT](INFO): publishing direction and range info
2025-08-21T19:57:55.256Z,1755806275.256 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:57:55.480Z,1755806275.480 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:57:55.480Z,1755806275.480 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:57:55.481Z,1755806275.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:57:55.732Z,1755806275.732 [DAT](INFO): DAT read: user:4123>

2025-08-21T19:57:55.733Z,1755806275.733 [DAT](INFO): DAT read: Tx time:19:57:54.9001

2025-08-21T19:57:55.733Z,1755806275.733 [DAT](INFO): Ping request sent.
2025-08-21T19:57:55.733Z,1755806275.733 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:57:55.734Z,1755806275.734 [DAT](INFO): publishing transmit ping time
2025-08-21T19:57:55.734Z,1755806275.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-21T19:57:55.984Z,1755806275.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250795
2025-08-21T19:57:56.236Z,1755806276.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503097
2025-08-21T19:57:56.489Z,1755806276.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755596
2025-08-21T19:57:56.740Z,1755806276.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006820
2025-08-21T19:57:56.992Z,1755806276.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258848
2025-08-21T19:57:57.246Z,1755806277.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513065
2025-08-21T19:57:57.500Z,1755806277.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766712
2025-08-21T19:57:57.753Z,1755806277.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019227
2025-08-21T19:57:58.005Z,1755806278.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271225
2025-08-21T19:57:58.256Z,1755806278.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522765
2025-08-21T19:57:58.508Z,1755806278.508 [DAT](INFO): DAT read: Rx Time:19:57:57.3068

2025-08-21T19:57:58.509Z,1755806278.509 [DAT](INFO): Rx dataTimestamp_ set to:1755806278.508427
2025-08-21T19:57:58.509Z,1755806278.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775884
2025-08-21T19:57:58.760Z,1755806278.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026854
2025-08-21T19:57:59.015Z,1755806279.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280923
2025-08-21T19:57:59.269Z,1755806279.269 [DAT](INFO): DAT read: 19:57:57.3068 LVL= 21776, 11761, 22514, 22883, AGC= 40, IDX= 438, 0.28, 1.024, 0.332,-0.313, 1.710, PHS=-0.584,-1.333,-2.067, RAW=  60.3,  47.6, CAL=  57.0,  52.7, ROT=  93.0, -52.7

2025-08-21T19:57:59.271Z,1755806279.271 [DAT](INFO): got valid direction response:
 19:57:57.3068 LVL= 21776, 11761, 22514, 22883, AGC= 40, IDX= 438, 0.28, 1.024, 0.332,-0.313, 1.710, PHS=-0.584,-1.333,-2.067, RAW=  60.3,  47.6, CAL=  57.0,  52.7, ROT=  93.0, -52.7

2025-08-21T19:57:59.272Z,1755806279.272 [DAT](INFO): DAT read: Bearing   5.5,  43.6 (Local)

2025-08-21T19:57:59.272Z,1755806279.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  43.6 (Local)

2025-08-21T19:57:59.273Z,1755806279.273 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:57:59.274Z,1755806279.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:57:59.275Z,1755806279.275 [DAT](INFO): direction in FSK: [-0.031715,0.605158,0.795473]
2025-08-21T19:57:59.275Z,1755806279.275 [DAT](INFO): publishing direction and range info
2025-08-21T19:58:05.356Z,1755806285.356 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:05.564Z,1755806285.564 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:05.564Z,1755806285.564 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:05.564Z,1755806285.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:05.816Z,1755806285.816 [DAT](INFO): DAT read: user:4124>

2025-08-21T19:58:05.817Z,1755806285.817 [DAT](INFO): DAT read: Tx time:19:58:05.0001

2025-08-21T19:58:05.818Z,1755806285.818 [DAT](INFO): Ping request sent.
2025-08-21T19:58:05.818Z,1755806285.818 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:05.818Z,1755806285.818 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:05.819Z,1755806285.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001027
2025-08-21T19:58:06.069Z,1755806286.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250704
2025-08-21T19:58:06.320Z,1755806286.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502437
2025-08-21T19:58:06.573Z,1755806286.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754824
2025-08-21T19:58:06.824Z,1755806286.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006368
2025-08-21T19:58:07.076Z,1755806287.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258436
2025-08-21T19:58:07.328Z,1755806287.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510290
2025-08-21T19:58:07.581Z,1755806287.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763056
2025-08-21T19:58:07.833Z,1755806287.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981
2025-08-21T19:58:08.084Z,1755806288.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266402
2025-08-21T19:58:08.338Z,1755806288.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519601
2025-08-21T19:58:08.590Z,1755806288.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771965
2025-08-21T19:58:08.840Z,1755806288.840 [DAT](INFO): DAT read: Rx Time:19:58:07.4068

2025-08-21T19:58:08.841Z,1755806288.841 [DAT](INFO): Rx dataTimestamp_ set to:1755806288.840437
2025-08-21T19:58:08.841Z,1755806288.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023468
2025-08-21T19:58:09.092Z,1755806289.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274389
2025-08-21T19:58:09.349Z,1755806289.349 [DAT](INFO): DAT read: 19:58:07.4068 LVL= 22176, 11281, 22130, 22771, AGC= 40, IDX= 438, 0.18,-2.210,-2.873, 2.741,-1.528, PHS=-0.580,-1.300,-2.058, RAW=  59.1,  47.4, CAL=  55.9,  52.4, ROT=  94.1, -52.4

2025-08-21T19:58:09.351Z,1755806289.351 [DAT](INFO): got valid direction response:
 19:58:07.4068 LVL= 22176, 11281, 22130, 22771, AGC= 40, IDX= 438, 0.18,-2.210,-2.873, 2.741,-1.528, PHS=-0.580,-1.300,-2.058, RAW=  59.1,  47.4, CAL=  55.9,  52.4, ROT=  94.1, -52.4

2025-08-21T19:58:09.352Z,1755806289.352 [DAT](INFO): DAT read: Bearing   7.3,  44.1 (Local)

2025-08-21T19:58:09.352Z,1755806289.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.3,  44.1 (Local)

2025-08-21T19:58:09.353Z,1755806289.353 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:09.354Z,1755806289.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:58:09.355Z,1755806289.355 [DAT](INFO): direction in FSK: [-0.043624,0.608584,0.792290]
2025-08-21T19:58:09.355Z,1755806289.355 [DAT](INFO): publishing direction and range info
2025-08-21T19:58:15.456Z,1755806295.456 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:15.644Z,1755806295.644 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:15.644Z,1755806295.644 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:15.644Z,1755806295.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:15.896Z,1755806295.896 [DAT](INFO): DAT read: user:4125>

2025-08-21T19:58:15.897Z,1755806295.897 [DAT](INFO): DAT read: Tx time:19:58:15.1001

2025-08-21T19:58:15.897Z,1755806295.897 [DAT](INFO): Ping request sent.
2025-08-21T19:58:15.897Z,1755806295.897 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:15.898Z,1755806295.898 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:15.898Z,1755806295.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-21T19:58:16.149Z,1755806296.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250985
2025-08-21T19:58:16.400Z,1755806296.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502655
2025-08-21T19:58:16.653Z,1755806296.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755079
2025-08-21T19:58:16.904Z,1755806296.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006691
2025-08-21T19:58:17.156Z,1755806297.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924
2025-08-21T19:58:17.409Z,1755806297.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510966
2025-08-21T19:58:17.660Z,1755806297.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762656
2025-08-21T19:58:17.913Z,1755806297.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015548
2025-08-21T19:58:18.165Z,1755806298.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267511
2025-08-21T19:58:18.416Z,1755806298.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518688
2025-08-21T19:58:18.668Z,1755806298.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770712
2025-08-21T19:58:18.921Z,1755806298.921 [DAT](INFO): DAT read: Rx Time:19:58:17.5068

2025-08-21T19:58:18.921Z,1755806298.921 [DAT](INFO): Rx dataTimestamp_ set to:1755806298.920708
2025-08-21T19:58:18.922Z,1755806298.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024000
2025-08-21T19:58:19.173Z,1755806299.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275338
2025-08-21T19:58:19.429Z,1755806299.429 [DAT](INFO): DAT read: 19:58:17.5068 LVL= 21408, 11601, 21746, 22131, AGC= 42, IDX= 438, 0.17, 0.320,-0.388,-1.010, 1.004, PHS=-0.582,-1.347,-2.058, RAW=  61.2,  47.8, CAL=  57.9,  52.8, ROT=  92.1, -52.8

2025-08-21T19:58:19.430Z,1755806299.430 [DAT](INFO): got valid direction response:
 19:58:17.5068 LVL= 21408, 11601, 21746, 22131, AGC= 42, IDX= 438, 0.17, 0.320,-0.388,-1.010, 1.004, PHS=-0.582,-1.347,-2.058, RAW=  61.2,  47.8, CAL=  57.9,  52.8, ROT=  92.1, -52.8

2025-08-21T19:58:19.431Z,1755806299.431 [DAT](INFO): DAT read: Bearing   4.1,  44.0 (Local)

2025-08-21T19:58:19.432Z,1755806299.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.1,  44.0 (Local)

2025-08-21T19:58:19.433Z,1755806299.433 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:19.434Z,1755806299.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:58:19.435Z,1755806299.435 [DAT](INFO): direction in FSK: [-0.022155,0.604193,0.796530]
2025-08-21T19:58:19.435Z,1755806299.435 [DAT](INFO): publishing direction and range info
2025-08-21T19:58:25.562Z,1755806305.562 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:25.736Z,1755806305.736 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:25.736Z,1755806305.736 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:25.736Z,1755806305.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:25.991Z,1755806305.991 [DAT](INFO): DAT read: user:4126>

2025-08-21T19:58:25.993Z,1755806305.993 [DAT](INFO): DAT read: Tx time:19:58:25.1501

2025-08-21T19:58:25.994Z,1755806305.994 [DAT](INFO): Ping request sent.
2025-08-21T19:58:25.995Z,1755806305.995 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:25.996Z,1755806305.996 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:25.998Z,1755806305.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003464
2025-08-21T19:58:26.240Z,1755806306.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245837
2025-08-21T19:58:26.492Z,1755806306.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497930
2025-08-21T19:58:26.744Z,1755806306.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749913
2025-08-21T19:58:26.999Z,1755806306.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004516
2025-08-21T19:58:27.249Z,1755806307.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254272
2025-08-21T19:58:27.500Z,1755806307.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505927
2025-08-21T19:58:27.752Z,1755806307.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757853
2025-08-21T19:58:28.009Z,1755806308.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014453
2025-08-21T19:58:28.256Z,1755806308.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261911
2025-08-21T19:58:28.508Z,1755806308.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513822
2025-08-21T19:58:28.763Z,1755806308.763 [DAT](INFO): DAT read: Rx Time:19:58:27.5568

2025-08-21T19:58:28.763Z,1755806308.763 [DAT](INFO): Rx dataTimestamp_ set to:1755806308.762693
2025-08-21T19:58:28.764Z,1755806308.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769292
2025-08-21T19:58:29.015Z,1755806309.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020029
2025-08-21T19:58:29.228Z,1755806309.228 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T19:58:29.266Z,1755806309.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271501
2025-08-21T19:58:29.521Z,1755806309.521 [DAT](INFO): DAT read: 19:58:27.5568 LVL= 22176, 11345, 22034, 22259, AGC= 42, IDX= 438, 0.15, 2.916, 2.207, 1.587,-2.684, PHS=-0.581,-1.347,-2.056, RAW=  61.3,  47.8, CAL=  57.9,  52.8, ROT=  92.1, -52.8

2025-08-21T19:58:29.523Z,1755806309.523 [DAT](INFO): got valid direction response:
 19:58:27.5568 LVL= 22176, 11345, 22034, 22259, AGC= 42, IDX= 438, 0.15, 2.916, 2.207, 1.587,-2.684, PHS=-0.581,-1.347,-2.056, RAW=  61.3,  47.8, CAL=  57.9,  52.8, ROT=  92.1, -52.8

2025-08-21T19:58:29.524Z,1755806309.524 [DAT](INFO): DAT read: Bearing   5.4,  43.8 (Local)

2025-08-21T19:58:29.524Z,1755806309.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.4,  43.8 (Local)

2025-08-21T19:58:29.525Z,1755806309.525 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:29.526Z,1755806309.526 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:58:29.527Z,1755806309.527 [DAT](INFO): direction in FSK: [-0.022155,0.604193,0.796530]
2025-08-21T19:58:29.536Z,1755806309.536 [DAT](INFO): publishing direction and range info
2025-08-21T19:58:29.616Z,1755806309.616 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T19:58:35.656Z,1755806315.656 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:35.824Z,1755806315.824 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:35.824Z,1755806315.824 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:35.824Z,1755806315.824 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:36.076Z,1755806316.076 [DAT](INFO): DAT read: user:4127>

2025-08-21T19:58:36.077Z,1755806316.077 [DAT](INFO): DAT read: Tx time:19:58:35.2501

2025-08-21T19:58:36.077Z,1755806316.077 [DAT](INFO): Ping request sent.
2025-08-21T19:58:36.077Z,1755806316.077 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:36.077Z,1755806316.077 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:36.078Z,1755806316.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T19:58:36.328Z,1755806316.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121
2025-08-21T19:58:36.581Z,1755806316.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503202
2025-08-21T19:58:36.832Z,1755806316.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754779
2025-08-21T19:58:37.085Z,1755806317.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007185
2025-08-21T19:58:37.337Z,1755806317.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260026
2025-08-21T19:58:37.588Z,1755806317.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510762
2025-08-21T19:58:37.840Z,1755806317.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763113
2025-08-21T19:58:38.092Z,1755806318.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015024
2025-08-21T19:58:38.344Z,1755806318.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825
2025-08-21T19:58:38.603Z,1755806318.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525172
2025-08-21T19:58:38.848Z,1755806318.848 [DAT](INFO): DAT read: Rx Time:19:58:37.6568

2025-08-21T19:58:38.849Z,1755806318.849 [DAT](INFO): Rx dataTimestamp_ set to:1755806318.848461
2025-08-21T19:58:38.849Z,1755806318.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771938
2025-08-21T19:58:39.100Z,1755806319.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022829
2025-08-21T19:58:39.355Z,1755806319.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277478
2025-08-21T19:58:39.605Z,1755806319.605 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:39.606Z,1755806319.606 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T19:58:39.700Z,1755806319.700 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T19:58:43.334Z,1755806323.334 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,    2,    +4,A
2025-08-21T19:58:45.757Z,1755806325.757 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:45.904Z,1755806325.904 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:45.904Z,1755806325.904 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:45.904Z,1755806325.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:46.157Z,1755806326.157 [DAT](INFO): DAT read: user:4128>

2025-08-21T19:58:46.158Z,1755806326.158 [DAT](INFO): DAT read: Tx time:19:58:45.3501

2025-08-21T19:58:46.158Z,1755806326.158 [DAT](INFO): Ping request sent.
2025-08-21T19:58:46.159Z,1755806326.159 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:46.159Z,1755806326.159 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:46.160Z,1755806326.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001127
2025-08-21T19:58:46.408Z,1755806326.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249659
2025-08-21T19:58:46.660Z,1755806326.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501589
2025-08-21T19:58:46.912Z,1755806326.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753660
2025-08-21T19:58:47.165Z,1755806327.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006246
2025-08-21T19:58:47.416Z,1755806327.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257653
2025-08-21T19:58:47.668Z,1755806327.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509626
2025-08-21T19:58:47.920Z,1755806327.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761653
2025-08-21T19:58:48.173Z,1755806328.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013984
2025-08-21T19:58:48.424Z,1755806328.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265884
2025-08-21T19:58:48.680Z,1755806328.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521624
2025-08-21T19:58:48.932Z,1755806328.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773622
2025-08-21T19:58:49.184Z,1755806329.184 [DAT](INFO): DAT read: Rx Time:19:58:47.7567

2025-08-21T19:58:49.185Z,1755806329.185 [DAT](INFO): Rx dataTimestamp_ set to:1755806329.184503
2025-08-21T19:58:49.185Z,1755806329.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026756
2025-08-21T19:58:49.436Z,1755806329.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277709
2025-08-21T19:58:49.693Z,1755806329.693 [DAT](INFO): DAT read: 19:58:47.7567 LVL= 23744, 10385, 25298, 25651, AGC= 43, IDX= 438, 0.20, 1.488, 1.168, 0.140, 2.238, PHS=-0.648,-1.024,-2.142, RAW=  44.0,  45.1, CAL=  41.7,  50.4, ROT= 108.3, -50.4

2025-08-21T19:58:49.694Z,1755806329.694 [DAT](INFO): got valid direction response:
 19:58:47.7567 LVL= 23744, 10385, 25298, 25651, AGC= 43, IDX= 438, 0.20, 1.488, 1.168, 0.140, 2.238, PHS=-0.648,-1.024,-2.142, RAW=  44.0,  45.1, CAL=  41.7,  50.4, ROT= 108.3, -50.4

2025-08-21T19:58:49.695Z,1755806329.695 [DAT](INFO): DAT read: Bearing  12.4,  42.6 (Local)

2025-08-21T19:58:49.696Z,1755806329.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.4,  42.6 (Local)

2025-08-21T19:58:49.697Z,1755806329.697 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:49.698Z,1755806329.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:58:49.699Z,1755806329.699 [DAT](INFO): direction in FSK: [-0.200146,0.605187,0.770513]
2025-08-21T19:58:49.699Z,1755806329.699 [DAT](INFO): publishing direction and range info
2025-08-21T19:58:55.848Z,1755806335.848 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:58:55.989Z,1755806335.989 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:58:55.989Z,1755806335.989 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:58:55.990Z,1755806335.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:58:56.240Z,1755806336.240 [DAT](INFO): DAT read: user:4129>

2025-08-21T19:58:56.241Z,1755806336.241 [DAT](INFO): DAT read: Tx time:19:58:55.4000

2025-08-21T19:58:56.241Z,1755806336.241 [DAT](INFO): Ping request sent.
2025-08-21T19:58:56.241Z,1755806336.241 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:58:56.242Z,1755806336.242 [DAT](INFO): publishing transmit ping time
2025-08-21T19:58:56.242Z,1755806336.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-21T19:58:56.492Z,1755806336.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250788
2025-08-21T19:58:56.744Z,1755806336.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502859
2025-08-21T19:58:56.996Z,1755806336.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754795
2025-08-21T19:58:57.248Z,1755806337.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776
2025-08-21T19:58:57.500Z,1755806337.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880
2025-08-21T19:58:57.752Z,1755806337.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853
2025-08-21T19:58:58.005Z,1755806338.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763208
2025-08-21T19:58:58.256Z,1755806338.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014976
2025-08-21T19:58:58.511Z,1755806338.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269116
2025-08-21T19:58:58.760Z,1755806338.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518874
2025-08-21T19:58:59.012Z,1755806339.012 [DAT](INFO): DAT read: Rx Time:19:58:57.8067

2025-08-21T19:58:59.013Z,1755806339.013 [DAT](INFO): Rx dataTimestamp_ set to:1755806339.012427
2025-08-21T19:58:59.013Z,1755806339.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771864
2025-08-21T19:58:59.264Z,1755806339.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849
2025-08-21T19:58:59.519Z,1755806339.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277017
2025-08-21T19:58:59.773Z,1755806339.773 [DAT](INFO): DAT read: 19:58:57.8067 LVL= 23776, 12305, 25586, 26803, AGC= 42, IDX= 438, 0.23,-1.077,-1.495,-2.388,-0.329, PHS=-0.646,-1.122,-2.103, RAW=  48.7,  46.8, CAL=  46.1,  51.7, ROT= 103.9, -51.7

2025-08-21T19:58:59.774Z,1755806339.774 [DAT](INFO): got valid direction response:
 19:58:57.8067 LVL= 23776, 12305, 25586, 26803, AGC= 42, IDX= 438, 0.23,-1.077,-1.495,-2.388,-0.329, PHS=-0.646,-1.122,-2.103, RAW=  48.7,  46.8, CAL=  46.1,  51.7, ROT= 103.9, -51.7

2025-08-21T19:58:59.775Z,1755806339.775 [DAT](INFO): DAT read: Bearing   4.3,  43.0 (Local)

2025-08-21T19:58:59.776Z,1755806339.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.3,  43.0 (Local)

2025-08-21T19:58:59.777Z,1755806339.777 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:58:59.778Z,1755806339.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:58:59.779Z,1755806339.779 [DAT](INFO): direction in FSK: [-0.148888,0.601630,0.784776]
2025-08-21T19:58:59.779Z,1755806339.779 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:05.985Z,1755806345.985 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:06.076Z,1755806346.076 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:06.076Z,1755806346.076 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:06.076Z,1755806346.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:06.332Z,1755806346.332 [DAT](INFO): DAT read: user:4130>

2025-08-21T19:59:06.333Z,1755806346.333 [DAT](INFO): DAT read: Tx time:19:59:05.5000

2025-08-21T19:59:06.333Z,1755806346.333 [DAT](INFO): Ping request sent.
2025-08-21T19:59:06.333Z,1755806346.333 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:06.333Z,1755806346.333 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:06.334Z,1755806346.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T19:59:06.588Z,1755806346.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253835
2025-08-21T19:59:06.836Z,1755806346.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503170
2025-08-21T19:59:07.088Z,1755806347.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755006
2025-08-21T19:59:07.341Z,1755806347.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007319
2025-08-21T19:59:07.595Z,1755806347.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260872
2025-08-21T19:59:07.844Z,1755806347.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939
2025-08-21T19:59:08.097Z,1755806348.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763437
2025-08-21T19:59:08.350Z,1755806348.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017241
2025-08-21T19:59:08.607Z,1755806348.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272831
2025-08-21T19:59:08.857Z,1755806348.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523640
2025-08-21T19:59:09.108Z,1755806349.108 [DAT](INFO): DAT read: Rx Time:19:59:07.9067

2025-08-21T19:59:09.109Z,1755806349.109 [DAT](INFO): Rx dataTimestamp_ set to:1755806349.108470
2025-08-21T19:59:09.109Z,1755806349.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776126
2025-08-21T19:59:09.360Z,1755806349.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026993
2025-08-21T19:59:09.617Z,1755806349.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282911
2025-08-21T19:59:09.869Z,1755806349.869 [DAT](INFO): DAT read: 19:59:07.9067 LVL= 23440, 10593, 24562, 26435, AGC= 42, IDX= 438, 0.25, 1.694, 1.100, 0.339, 2.382, PHS=-0.586,-1.236,-2.087, RAW=  55.6,  46.7, CAL=  52.6,  51.7, ROT=  97.4, -51.7

2025-08-21T19:59:09.871Z,1755806349.871 [DAT](INFO): got valid direction response:
 19:59:07.9067 LVL= 23440, 10593, 24562, 26435, AGC= 42, IDX= 438, 0.25, 1.694, 1.100, 0.339, 2.382, PHS=-0.586,-1.236,-2.087, RAW=  55.6,  46.7, CAL=  52.6,  51.7, ROT=  97.4, -51.7

2025-08-21T19:59:09.872Z,1755806349.872 [DAT](INFO): DAT read: Bearing   4.9,  44.1 (Local)

2025-08-21T19:59:09.872Z,1755806349.872 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  44.1 (Local)

2025-08-21T19:59:09.873Z,1755806349.873 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:59:09.874Z,1755806349.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:59:09.875Z,1755806349.875 [DAT](INFO): direction in FSK: [-0.079825,0.614617,0.784776]
2025-08-21T19:59:09.875Z,1755806349.875 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:10.000Z,1755806350.000 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623462878,35.0, +1.0,1491.1,  0
2025-08-21T19:59:16.087Z,1755806356.087 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:16.184Z,1755806356.184 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:16.184Z,1755806356.184 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:16.184Z,1755806356.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:16.436Z,1755806356.436 [DAT](INFO): DAT read: user:4131>

2025-08-21T19:59:16.437Z,1755806356.437 [DAT](INFO): DAT read: Tx time:19:59:15.6000

2025-08-21T19:59:16.437Z,1755806356.437 [DAT](INFO): Ping request sent.
2025-08-21T19:59:16.438Z,1755806356.438 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:16.438Z,1755806356.438 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:16.438Z,1755806356.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T19:59:16.688Z,1755806356.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250697
2025-08-21T19:59:16.940Z,1755806356.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502716
2025-08-21T19:59:17.192Z,1755806357.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-08-21T19:59:17.444Z,1755806357.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006642
2025-08-21T19:59:17.697Z,1755806357.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259129
2025-08-21T19:59:17.948Z,1755806357.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929
2025-08-21T19:59:18.200Z,1755806358.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762721
2025-08-21T19:59:18.452Z,1755806358.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014643
2025-08-21T19:59:18.704Z,1755806358.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-08-21T19:59:18.957Z,1755806358.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519327
2025-08-21T19:59:19.211Z,1755806359.211 [DAT](INFO): DAT read: Rx Time:19:59:18.0067

2025-08-21T19:59:19.212Z,1755806359.212 [DAT](INFO): Rx dataTimestamp_ set to:1755806359.211358
2025-08-21T19:59:19.212Z,1755806359.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774660
2025-08-21T19:59:19.460Z,1755806359.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022663
2025-08-21T19:59:19.714Z,1755806359.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276411
2025-08-21T19:59:19.969Z,1755806359.969 [DAT](INFO): DAT read: 19:59:18.0067 LVL= 22448, 13601, 22386, 22547, AGC= 42, IDX= 438, 0.24,-1.936,-2.843, 3.020,-1.268, PHS=-0.566,-1.529,-2.039, RAW=  70.1,  48.4, CAL=  66.6,  53.9, ROT=  83.4, -53.9

2025-08-21T19:59:19.970Z,1755806359.970 [DAT](INFO): got valid direction response:
 19:59:18.0067 LVL= 22448, 13601, 22386, 22547, AGC= 42, IDX= 438, 0.24,-1.936,-2.843, 3.020,-1.268, PHS=-0.566,-1.529,-2.039, RAW=  70.1,  48.4, CAL=  66.6,  53.9, ROT=  83.4, -53.9

2025-08-21T19:59:19.971Z,1755806359.971 [DAT](INFO): DAT read: Bearing 348.1,  41.9 (Local)

2025-08-21T19:59:19.972Z,1755806359.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.1,  41.9 (Local)

2025-08-21T19:59:19.973Z,1755806359.973 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:59:19.974Z,1755806359.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:59:19.975Z,1755806359.975 [DAT](INFO): direction in FSK: [0.067721,0.585292,0.807990]
2025-08-21T19:59:19.975Z,1755806359.975 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:26.183Z,1755806366.183 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:26.284Z,1755806366.284 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:26.284Z,1755806366.284 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:26.285Z,1755806366.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:26.536Z,1755806366.536 [DAT](INFO): DAT read: user:4132>

2025-08-21T19:59:26.537Z,1755806366.537 [DAT](INFO): DAT read: Tx time:19:59:25.7000

2025-08-21T19:59:26.537Z,1755806366.537 [DAT](INFO): Ping request sent.
2025-08-21T19:59:26.537Z,1755806366.537 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:26.538Z,1755806366.538 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:26.538Z,1755806366.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-21T19:59:26.788Z,1755806366.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250771
2025-08-21T19:59:27.044Z,1755806367.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506472
2025-08-21T19:59:27.296Z,1755806367.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758811
2025-08-21T19:59:27.548Z,1755806367.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010800
2025-08-21T19:59:27.801Z,1755806367.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263443
2025-08-21T19:59:28.053Z,1755806368.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515333
2025-08-21T19:59:28.304Z,1755806368.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766791
2025-08-21T19:59:28.556Z,1755806368.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018960
2025-08-21T19:59:28.808Z,1755806368.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270841
2025-08-21T19:59:29.066Z,1755806369.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528190
2025-08-21T19:59:29.317Z,1755806369.317 [DAT](INFO): DAT read: Rx Time:19:59:28.1067

2025-08-21T19:59:29.317Z,1755806369.317 [DAT](INFO): Rx dataTimestamp_ set to:1755806369.316700
2025-08-21T19:59:29.318Z,1755806369.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780130
2025-08-21T19:59:29.568Z,1755806369.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030821
2025-08-21T19:59:29.823Z,1755806369.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285086
2025-08-21T19:59:30.078Z,1755806370.078 [DAT](INFO): DAT read: 19:59:28.1067 LVL= 24560, 12273, 24562, 24691, AGC= 42, IDX= 438, 0.22, 0.191,-0.360,-1.141, 0.875, PHS=-0.582,-1.191,-2.061, RAW=  54.2,  46.5, CAL=  51.2,  51.4, ROT=  98.8, -51.4

2025-08-21T19:59:30.079Z,1755806370.079 [DAT](INFO): got valid direction response:
 19:59:28.1067 LVL= 24560, 12273, 24562, 24691, AGC= 42, IDX= 438, 0.22, 0.191,-0.360,-1.141, 0.875, PHS=-0.582,-1.191,-2.061, RAW=  54.2,  46.5, CAL=  51.2,  51.4, ROT=  98.8, -51.4

2025-08-21T19:59:30.080Z,1755806370.080 [DAT](INFO): DAT read: Bearing   9.7,  44.7 (Local)

2025-08-21T19:59:30.080Z,1755806370.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.7,  44.7 (Local)

2025-08-21T19:59:30.081Z,1755806370.081 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:59:30.082Z,1755806370.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:59:30.083Z,1755806370.083 [DAT](INFO): direction in FSK: [-0.095445,0.616536,0.781520]
2025-08-21T19:59:30.083Z,1755806370.083 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:36.270Z,1755806376.270 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:36.380Z,1755806376.380 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:36.380Z,1755806376.380 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:36.380Z,1755806376.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:36.632Z,1755806376.632 [DAT](INFO): DAT read: user:4133>

2025-08-21T19:59:36.633Z,1755806376.633 [DAT](INFO): DAT read: Tx time:19:59:35.8000

2025-08-21T19:59:36.633Z,1755806376.633 [DAT](INFO): Ping request sent.
2025-08-21T19:59:36.633Z,1755806376.633 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:36.633Z,1755806376.633 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:36.634Z,1755806376.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T19:59:36.884Z,1755806376.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251094
2025-08-21T19:59:37.136Z,1755806377.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503049
2025-08-21T19:59:37.388Z,1755806377.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754897
2025-08-21T19:59:37.640Z,1755806377.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912
2025-08-21T19:59:37.893Z,1755806377.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259425
2025-08-21T19:59:38.145Z,1755806378.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511157
2025-08-21T19:59:38.397Z,1755806378.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763207
2025-08-21T19:59:38.652Z,1755806378.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018950
2025-08-21T19:59:38.904Z,1755806378.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270906
2025-08-21T19:59:39.157Z,1755806379.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523423
2025-08-21T19:59:39.408Z,1755806379.408 [DAT](INFO): DAT read: Rx Time:19:59:38.2067

2025-08-21T19:59:39.409Z,1755806379.409 [DAT](INFO): Rx dataTimestamp_ set to:1755806379.408486
2025-08-21T19:59:39.409Z,1755806379.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776039
2025-08-21T19:59:39.660Z,1755806379.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027046
2025-08-21T19:59:39.916Z,1755806379.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282513
2025-08-21T19:59:40.172Z,1755806380.172 [DAT](INFO): DAT read: 19:59:38.2067 LVL= 21792, 11825, 22498, 22579, AGC= 42, IDX= 438, 0.07,-2.985, 2.317, 1.966,-2.320, PHS=-0.563,-1.602,-2.042, RAW=  73.2,  48.5, CAL=  69.7,  54.2, ROT=  80.3, -54.2

2025-08-21T19:59:40.173Z,1755806380.173 [DAT](INFO): got valid direction response:
 19:59:38.2067 LVL= 21792, 11825, 22498, 22579, AGC= 42, IDX= 438, 0.07,-2.985, 2.317, 1.966,-2.320, PHS=-0.563,-1.602,-2.042, RAW=  73.2,  48.5, CAL=  69.7,  54.2, ROT=  80.3, -54.2

2025-08-21T19:59:40.174Z,1755806380.174 [DAT](INFO): DAT read: Bearing 349.9,  41.4 (Local)

2025-08-21T19:59:40.175Z,1755806380.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  41.4 (Local)

2025-08-21T19:59:40.177Z,1755806380.177 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:59:40.177Z,1755806380.177 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:59:40.179Z,1755806380.179 [DAT](INFO): direction in FSK: [0.098559,0.576595,0.811064]
2025-08-21T19:59:40.179Z,1755806380.179 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:46.387Z,1755806386.387 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:46.512Z,1755806386.512 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:46.512Z,1755806386.512 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:46.512Z,1755806386.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:46.764Z,1755806386.764 [DAT](INFO): DAT read: user:4134>

2025-08-21T19:59:46.765Z,1755806386.765 [DAT](INFO): DAT read: Tx time:19:59:45.9500

2025-08-21T19:59:46.766Z,1755806386.766 [DAT](INFO): Ping request sent.
2025-08-21T19:59:46.766Z,1755806386.766 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:46.766Z,1755806386.766 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:46.766Z,1755806386.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T19:59:47.016Z,1755806387.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250593
2025-08-21T19:59:47.269Z,1755806387.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903
2025-08-21T19:59:47.521Z,1755806387.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754844
2025-08-21T19:59:47.772Z,1755806387.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006592
2025-08-21T19:59:48.024Z,1755806388.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258613
2025-08-21T19:59:48.276Z,1755806388.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510780
2025-08-21T19:59:48.528Z,1755806388.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762611
2025-08-21T19:59:48.793Z,1755806388.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026687
2025-08-21T19:59:49.045Z,1755806389.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278843
2025-08-21T19:59:49.296Z,1755806389.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530606
2025-08-21T19:59:49.548Z,1755806389.548 [DAT](INFO): DAT read: Rx Time:19:59:48.3567

2025-08-21T19:59:49.549Z,1755806389.549 [DAT](INFO): Rx dataTimestamp_ set to:1755806389.548443
2025-08-21T19:59:49.549Z,1755806389.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783638
2025-08-21T19:59:49.800Z,1755806389.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034569
2025-08-21T19:59:50.057Z,1755806390.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290562
2025-08-21T19:59:50.309Z,1755806390.309 [DAT](INFO): DAT read: 19:59:48.3567 LVL= 22624, 10737, 23666, 24355, AGC= 41, IDX= 438, 0.05,-0.151,-0.881,-1.489, 0.524, PHS=-0.574,-1.361,-2.058, RAW=  62.0,  47.7, CAL=  58.6,  52.8, ROT=  91.4, -52.8

2025-08-21T19:59:50.310Z,1755806390.310 [DAT](INFO): got valid direction response:
 19:59:48.3567 LVL= 22624, 10737, 23666, 24355, AGC= 41, IDX= 438, 0.05,-0.151,-0.881,-1.489, 0.524, PHS=-0.574,-1.361,-2.058, RAW=  62.0,  47.7, CAL=  58.6,  52.8, ROT=  91.4, -52.8

2025-08-21T19:59:50.311Z,1755806390.311 [DAT](INFO): DAT read: Bearing   2.3,  43.8 (Local)

2025-08-21T19:59:50.312Z,1755806390.312 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  43.8 (Local)

2025-08-21T19:59:50.313Z,1755806390.313 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T19:59:50.314Z,1755806390.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T19:59:50.315Z,1755806390.315 [DAT](INFO): direction in FSK: [-0.014772,0.604419,0.796530]
2025-08-21T19:59:50.315Z,1755806390.315 [DAT](INFO): publishing direction and range info
2025-08-21T19:59:56.477Z,1755806396.477 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T19:59:56.608Z,1755806396.608 [DAT](INFO): ****** received valid address query ******
2025-08-21T19:59:56.608Z,1755806396.608 [DAT](INFO): ****** received valid ping request ******
2025-08-21T19:59:56.609Z,1755806396.609 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T19:59:56.860Z,1755806396.860 [DAT](INFO): DAT read: user:4135>

2025-08-21T19:59:56.861Z,1755806396.861 [DAT](INFO): DAT read: Tx time:19:59:56.0500

2025-08-21T19:59:56.861Z,1755806396.861 [DAT](INFO): Ping request sent.
2025-08-21T19:59:56.861Z,1755806396.861 [DAT](INFO): transmitted an acoustic signal
2025-08-21T19:59:56.862Z,1755806396.862 [DAT](INFO): publishing transmit ping time
2025-08-21T19:59:56.862Z,1755806396.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-21T19:59:57.112Z,1755806397.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732
2025-08-21T19:59:57.368Z,1755806397.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506226
2025-08-21T19:59:57.616Z,1755806397.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754756
2025-08-21T19:59:57.868Z,1755806397.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-08-21T19:59:58.122Z,1755806398.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260134
2025-08-21T19:59:58.375Z,1755806398.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512982
2025-08-21T19:59:58.624Z,1755806398.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762740
2025-08-21T19:59:58.877Z,1755806398.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015147
2025-08-21T19:59:59.128Z,1755806399.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804
2025-08-21T19:59:59.387Z,1755806399.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521096
2025-08-21T19:59:59.633Z,1755806399.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771593
2025-08-21T19:59:59.884Z,1755806399.884 [DAT](INFO): DAT read: Rx Time:19:59:58.4550

2025-08-21T19:59:59.885Z,1755806399.885 [DAT](INFO): Rx dataTimestamp_ set to:1755806399.884493
2025-08-21T19:59:59.885Z,1755806399.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023879
2025-08-21T20:00:00.147Z,1755806400.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284752
2025-08-21T20:00:00.414Z,1755806400.414 [DAT](INFO): DAT read: 19:59:58.4550 LVL= 22512, 12273, 23074, 23091, AGC= 39, IDX= 438, 0.10, 2.423, 1.573, 1.101, 3.097, PHS=-0.572,-1.480,-2.040, RAW=  67.8,  48.4, CAL=  64.3,  53.8, ROT=  85.7, -53.8

2025-08-21T20:00:00.415Z,1755806400.415 [DAT](INFO): got valid direction response:
 19:59:58.4550 LVL= 22512, 12273, 23074, 23091, AGC= 39, IDX= 438, 0.10, 2.423, 1.573, 1.101, 3.097, PHS=-0.572,-1.480,-2.040, RAW=  67.8,  48.4, CAL=  64.3,  53.8, ROT=  85.7, -53.8

2025-08-21T20:00:00.416Z,1755806400.416 [DAT](INFO): DAT read: Bearing 357.9,  42.5 (Local)

2025-08-21T20:00:00.416Z,1755806400.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  42.5 (Local)

2025-08-21T20:00:00.418Z,1755806400.418 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:00:00.418Z,1755806400.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:00.420Z,1755806400.420 [DAT](INFO): direction in FSK: [0.044283,0.588943,0.806960]
2025-08-21T20:00:00.420Z,1755806400.420 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:06.579Z,1755806406.579 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:06.708Z,1755806406.708 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:06.708Z,1755806406.708 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:06.708Z,1755806406.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:06.960Z,1755806406.960 [DAT](INFO): DAT read: user:4136>

2025-08-21T20:00:06.961Z,1755806406.961 [DAT](INFO): DAT read: Tx time:20:00:06.1500

2025-08-21T20:00:06.961Z,1755806406.961 [DAT](INFO): Ping request sent.
2025-08-21T20:00:06.961Z,1755806406.961 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:06.962Z,1755806406.962 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:06.962Z,1755806406.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:00:07.212Z,1755806407.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250981
2025-08-21T20:00:07.466Z,1755806407.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503738
2025-08-21T20:00:07.716Z,1755806407.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754791
2025-08-21T20:00:07.969Z,1755806407.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007086
2025-08-21T20:00:08.221Z,1755806408.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259153
2025-08-21T20:00:08.475Z,1755806408.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512936
2025-08-21T20:00:08.724Z,1755806408.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763057
2025-08-21T20:00:08.976Z,1755806408.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014949
2025-08-21T20:00:09.228Z,1755806409.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266764
2025-08-21T20:00:09.484Z,1755806409.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521585
2025-08-21T20:00:09.732Z,1755806409.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770826
2025-08-21T20:00:09.984Z,1755806409.984 [DAT](INFO): DAT read: Rx Time:20:00:08.5566

2025-08-21T20:00:09.985Z,1755806409.985 [DAT](INFO): Rx dataTimestamp_ set to:1755806409.984366
2025-08-21T20:00:09.985Z,1755806409.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023788
2025-08-21T20:00:10.238Z,1755806410.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276074
2025-08-21T20:00:10.494Z,1755806410.494 [DAT](INFO): DAT read: 20:00:08.5566 LVL= 22992, 13137, 22802, 23107, AGC= 40, IDX= 438, 0.03,-1.457,-2.318,-2.770,-0.780, PHS=-0.575,-1.493,-2.034, RAW=  68.5,  48.6, CAL=  65.0,  54.0, ROT=  85.0, -54.0

2025-08-21T20:00:10.497Z,1755806410.497 [DAT](INFO): got valid direction response:
 20:00:08.5566 LVL= 22992, 13137, 22802, 23107, AGC= 40, IDX= 438, 0.03,-1.457,-2.318,-2.770,-0.780, PHS=-0.575,-1.493,-2.034, RAW=  68.5,  48.6, CAL=  65.0,  54.0, ROT=  85.0, -54.0

2025-08-21T20:00:10.499Z,1755806410.499 [DAT](INFO): DAT read: Bearing 356.5,  42.2 (Local)

2025-08-21T20:00:10.501Z,1755806410.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.5,  42.2 (Local)

2025-08-21T20:00:10.505Z,1755806410.505 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:00:10.522Z,1755806410.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:10.530Z,1755806410.530 [DAT](INFO): direction in FSK: [0.051229,0.585549,0.809017]
2025-08-21T20:00:10.530Z,1755806410.530 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:16.712Z,1755806416.712 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:16.788Z,1755806416.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:16.788Z,1755806416.788 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:16.788Z,1755806416.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:17.040Z,1755806417.040 [DAT](INFO): DAT read: user:4137>

2025-08-21T20:00:17.041Z,1755806417.041 [DAT](INFO): DAT read: Tx time:20:00:16.2000

2025-08-21T20:00:17.041Z,1755806417.041 [DAT](INFO): Ping request sent.
2025-08-21T20:00:17.042Z,1755806417.042 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:17.042Z,1755806417.042 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:17.042Z,1755806417.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-21T20:00:17.292Z,1755806417.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250686
2025-08-21T20:00:17.544Z,1755806417.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502626
2025-08-21T20:00:17.796Z,1755806417.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754914
2025-08-21T20:00:18.048Z,1755806418.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006915
2025-08-21T20:00:18.301Z,1755806418.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258864
2025-08-21T20:00:18.553Z,1755806418.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932
2025-08-21T20:00:18.804Z,1755806418.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762713
2025-08-21T20:00:19.057Z,1755806419.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015593
2025-08-21T20:00:19.308Z,1755806419.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266632
2025-08-21T20:00:19.560Z,1755806419.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518912
2025-08-21T20:00:19.812Z,1755806419.812 [DAT](INFO): DAT read: Rx Time:20:00:18.6066

2025-08-21T20:00:19.813Z,1755806419.813 [DAT](INFO): Rx dataTimestamp_ set to:1755806419.812415
2025-08-21T20:00:19.813Z,1755806419.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771684
2025-08-21T20:00:20.067Z,1755806420.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024420
2025-08-21T20:00:20.319Z,1755806420.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276889
2025-08-21T20:00:20.573Z,1755806420.573 [DAT](INFO): DAT read: 20:00:18.6066 LVL= 22768, 11697, 23954, 24627, AGC= 42, IDX= 438, 0.03, 1.214, 0.574,-0.113, 1.892, PHS=-0.576,-1.273,-2.049, RAW=  58.2,  47.2, CAL=  55.0,  52.2, ROT=  95.0, -52.2

2025-08-21T20:00:20.574Z,1755806420.574 [DAT](INFO): got valid direction response:
 20:00:18.6066 LVL= 22768, 11697, 23954, 24627, AGC= 42, IDX= 438, 0.03, 1.214, 0.574,-0.113, 1.892, PHS=-0.576,-1.273,-2.049, RAW=  58.2,  47.2, CAL=  55.0,  52.2, ROT=  95.0, -52.2

2025-08-21T20:00:20.575Z,1755806420.575 [DAT](INFO): DAT read: Bearing   8.6,  44.5 (Local)

2025-08-21T20:00:20.576Z,1755806420.576 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6,  44.5 (Local)

2025-08-21T20:00:20.577Z,1755806420.577 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:00:20.578Z,1755806420.578 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:20.579Z,1755806420.579 [DAT](INFO): direction in FSK: [-0.053418,0.610575,0.790155]
2025-08-21T20:00:20.579Z,1755806420.579 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:26.817Z,1755806426.817 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:26.869Z,1755806426.869 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:26.869Z,1755806426.869 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:26.869Z,1755806426.869 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:27.120Z,1755806427.120 [DAT](INFO): DAT read: user:4138>

2025-08-21T20:00:27.121Z,1755806427.121 [DAT](INFO): DAT read: Tx time:20:00:26.3000

2025-08-21T20:00:27.121Z,1755806427.121 [DAT](INFO): Ping request sent.
2025-08-21T20:00:27.121Z,1755806427.121 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:27.121Z,1755806427.121 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:27.122Z,1755806427.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T20:00:27.372Z,1755806427.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250896
2025-08-21T20:00:27.625Z,1755806427.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503230
2025-08-21T20:00:27.876Z,1755806427.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755103
2025-08-21T20:00:28.128Z,1755806428.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006892
2025-08-21T20:00:28.381Z,1755806428.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259260
2025-08-21T20:00:28.632Z,1755806428.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510953
2025-08-21T20:00:28.885Z,1755806428.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763247
2025-08-21T20:00:29.136Z,1755806429.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015191
2025-08-21T20:00:29.388Z,1755806429.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266918
2025-08-21T20:00:29.640Z,1755806429.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518952
2025-08-21T20:00:29.892Z,1755806429.892 [DAT](INFO): DAT read: Rx Time:20:00:28.7066

2025-08-21T20:00:29.893Z,1755806429.893 [DAT](INFO): Rx dataTimestamp_ set to:1755806429.892490
2025-08-21T20:00:29.893Z,1755806429.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772047
2025-08-21T20:00:30.145Z,1755806430.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023591
2025-08-21T20:00:30.397Z,1755806430.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275231
2025-08-21T20:00:30.654Z,1755806430.654 [DAT](INFO): DAT read: 20:00:28.7066 LVL= 22592, 13185, 22690, 22499, AGC= 40, IDX= 438,-0.04, 3.122, 2.196, 1.811,-2.488, PHS=-0.571,-1.555,-2.029, RAW=  71.4,  48.8, CAL=  67.9,  54.3, ROT=  82.1, -54.3

2025-08-21T20:00:30.655Z,1755806430.655 [DAT](INFO): got valid direction response:
 20:00:28.7066 LVL= 22592, 13185, 22690, 22499, AGC= 40, IDX= 438,-0.04, 3.122, 2.196, 1.811,-2.488, PHS=-0.571,-1.555,-2.029, RAW=  71.4,  48.8, CAL=  67.9,  54.3, ROT=  82.1, -54.3

2025-08-21T20:00:30.656Z,1755806430.656 [DAT](INFO): DAT read: Bearing 352.7,  41.3 (Local)

2025-08-21T20:00:30.656Z,1755806430.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.7,  41.3 (Local)

2025-08-21T20:00:30.657Z,1755806430.657 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:00:30.658Z,1755806430.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:30.659Z,1755806430.659 [DAT](INFO): direction in FSK: [0.080205,0.578003,0.812084]
2025-08-21T20:00:30.659Z,1755806430.659 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:36.849Z,1755806436.849 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:36.952Z,1755806436.952 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:36.952Z,1755806436.952 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:36.953Z,1755806436.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:37.204Z,1755806437.204 [DAT](INFO): DAT read: user:4139>

2025-08-21T20:00:37.205Z,1755806437.205 [DAT](INFO): DAT read: Tx time:20:00:36.4000

2025-08-21T20:00:37.205Z,1755806437.205 [DAT](INFO): Ping request sent.
2025-08-21T20:00:37.205Z,1755806437.205 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:37.205Z,1755806437.205 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:37.206Z,1755806437.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T20:00:37.456Z,1755806437.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251066
2025-08-21T20:00:37.709Z,1755806437.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503656
2025-08-21T20:00:37.963Z,1755806437.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757026
2025-08-21T20:00:38.212Z,1755806438.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006933
2025-08-21T20:00:38.464Z,1755806438.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258961
2025-08-21T20:00:38.716Z,1755806438.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511033
2025-08-21T20:00:38.971Z,1755806438.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765444
2025-08-21T20:00:39.220Z,1755806439.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014982
2025-08-21T20:00:39.472Z,1755806439.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267007
2025-08-21T20:00:39.725Z,1755806439.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519876
2025-08-21T20:00:39.979Z,1755806439.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772842
2025-08-21T20:00:40.228Z,1755806440.228 [DAT](INFO): DAT read: Rx Time:20:00:38.8066

2025-08-21T20:00:40.229Z,1755806440.229 [DAT](INFO): Rx dataTimestamp_ set to:1755806440.228436
2025-08-21T20:00:40.229Z,1755806440.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024109
2025-08-21T20:00:40.481Z,1755806440.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275751
2025-08-21T20:00:40.738Z,1755806440.738 [DAT](INFO): DAT read: 20:00:38.8066 LVL= 23744, 12449, 24514, 24419, AGC= 42, IDX= 438,-0.08,-0.422,-1.000,-1.745, 0.256, PHS=-0.576,-1.211,-2.045, RAW=  55.5,  46.7, CAL=  52.5,  51.7, ROT=  97.5, -51.7

2025-08-21T20:00:40.739Z,1755806440.739 [DAT](INFO): got valid direction response:
 20:00:38.8066 LVL= 23744, 12449, 24514, 24419, AGC= 42, IDX= 438,-0.08,-0.422,-1.000,-1.745, 0.256, PHS=-0.576,-1.211,-2.045, RAW=  55.5,  46.7, CAL=  52.5,  51.7, ROT=  97.5, -51.7

2025-08-21T20:00:40.740Z,1755806440.740 [DAT](INFO): DAT read: Bearing  12.2,  44.6 (Local)

2025-08-21T20:00:40.740Z,1755806440.740 [DAT](INFO): Local bearing/azimuth received:
 Bearing  12.2,  44.6 (Local)

2025-08-21T20:00:40.741Z,1755806440.741 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:00:40.742Z,1755806440.742 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:40.743Z,1755806440.743 [DAT](INFO): direction in FSK: [-0.080897,0.614477,0.784776]
2025-08-21T20:00:40.743Z,1755806440.743 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:46.951Z,1755806446.951 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:47.040Z,1755806447.040 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:47.040Z,1755806447.040 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:47.041Z,1755806447.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:47.288Z,1755806447.288 [DAT](INFO): DAT read: user:4140>

2025-08-21T20:00:47.289Z,1755806447.289 [DAT](INFO): DAT read: Tx time:20:00:46.4500

2025-08-21T20:00:47.289Z,1755806447.289 [DAT](INFO): Ping request sent.
2025-08-21T20:00:47.290Z,1755806447.290 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:47.290Z,1755806447.290 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:47.290Z,1755806447.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-21T20:00:47.540Z,1755806447.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250702
2025-08-21T20:00:47.792Z,1755806447.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502724
2025-08-21T20:00:48.045Z,1755806448.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754930
2025-08-21T20:00:48.296Z,1755806448.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006708
2025-08-21T20:00:48.548Z,1755806448.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258495
2025-08-21T20:00:48.800Z,1755806448.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863
2025-08-21T20:00:49.054Z,1755806449.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764884
2025-08-21T20:00:49.304Z,1755806449.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014617
2025-08-21T20:00:49.556Z,1755806449.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266653
2025-08-21T20:00:49.809Z,1755806449.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518908
2025-08-21T20:00:50.060Z,1755806450.060 [DAT](INFO): DAT read: Rx Time:20:00:48.8565

2025-08-21T20:00:50.061Z,1755806450.061 [DAT](INFO): Rx dataTimestamp_ set to:1755806450.060413
2025-08-21T20:00:50.061Z,1755806450.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771677
2025-08-21T20:00:50.312Z,1755806450.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022586
2025-08-21T20:00:50.567Z,1755806450.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276855
2025-08-21T20:00:50.821Z,1755806450.821 [DAT](INFO): DAT read: 20:00:48.8565 LVL= 23232, 12641, 21810, 22563, AGC= 42, IDX= 438,-0.17, 2.241, 1.022, 0.933, 2.915, PHS=-0.572,-1.847,-2.026, RAW=  83.5,  48.8, CAL=  81.6,  55.0, ROT=  68.4, -55.0

2025-08-21T20:00:50.822Z,1755806450.822 [DAT](INFO): got valid direction response:
 20:00:48.8565 LVL= 23232, 12641, 21810, 22563, AGC= 42, IDX= 438,-0.17, 2.241, 1.022, 0.933, 2.915, PHS=-0.572,-1.847,-2.026, RAW=  83.5,  48.8, CAL=  81.6,  55.0, ROT=  68.4, -55.0

2025-08-21T20:00:50.823Z,1755806450.823 [DAT](INFO): DAT read: Bearing 347.0,  38.0 (Local)

2025-08-21T20:00:50.824Z,1755806450.824 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0,  38.0 (Local)

2025-08-21T20:00:50.825Z,1755806450.825 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:00:50.826Z,1755806450.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:00:50.826Z,1755806450.826 [DAT](INFO): direction in FSK: [0.211148,0.533298,0.819152]
2025-08-21T20:00:50.827Z,1755806450.827 [DAT](INFO): publishing direction and range info
2025-08-21T20:00:57.058Z,1755806457.058 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:00:57.117Z,1755806457.117 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:00:57.117Z,1755806457.117 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:00:57.117Z,1755806457.117 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:00:57.368Z,1755806457.368 [DAT](INFO): DAT read: user:4141>

2025-08-21T20:00:57.369Z,1755806457.369 [DAT](INFO): DAT read: Tx time:20:00:56.5500

2025-08-21T20:00:57.369Z,1755806457.369 [DAT](INFO): Ping request sent.
2025-08-21T20:00:57.369Z,1755806457.369 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:00:57.369Z,1755806457.369 [DAT](INFO): publishing transmit ping time
2025-08-21T20:00:57.370Z,1755806457.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:00:57.620Z,1755806457.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838
2025-08-21T20:00:57.873Z,1755806457.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503202
2025-08-21T20:00:58.124Z,1755806458.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880
2025-08-21T20:00:58.377Z,1755806458.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007237
2025-08-21T20:00:58.628Z,1755806458.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259131
2025-08-21T20:00:58.880Z,1755806458.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901
2025-08-21T20:00:59.133Z,1755806459.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763485
2025-08-21T20:00:59.384Z,1755806459.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015131
2025-08-21T20:00:59.636Z,1755806459.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266893
2025-08-21T20:00:59.888Z,1755806459.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518837
2025-08-21T20:01:00.141Z,1755806460.141 [DAT](INFO): DAT read: Rx Time:20:00:58.9565

2025-08-21T20:01:00.141Z,1755806460.141 [DAT](INFO): Rx dataTimestamp_ set to:1755806460.140878
2025-08-21T20:01:00.142Z,1755806460.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772655
2025-08-21T20:01:00.392Z,1755806460.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022981
2025-08-21T20:01:00.644Z,1755806460.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274864
2025-08-21T20:01:00.902Z,1755806460.902 [DAT](INFO): DAT read: 20:00:58.9565 LVL= 22896, 13009, 22738, 23395, AGC= 42, IDX= 438,-0.10,-1.449,-2.209,-2.752,-0.769, PHS=-0.578,-1.395,-2.027, RAW=  64.2,  48.3, CAL=  60.7,  53.4, ROT=  89.3, -53.4

2025-08-21T20:01:00.903Z,1755806460.903 [DAT](INFO): got valid direction response:
 20:00:58.9565 LVL= 22896, 13009, 22738, 23395, AGC= 42, IDX= 438,-0.10,-1.449,-2.209,-2.752,-0.769, PHS=-0.578,-1.395,-2.027, RAW=  64.2,  48.3, CAL=  60.7,  53.4, ROT=  89.3, -53.4

2025-08-21T20:01:00.904Z,1755806460.904 [DAT](INFO): DAT read: Bearing   2.8,  42.7 (Local)

2025-08-21T20:01:00.906Z,1755806460.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.8,  42.7 (Local)

2025-08-21T20:01:00.910Z,1755806460.910 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:01:00.911Z,1755806460.911 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:01:00.917Z,1755806460.917 [DAT](INFO): direction in FSK: [0.007284,0.596180,0.802817]
2025-08-21T20:01:00.917Z,1755806460.917 [DAT](INFO): publishing direction and range info
2025-08-21T20:01:07.177Z,1755806467.177 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:07.204Z,1755806467.204 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:07.205Z,1755806467.205 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:07.205Z,1755806467.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:07.456Z,1755806467.456 [DAT](INFO): DAT read: user:4142>

2025-08-21T20:01:07.457Z,1755806467.457 [DAT](INFO): DAT read: Tx time:20:01:06.6499

2025-08-21T20:01:07.457Z,1755806467.457 [DAT](INFO): Ping request sent.
2025-08-21T20:01:07.457Z,1755806467.457 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:07.458Z,1755806467.458 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:07.458Z,1755806467.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-21T20:01:07.708Z,1755806467.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250784
2025-08-21T20:01:07.960Z,1755806467.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502790
2025-08-21T20:01:08.212Z,1755806468.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754754
2025-08-21T20:01:08.465Z,1755806468.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007226
2025-08-21T20:01:08.716Z,1755806468.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258848
2025-08-21T20:01:08.968Z,1755806468.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510751
2025-08-21T20:01:09.221Z,1755806469.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763103
2025-08-21T20:01:09.472Z,1755806469.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014818
2025-08-21T20:01:09.724Z,1755806469.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266665
2025-08-21T20:01:09.976Z,1755806469.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937
2025-08-21T20:01:10.228Z,1755806470.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770760
2025-08-21T20:01:10.480Z,1755806470.480 [DAT](INFO): DAT read: Rx Time:20:01:09.0565

2025-08-21T20:01:10.481Z,1755806470.481 [DAT](INFO): Rx dataTimestamp_ set to:1755806470.480466
2025-08-21T20:01:10.481Z,1755806470.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023865
2025-08-21T20:01:10.732Z,1755806470.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026
2025-08-21T20:01:10.989Z,1755806470.989 [DAT](INFO): DAT read: 20:01:09.0565 LVL= 22832, 11617, 23714, 24179, AGC= 42, IDX= 438,-0.04, 1.265, 0.695,-0.053, 1.946, PHS=-0.578,-1.206,-2.042, RAW=  55.3,  46.8, CAL=  52.3,  51.7, ROT=  97.7, -51.7

2025-08-21T20:01:10.990Z,1755806470.990 [DAT](INFO): got valid direction response:
 20:01:09.0565 LVL= 22832, 11617, 23714, 24179, AGC= 42, IDX= 438,-0.04, 1.265, 0.695,-0.053, 1.946, PHS=-0.578,-1.206,-2.042, RAW=  55.3,  46.8, CAL=  52.3,  51.7, ROT=  97.7, -51.7

2025-08-21T20:01:10.991Z,1755806470.991 [DAT](INFO): DAT read: Bearing  15.1,  44.7 (Local)

2025-08-21T20:01:10.992Z,1755806470.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing  15.1,  44.7 (Local)

2025-08-21T20:01:10.993Z,1755806470.993 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:01:10.994Z,1755806470.994 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:01:10.995Z,1755806470.995 [DAT](INFO): direction in FSK: [-0.083042,0.614191,0.784776]
2025-08-21T20:01:10.995Z,1755806470.995 [DAT](INFO): publishing direction and range info
2025-08-21T20:01:17.255Z,1755806477.255 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:17.285Z,1755806477.285 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:17.285Z,1755806477.285 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:17.285Z,1755806477.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:17.540Z,1755806477.540 [DAT](INFO): DAT read: user:4143>

2025-08-21T20:01:17.542Z,1755806477.542 [DAT](INFO): DAT read: Tx time:20:01:16.6999

2025-08-21T20:01:17.543Z,1755806477.543 [DAT](INFO): Ping request sent.
2025-08-21T20:01:17.544Z,1755806477.544 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:17.544Z,1755806477.544 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:17.546Z,1755806477.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002828
2025-08-21T20:01:17.788Z,1755806477.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245549
2025-08-21T20:01:18.040Z,1755806478.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497458
2025-08-21T20:01:18.292Z,1755806478.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749699
2025-08-21T20:01:18.547Z,1755806478.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003732
2025-08-21T20:01:18.796Z,1755806478.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253418
2025-08-21T20:01:19.049Z,1755806479.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505788
2025-08-21T20:01:19.300Z,1755806479.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757532
2025-08-21T20:01:19.555Z,1755806479.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011405
2025-08-21T20:01:19.804Z,1755806479.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261482
2025-08-21T20:01:20.064Z,1755806480.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521412
2025-08-21T20:01:20.316Z,1755806480.316 [DAT](INFO): DAT read: Rx Time:20:01:19.1065

2025-08-21T20:01:20.317Z,1755806480.317 [DAT](INFO): Rx dataTimestamp_ set to:1755806480.316444
2025-08-21T20:01:20.317Z,1755806480.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774563
2025-08-21T20:01:20.571Z,1755806480.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027513
2025-08-21T20:01:20.822Z,1755806480.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279350
2025-08-21T20:01:21.077Z,1755806481.077 [DAT](INFO): DAT read: 20:01:19.1065 LVL= 20416, 11233, 19442, 20931, AGC= 40, IDX= 438,-0.04,-1.663,-2.658,-2.981,-0.995, PHS=-0.567,-1.618,-2.031, RAW=  74.2,  48.7, CAL=  70.8,  54.4, ROT=  79.2, -54.4

2025-08-21T20:01:21.079Z,1755806481.079 [DAT](INFO): got valid direction response:
 20:01:19.1065 LVL= 20416, 11233, 19442, 20931, AGC= 40, IDX= 438,-0.04,-1.663,-2.658,-2.981,-0.995, PHS=-0.567,-1.618,-2.031, RAW=  74.2,  48.7, CAL=  70.8,  54.4, ROT=  79.2, -54.4

2025-08-21T20:01:21.080Z,1755806481.080 [DAT](INFO): DAT read: Bearing 353.0,  41.1 (Local)

2025-08-21T20:01:21.080Z,1755806481.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  41.1 (Local)

2025-08-21T20:01:21.081Z,1755806481.081 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:01:21.082Z,1755806481.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:01:21.083Z,1755806481.083 [DAT](INFO): direction in FSK: [0.109079,0.571812,0.813101]
2025-08-21T20:01:21.083Z,1755806481.083 [DAT](INFO): publishing direction and range info
2025-08-21T20:01:27.373Z,1755806487.373 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:27.384Z,1755806487.384 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:27.384Z,1755806487.384 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:27.384Z,1755806487.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:27.638Z,1755806487.638 [DAT](INFO): DAT read: user:4144>

2025-08-21T20:01:27.641Z,1755806487.641 [DAT](INFO): DAT read: Tx time:20:01:26.7999

2025-08-21T20:01:27.642Z,1755806487.642 [DAT](INFO): Ping request sent.
2025-08-21T20:01:27.642Z,1755806487.642 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:27.643Z,1755806487.643 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:27.645Z,1755806487.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002663
2025-08-21T20:01:27.888Z,1755806487.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246362
2025-08-21T20:01:28.140Z,1755806488.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498495
2025-08-21T20:01:28.392Z,1755806488.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750359
2025-08-21T20:01:28.644Z,1755806488.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002368
2025-08-21T20:01:28.896Z,1755806488.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254375
2025-08-21T20:01:29.149Z,1755806489.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506813
2025-08-21T20:01:29.401Z,1755806489.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758741
2025-08-21T20:01:29.654Z,1755806489.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012248
2025-08-21T20:01:29.904Z,1755806489.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262421
2025-08-21T20:01:30.161Z,1755806490.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518829
2025-08-21T20:01:30.412Z,1755806490.412 [DAT](INFO): DAT read: Rx Time:20:01:29.2065

2025-08-21T20:01:30.413Z,1755806490.413 [DAT](INFO): Rx dataTimestamp_ set to:1755806490.412677
2025-08-21T20:01:30.413Z,1755806490.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771685
2025-08-21T20:01:30.664Z,1755806490.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022464
2025-08-21T20:01:30.919Z,1755806490.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276852
2025-08-21T20:01:31.176Z,1755806491.176 [DAT](INFO): DAT read: 20:01:29.2065 LVL= 23456, 12625, 23362, 23987, AGC= 40, IDX= 438, 0.01, 1.252, 0.521,-0.064, 1.927, PHS=-0.573,-1.362,-2.036, RAW=  62.6,  47.9, CAL=  59.1,  53.0, ROT=  90.9, -53.0

2025-08-21T20:01:31.177Z,1755806491.177 [DAT](INFO): got valid direction response:
 20:01:29.2065 LVL= 23456, 12625, 23362, 23987, AGC= 40, IDX= 438, 0.01, 1.252, 0.521,-0.064, 1.927, PHS=-0.573,-1.362,-2.036, RAW=  62.6,  47.9, CAL=  59.1,  53.0, ROT=  90.9, -53.0

2025-08-21T20:01:31.178Z,1755806491.178 [DAT](INFO): DAT read: Bearing   8.4,  43.9 (Local)

2025-08-21T20:01:31.179Z,1755806491.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.4,  43.9 (Local)

2025-08-21T20:01:31.180Z,1755806491.180 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:01:31.181Z,1755806491.181 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:01:31.182Z,1755806491.182 [DAT](INFO): direction in FSK: [-0.009453,0.601741,0.798636]
2025-08-21T20:01:31.182Z,1755806491.182 [DAT](INFO): publishing direction and range info
2025-08-21T20:01:37.460Z,1755806497.460 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:37.480Z,1755806497.480 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:37.480Z,1755806497.480 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:37.481Z,1755806497.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:37.732Z,1755806497.732 [DAT](INFO): DAT read: user:4145>

2025-08-21T20:01:37.733Z,1755806497.733 [DAT](INFO): DAT read: Tx time:20:01:36.8999

2025-08-21T20:01:37.733Z,1755806497.733 [DAT](INFO): Ping request sent.
2025-08-21T20:01:37.733Z,1755806497.733 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:37.733Z,1755806497.733 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:37.734Z,1755806497.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T20:01:37.984Z,1755806497.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250913
2025-08-21T20:01:38.238Z,1755806498.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505025
2025-08-21T20:01:38.492Z,1755806498.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758909
2025-08-21T20:01:38.744Z,1755806498.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011089
2025-08-21T20:01:38.996Z,1755806498.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262976
2025-08-21T20:01:39.248Z,1755806499.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514939
2025-08-21T20:01:39.501Z,1755806499.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767266
2025-08-21T20:01:39.752Z,1755806499.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019019
2025-08-21T20:01:39.922Z,1755806499.922 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T20:01:40.004Z,1755806500.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270913
2025-08-21T20:01:40.262Z,1755806500.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.528514
2025-08-21T20:01:40.283Z,1755806500.283 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T20:01:40.512Z,1755806500.512 [DAT](INFO): DAT read: Rx Time:20:01:39.3064

2025-08-21T20:01:40.513Z,1755806500.513 [DAT](INFO): Rx dataTimestamp_ set to:1755806500.512441
2025-08-21T20:01:40.513Z,1755806500.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780013
2025-08-21T20:01:40.764Z,1755806500.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030923
2025-08-21T20:01:41.020Z,1755806501.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286366
2025-08-21T20:01:41.273Z,1755806501.273 [DAT](INFO): DAT read: 20:01:39.3064 LVL= 23120, 13265, 23506, 22323, AGC= 40, IDX= 438, 0.06,-0.861,-2.285,-2.187,-0.208, PHS=-0.550,-2.032,-2.023, RAW=  90.3,  47.8, CAL=  89.1,  53.8, ROT=  60.9, -53.8

2025-08-21T20:01:41.274Z,1755806501.274 [DAT](INFO): got valid direction response:
 20:01:39.3064 LVL= 23120, 13265, 23506, 22323, AGC= 40, IDX= 438, 0.06,-0.861,-2.285,-2.187,-0.208, PHS=-0.550,-2.032,-2.023, RAW=  90.3,  47.8, CAL=  89.1,  53.8, ROT=  60.9, -53.8

2025-08-21T20:01:41.276Z,1755806501.276 [DAT](INFO): DAT read: Bearing 344.3,  36.9 (Local)

2025-08-21T20:01:41.276Z,1755806501.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.3,  36.9 (Local)

2025-08-21T20:01:41.277Z,1755806501.277 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:01:41.278Z,1755806501.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:01:41.279Z,1755806501.279 [DAT](INFO): direction in FSK: [0.287232,0.516055,0.806960]
2025-08-21T20:01:41.279Z,1755806501.279 [DAT](INFO): publishing direction and range info
2025-08-21T20:01:47.553Z,1755806507.553 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:47.590Z,1755806507.590 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:47.590Z,1755806507.590 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:47.591Z,1755806507.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:47.840Z,1755806507.840 [DAT](INFO): DAT read: user:4146>

2025-08-21T20:01:47.841Z,1755806507.841 [DAT](INFO): DAT read: Tx time:20:01:46.9998

2025-08-21T20:01:47.841Z,1755806507.841 [DAT](INFO): Ping request sent.
2025-08-21T20:01:47.841Z,1755806507.841 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:47.841Z,1755806507.841 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:47.842Z,1755806507.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:01:48.092Z,1755806508.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946
2025-08-21T20:01:48.344Z,1755806508.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973
2025-08-21T20:01:48.596Z,1755806508.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755151
2025-08-21T20:01:48.848Z,1755806508.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007010
2025-08-21T20:01:49.100Z,1755806509.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258874
2025-08-21T20:01:49.358Z,1755806509.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516462
2025-08-21T20:01:49.605Z,1755806509.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763662
2025-08-21T20:01:49.856Z,1755806509.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880
2025-08-21T20:01:50.109Z,1755806510.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267569
2025-08-21T20:01:50.360Z,1755806510.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519039
2025-08-21T20:01:50.410Z,1755806510.410 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T20:01:50.612Z,1755806510.612 [DAT](INFO): DAT read: Rx Time:20:01:49.4064

2025-08-21T20:01:50.613Z,1755806510.613 [DAT](INFO): Rx dataTimestamp_ set to:1755806510.612430
2025-08-21T20:01:50.613Z,1755806510.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771966
2025-08-21T20:01:50.864Z,1755806510.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022963
2025-08-21T20:01:51.117Z,1755806511.117 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:01:51.118Z,1755806511.118 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:01:57.654Z,1755806517.654 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:01:57.668Z,1755806517.668 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:01:57.668Z,1755806517.668 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:01:57.668Z,1755806517.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:01:57.920Z,1755806517.920 [DAT](INFO): DAT read: user:4147>

2025-08-21T20:01:57.921Z,1755806517.921 [DAT](INFO): DAT read: Tx time:20:01:57.0998

2025-08-21T20:01:57.921Z,1755806517.921 [DAT](INFO): Ping request sent.
2025-08-21T20:01:57.921Z,1755806517.921 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:01:57.921Z,1755806517.921 [DAT](INFO): publishing transmit ping time
2025-08-21T20:01:57.922Z,1755806517.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T20:01:58.173Z,1755806518.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251217
2025-08-21T20:01:58.424Z,1755806518.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502879
2025-08-21T20:01:58.676Z,1755806518.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754841
2025-08-21T20:01:58.928Z,1755806518.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871
2025-08-21T20:01:59.181Z,1755806519.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259773
2025-08-21T20:01:59.432Z,1755806519.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510874
2025-08-21T20:01:59.684Z,1755806519.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762915
2025-08-21T20:01:59.936Z,1755806519.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015032
2025-08-21T20:02:00.188Z,1755806520.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266988
2025-08-21T20:02:00.440Z,1755806520.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518769
2025-08-21T20:02:00.692Z,1755806520.692 [DAT](INFO): DAT read: Rx Time:20:01:59.5064

2025-08-21T20:02:00.693Z,1755806520.693 [DAT](INFO): Rx dataTimestamp_ set to:1755806520.692401
2025-08-21T20:02:00.693Z,1755806520.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771874
2025-08-21T20:02:00.944Z,1755806520.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023007
2025-08-21T20:02:01.201Z,1755806521.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278691
2025-08-21T20:02:01.455Z,1755806521.455 [DAT](INFO): DAT read: 20:01:59.5064 LVL= 22896,  9649, 23874, 23955, AGC= 40, IDX= 438, 0.09, 3.083, 2.636, 1.728,-2.531, PHS=-0.567,-1.071,-2.068, RAW=  49.2,  44.7, CAL=  46.5,  49.9, ROT= 103.5, -49.9

2025-08-21T20:02:01.456Z,1755806521.456 [DAT](INFO): got valid direction response:
 20:01:59.5064 LVL= 22896,  9649, 23874, 23955, AGC= 40, IDX= 438, 0.09, 3.083, 2.636, 1.728,-2.531, PHS=-0.567,-1.071,-2.068, RAW=  49.2,  44.7, CAL=  46.5,  49.9, ROT= 103.5, -49.9

2025-08-21T20:02:01.457Z,1755806521.457 [DAT](INFO): DAT read: Bearing  18.0,  45.2 (Local)

2025-08-21T20:02:01.457Z,1755806521.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing  18.0,  45.2 (Local)

2025-08-21T20:02:01.458Z,1755806521.458 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:01.459Z,1755806521.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:01.460Z,1755806521.460 [DAT](INFO): direction in FSK: [-0.150368,0.626326,0.764921]
2025-08-21T20:02:01.460Z,1755806521.460 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:07.760Z,1755806527.760 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:08.004Z,1755806528.004 [DAT](DEBUG): Acoustic response timeout
2025-08-21T20:02:08.005Z,1755806528.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:08.259Z,1755806528.259 [DAT](INFO): DAT read: user:4148>

2025-08-21T20:02:08.261Z,1755806528.261 [DAT](INFO): DAT read: Tx time:20:02:07.4498

2025-08-21T20:02:08.262Z,1755806528.262 [DAT](INFO): Ping request sent.
2025-08-21T20:02:08.263Z,1755806528.263 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:08.264Z,1755806528.264 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:08.266Z,1755806528.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002689
2025-08-21T20:02:08.508Z,1755806528.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245742
2025-08-21T20:02:08.760Z,1755806528.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497720
2025-08-21T20:02:09.013Z,1755806529.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749947
2025-08-21T20:02:09.267Z,1755806529.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003897
2025-08-21T20:02:09.516Z,1755806529.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253720
2025-08-21T20:02:09.768Z,1755806529.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505862
2025-08-21T20:02:10.020Z,1755806530.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757786
2025-08-21T20:02:10.275Z,1755806530.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011850
2025-08-21T20:02:10.524Z,1755806530.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261774
2025-08-21T20:02:10.776Z,1755806530.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513772
2025-08-21T20:02:11.029Z,1755806531.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766276
2025-08-21T20:02:11.283Z,1755806531.283 [DAT](INFO): DAT read: Rx Time:20:02:09.8564

2025-08-21T20:02:11.283Z,1755806531.283 [DAT](INFO): Rx dataTimestamp_ set to:1755806531.282904
2025-08-21T20:02:11.284Z,1755806531.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021395
2025-08-21T20:02:11.532Z,1755806531.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269788
2025-08-21T20:02:11.790Z,1755806531.790 [DAT](INFO): DAT read: 20:02:09.8564 LVL= 24128, 12961, 24210, 24563, AGC= 40, IDX= 438, 0.09, 0.593,-0.497,-0.745, 1.253, PHS=-0.558,-1.705,-2.042, RAW=  77.5,  48.5, CAL=  74.6,  54.4, ROT=  75.4, -54.4

2025-08-21T20:02:11.791Z,1755806531.791 [DAT](INFO): got valid direction response:
 20:02:09.8564 LVL= 24128, 12961, 24210, 24563, AGC= 40, IDX= 438, 0.09, 0.593,-0.497,-0.745, 1.253, PHS=-0.558,-1.705,-2.042, RAW=  77.5,  48.5, CAL=  74.6,  54.4, ROT=  75.4, -54.4

2025-08-21T20:02:11.792Z,1755806531.792 [DAT](INFO): DAT read: Bearing 343.5,  39.8 (Local)

2025-08-21T20:02:11.792Z,1755806531.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.5,  39.8 (Local)

2025-08-21T20:02:11.794Z,1755806531.794 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:11.794Z,1755806531.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:11.795Z,1755806531.795 [DAT](INFO): direction in FSK: [0.146735,0.563326,0.813101]
2025-08-21T20:02:11.796Z,1755806531.796 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:17.854Z,1755806537.854 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:18.084Z,1755806538.084 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:02:18.084Z,1755806538.084 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:02:18.085Z,1755806538.085 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:18.336Z,1755806538.336 [DAT](INFO): DAT read: user:4149>

2025-08-21T20:02:18.337Z,1755806538.337 [DAT](INFO): DAT read: Tx time:20:02:17.4998

2025-08-21T20:02:18.337Z,1755806538.337 [DAT](INFO): Ping request sent.
2025-08-21T20:02:18.337Z,1755806538.337 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:18.338Z,1755806538.338 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:18.338Z,1755806538.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T20:02:18.588Z,1755806538.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832
2025-08-21T20:02:18.666Z,1755806538.666 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3276,V
2025-08-21T20:02:18.840Z,1755806538.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503050
2025-08-21T20:02:19.092Z,1755806539.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910
2025-08-21T20:02:19.344Z,1755806539.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006778
2025-08-21T20:02:19.596Z,1755806539.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259077
2025-08-21T20:02:19.858Z,1755806539.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520482
2025-08-21T20:02:20.108Z,1755806540.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770792
2025-08-21T20:02:20.361Z,1755806540.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023218
2025-08-21T20:02:20.612Z,1755806540.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274822
2025-08-21T20:02:20.864Z,1755806540.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526814
2025-08-21T20:02:21.117Z,1755806541.117 [DAT](INFO): DAT read: Rx Time:20:02:19.9064

2025-08-21T20:02:21.118Z,1755806541.118 [DAT](INFO): Rx dataTimestamp_ set to:1755806541.117681
2025-08-21T20:02:21.119Z,1755806541.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781407
2025-08-21T20:02:21.368Z,1755806541.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030864
2025-08-21T20:02:21.623Z,1755806541.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284983
2025-08-21T20:02:21.878Z,1755806541.878 [DAT](INFO): DAT read: 20:02:19.9064 LVL= 24848, 10865, 26098, 27123, AGC= 41, IDX= 438, 0.11,-2.263,-3.042, 2.662,-1.596, PHS=-0.565,-1.401,-2.070, RAW=  63.7,  47.5, CAL=  60.1,  52.7, ROT=  89.9, -52.7

2025-08-21T20:02:21.879Z,1755806541.879 [DAT](INFO): got valid direction response:
 20:02:19.9064 LVL= 24848, 10865, 26098, 27123, AGC= 41, IDX= 438, 0.11,-2.263,-3.042, 2.662,-1.596, PHS=-0.565,-1.401,-2.070, RAW=  63.7,  47.5, CAL=  60.1,  52.7, ROT=  89.9, -52.7

2025-08-21T20:02:21.884Z,1755806541.884 [DAT](INFO): DAT read: Bearing 357.5,  43.2 (Local)

2025-08-21T20:02:21.884Z,1755806541.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.5,  43.2 (Local)

2025-08-21T20:02:21.885Z,1755806541.885 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:21.886Z,1755806541.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:21.887Z,1755806541.887 [DAT](INFO): direction in FSK: [0.001058,0.605987,0.795473]
2025-08-21T20:02:21.892Z,1755806541.892 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:27.978Z,1755806547.978 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:28.180Z,1755806548.180 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:02:28.180Z,1755806548.180 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:02:28.181Z,1755806548.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:28.436Z,1755806548.436 [DAT](INFO): DAT read: user:4150>

2025-08-21T20:02:28.437Z,1755806548.437 [DAT](INFO): DAT read: Tx time:20:02:27.5998

2025-08-21T20:02:28.437Z,1755806548.437 [DAT](INFO): Ping request sent.
2025-08-21T20:02:28.437Z,1755806548.437 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:28.437Z,1755806548.437 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:28.438Z,1755806548.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:02:28.684Z,1755806548.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247277
2025-08-21T20:02:28.936Z,1755806548.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499302
2025-08-21T20:02:29.188Z,1755806549.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751203
2025-08-21T20:02:29.440Z,1755806549.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003509
2025-08-21T20:02:29.692Z,1755806549.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255397
2025-08-21T20:02:29.944Z,1755806549.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507183
2025-08-21T20:02:30.197Z,1755806550.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760404
2025-08-21T20:02:30.449Z,1755806550.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012295
2025-08-21T20:02:30.700Z,1755806550.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263244
2025-08-21T20:02:30.952Z,1755806550.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515543
2025-08-21T20:02:31.207Z,1755806551.207 [DAT](INFO): DAT read: Rx Time:20:02:30.0064

2025-08-21T20:02:31.208Z,1755806551.208 [DAT](INFO): Rx dataTimestamp_ set to:1755806551.207584
2025-08-21T20:02:31.208Z,1755806551.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771481
2025-08-21T20:02:31.456Z,1755806551.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019235
2025-08-21T20:02:31.712Z,1755806551.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274103
2025-08-21T20:02:31.972Z,1755806551.972 [DAT](INFO): DAT read: 20:02:30.0063 LVL= 22544, 11617, 22882, 22611, AGC= 40, IDX= 438, 0.24, 0.229,-0.799,-1.113, 0.890, PHS=-0.559,-1.644,-2.047, RAW=  74.8,  48.4, CAL=  71.5,  54.2, ROT=  78.5, -54.2

2025-08-21T20:02:31.973Z,1755806551.973 [DAT](INFO): got valid direction response:
 20:02:30.0063 LVL= 22544, 11617, 22882, 22611, AGC= 40, IDX= 438, 0.24, 0.229,-0.799,-1.113, 0.890, PHS=-0.559,-1.644,-2.047, RAW=  74.8,  48.4, CAL=  71.5,  54.2, ROT=  78.5, -54.2

2025-08-21T20:02:31.974Z,1755806551.974 [DAT](INFO): DAT read: Bearing 349.0,  40.6 (Local)

2025-08-21T20:02:31.974Z,1755806551.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.0,  40.6 (Local)

2025-08-21T20:02:31.984Z,1755806551.984 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:31.985Z,1755806551.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:31.986Z,1755806551.986 [DAT](INFO): direction in FSK: [0.116622,0.573214,0.811064]
2025-08-21T20:02:31.986Z,1755806551.986 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:38.084Z,1755806558.084 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:38.264Z,1755806558.264 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:02:38.264Z,1755806558.264 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:02:38.264Z,1755806558.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:38.517Z,1755806558.517 [DAT](INFO): DAT read: user:4151>

2025-08-21T20:02:38.518Z,1755806558.518 [DAT](INFO): DAT read: Tx time:20:02:37.6997

2025-08-21T20:02:38.518Z,1755806558.518 [DAT](INFO): Ping request sent.
2025-08-21T20:02:38.518Z,1755806558.518 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:38.519Z,1755806558.519 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:38.520Z,1755806558.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001212
2025-08-21T20:02:38.768Z,1755806558.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250033
2025-08-21T20:02:39.020Z,1755806559.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501974
2025-08-21T20:02:39.272Z,1755806559.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754093
2025-08-21T20:02:39.524Z,1755806559.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006058
2025-08-21T20:02:39.779Z,1755806559.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260094
2025-08-21T20:02:40.028Z,1755806560.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510167
2025-08-21T20:02:40.280Z,1755806560.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762029
2025-08-21T20:02:40.533Z,1755806560.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014870
2025-08-21T20:02:40.785Z,1755806560.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266294
2025-08-21T20:02:41.036Z,1755806561.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518052
2025-08-21T20:02:41.291Z,1755806561.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772459
2025-08-21T20:02:41.541Z,1755806561.541 [DAT](INFO): DAT read: Rx Time:20:02:40.1063

2025-08-21T20:02:41.541Z,1755806561.541 [DAT](INFO): Rx dataTimestamp_ set to:1755806561.540703
2025-08-21T20:02:41.542Z,1755806561.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023328
2025-08-21T20:02:41.795Z,1755806561.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275955
2025-08-21T20:02:42.049Z,1755806562.049 [DAT](INFO): DAT read: 20:02:40.1063 LVL= 25808, 13041, 26178, 26083, AGC= 39, IDX= 438, 0.41, 2.345, 1.597, 1.016, 3.014, PHS=-0.568,-1.373,-2.042, RAW=  63.0,  47.8, CAL=  59.6,  52.9, ROT=  90.4, -52.9

2025-08-21T20:02:42.051Z,1755806562.051 [DAT](INFO): got valid direction response:
 20:02:40.1063 LVL= 25808, 13041, 26178, 26083, AGC= 39, IDX= 438, 0.41, 2.345, 1.597, 1.016, 3.014, PHS=-0.568,-1.373,-2.042, RAW=  63.0,  47.8, CAL=  59.6,  52.9, ROT=  90.4, -52.9

2025-08-21T20:02:42.053Z,1755806562.053 [DAT](INFO): DAT read: Bearing   2.9,  43.4 (Local)

2025-08-21T20:02:42.053Z,1755806562.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  43.4 (Local)

2025-08-21T20:02:42.054Z,1755806562.054 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:42.055Z,1755806562.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:42.092Z,1755806562.092 [DAT](INFO): direction in FSK: [-0.004211,0.603193,0.797584]
2025-08-21T20:02:42.092Z,1755806562.092 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:48.183Z,1755806568.183 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:48.345Z,1755806568.345 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:02:48.345Z,1755806568.345 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:02:48.345Z,1755806568.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:48.597Z,1755806568.597 [DAT](INFO): DAT read: user:4152>

2025-08-21T20:02:48.598Z,1755806568.598 [DAT](INFO): DAT read: Tx time:20:02:47.7997

2025-08-21T20:02:48.598Z,1755806568.598 [DAT](INFO): Ping request sent.
2025-08-21T20:02:48.598Z,1755806568.598 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:48.598Z,1755806568.598 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:48.599Z,1755806568.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001122
2025-08-21T20:02:48.851Z,1755806568.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251882
2025-08-21T20:02:49.100Z,1755806569.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501980
2025-08-21T20:02:49.352Z,1755806569.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754144
2025-08-21T20:02:49.604Z,1755806569.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006004
2025-08-21T20:02:49.856Z,1755806569.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258112
2025-08-21T20:02:50.108Z,1755806570.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510053
2025-08-21T20:02:50.360Z,1755806570.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762018
2025-08-21T20:02:50.616Z,1755806570.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017747
2025-08-21T20:02:50.867Z,1755806570.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267975
2025-08-21T20:02:51.116Z,1755806571.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518016
2025-08-21T20:02:51.373Z,1755806571.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775027
2025-08-21T20:02:51.624Z,1755806571.624 [DAT](INFO): DAT read: Rx Time:20:02:50.2063

2025-08-21T20:02:51.625Z,1755806571.625 [DAT](INFO): Rx dataTimestamp_ set to:1755806571.624429
2025-08-21T20:02:51.625Z,1755806571.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027105
2025-08-21T20:02:51.876Z,1755806571.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278019
2025-08-21T20:02:52.133Z,1755806572.133 [DAT](INFO): DAT read: 20:02:50.2063 LVL= 23840, 11233, 25234, 25763, AGC= 40, IDX= 438, 0.39,-0.732,-1.585,-2.059,-0.060, PHS=-0.571,-1.480,-2.043, RAW=  67.7,  48.4, CAL=  64.3,  53.7, ROT=  85.7, -53.7

2025-08-21T20:02:52.135Z,1755806572.135 [DAT](INFO): got valid direction response:
 20:02:50.2063 LVL= 23840, 11233, 25234, 25763, AGC= 40, IDX= 438, 0.39,-0.732,-1.585,-2.059,-0.060, PHS=-0.571,-1.480,-2.043, RAW=  67.7,  48.4, CAL=  64.3,  53.7, ROT=  85.7, -53.7

2025-08-21T20:02:52.136Z,1755806572.136 [DAT](INFO): DAT read: Bearing   0.1,  42.4 (Local)

2025-08-21T20:02:52.136Z,1755806572.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.1,  42.4 (Local)

2025-08-21T20:02:52.137Z,1755806572.137 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:02:52.138Z,1755806572.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:02:52.139Z,1755806572.139 [DAT](INFO): direction in FSK: [0.044388,0.590347,0.805928]
2025-08-21T20:02:52.139Z,1755806572.139 [DAT](INFO): publishing direction and range info
2025-08-21T20:02:52.584Z,1755806572.584 [BPC1](FAULT): Failed to receive data from all battery packs.
2025-08-21T20:02:52.585Z,1755806572.585 [BPC1] Communications Fault, FailCount= 2
2025-08-21T20:02:52.585Z,1755806572.585 [BPC1](ERROR): Communications Fault
2025-08-21T20:02:52.656Z,1755806572.656 [CBIT](ERROR): Communications Fault in component: BPC1
2025-08-21T20:02:58.276Z,1755806578.276 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:02:58.433Z,1755806578.433 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:02:58.433Z,1755806578.433 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:02:58.433Z,1755806578.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:02:58.685Z,1755806578.685 [DAT](INFO): DAT read: user:4153>

2025-08-21T20:02:58.686Z,1755806578.686 [DAT](INFO): DAT read: Tx time:20:02:57.8497

2025-08-21T20:02:58.686Z,1755806578.686 [DAT](INFO): Ping request sent.
2025-08-21T20:02:58.686Z,1755806578.686 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:02:58.687Z,1755806578.687 [DAT](INFO): publishing transmit ping time
2025-08-21T20:02:58.688Z,1755806578.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001133
2025-08-21T20:02:58.936Z,1755806578.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249993
2025-08-21T20:02:59.188Z,1755806579.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502071
2025-08-21T20:02:59.444Z,1755806579.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757989
2025-08-21T20:02:59.696Z,1755806579.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010019
2025-08-21T20:02:59.948Z,1755806579.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262136
2025-08-21T20:03:00.200Z,1755806580.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514023
2025-08-21T20:03:00.452Z,1755806580.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766036
2025-08-21T20:03:00.705Z,1755806580.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018601
2025-08-21T20:03:00.956Z,1755806580.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270024
2025-08-21T20:03:01.208Z,1755806581.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522031
2025-08-21T20:03:01.462Z,1755806581.462 [DAT](INFO): DAT read: Rx Time:20:03:00.2562

2025-08-21T20:03:01.463Z,1755806581.463 [DAT](INFO): Rx dataTimestamp_ set to:1755806581.462556
2025-08-21T20:03:01.463Z,1755806581.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777322
2025-08-21T20:03:01.716Z,1755806581.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029952
2025-08-21T20:03:01.971Z,1755806581.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283813
2025-08-21T20:03:02.230Z,1755806582.230 [DAT](INFO): DAT read: 20:03:00.2562 LVL= 24032, 13265, 23922, 24243, AGC= 42, IDX= 437, 0.46, 0.692,-0.461,-0.635, 1.358, PHS=-0.564,-1.774,-2.037, RAW=  80.4,  48.7, CAL=  77.9,  54.8, ROT=  72.1, -54.8

2025-08-21T20:03:02.231Z,1755806582.231 [DAT](INFO): got valid direction response:
 20:03:00.2562 LVL= 24032, 13265, 23922, 24243, AGC= 42, IDX= 437, 0.46, 0.692,-0.461,-0.635, 1.358, PHS=-0.564,-1.774,-2.037, RAW=  80.4,  48.7, CAL=  77.9,  54.8, ROT=  72.1, -54.8

2025-08-21T20:03:02.232Z,1755806582.232 [DAT](INFO): DAT read: Bearing 346.6,  38.6 (Local)

2025-08-21T20:03:02.232Z,1755806582.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 346.6,  38.6 (Local)

2025-08-21T20:03:02.234Z,1755806582.234 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:03:02.234Z,1755806582.234 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:02.236Z,1755806582.236 [DAT](INFO): direction in FSK: [0.177170,0.548530,0.817145]
2025-08-21T20:03:02.236Z,1755806582.236 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:08.378Z,1755806588.378 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:08.524Z,1755806588.524 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:08.524Z,1755806588.524 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:08.524Z,1755806588.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:08.776Z,1755806588.776 [DAT](INFO): DAT read: user:4154>

2025-08-21T20:03:08.777Z,1755806588.777 [DAT](INFO): DAT read: Tx time:20:03:07.9497

2025-08-21T20:03:08.777Z,1755806588.777 [DAT](INFO): Ping request sent.
2025-08-21T20:03:08.777Z,1755806588.777 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:08.777Z,1755806588.777 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:08.778Z,1755806588.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:03:09.030Z,1755806589.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251454
2025-08-21T20:03:09.281Z,1755806589.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503810
2025-08-21T20:03:09.532Z,1755806589.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895
2025-08-21T20:03:09.784Z,1755806589.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006935
2025-08-21T20:03:10.036Z,1755806590.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958
2025-08-21T20:03:10.288Z,1755806590.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511160
2025-08-21T20:03:10.540Z,1755806590.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762961
2025-08-21T20:03:10.792Z,1755806590.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907
2025-08-21T20:03:11.044Z,1755806591.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909
2025-08-21T20:03:11.297Z,1755806591.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520024
2025-08-21T20:03:11.548Z,1755806591.548 [DAT](INFO): DAT read: Rx Time:20:03:10.3563

2025-08-21T20:03:11.549Z,1755806591.549 [DAT](INFO): Rx dataTimestamp_ set to:1755806591.548455
2025-08-21T20:03:11.549Z,1755806591.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771995
2025-08-21T20:03:11.800Z,1755806591.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848
2025-08-21T20:03:12.057Z,1755806592.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279630
2025-08-21T20:03:12.313Z,1755806592.313 [DAT](INFO): DAT read: 20:03:10.3563 LVL= 25216, 11729, 26050, 26355, AGC= 42, IDX= 439,-0.42, 2.976, 2.387, 1.649,-2.632, PHS=-0.573,-1.219,-2.046, RAW=  55.9,  46.7, CAL=  52.9,  51.7, ROT=  97.1, -51.7

2025-08-21T20:03:12.315Z,1755806592.315 [DAT](INFO): got valid direction response:
 20:03:10.3563 LVL= 25216, 11729, 26050, 26355, AGC= 42, IDX= 439,-0.42, 2.976, 2.387, 1.649,-2.632, PHS=-0.573,-1.219,-2.046, RAW=  55.9,  46.7, CAL=  52.9,  51.7, ROT=  97.1, -51.7

2025-08-21T20:03:12.316Z,1755806592.316 [DAT](INFO): DAT read: Bearing  13.6,  44.3 (Local)

2025-08-21T20:03:12.316Z,1755806592.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.6,  44.3 (Local)

2025-08-21T20:03:12.317Z,1755806592.317 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:03:12.318Z,1755806592.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:12.319Z,1755806592.319 [DAT](INFO): direction in FSK: [-0.076606,0.615027,0.784776]
2025-08-21T20:03:12.319Z,1755806592.319 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:18.512Z,1755806598.512 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:18.608Z,1755806598.608 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:18.608Z,1755806598.608 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:18.608Z,1755806598.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:18.860Z,1755806598.860 [DAT](INFO): DAT read: user:4155>

2025-08-21T20:03:18.861Z,1755806598.861 [DAT](INFO): DAT read: Tx time:20:03:18.0497

2025-08-21T20:03:18.861Z,1755806598.861 [DAT](INFO): Ping request sent.
2025-08-21T20:03:18.861Z,1755806598.861 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:18.862Z,1755806598.862 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:18.862Z,1755806598.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-21T20:03:19.112Z,1755806599.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250672
2025-08-21T20:03:19.364Z,1755806599.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502716
2025-08-21T20:03:19.616Z,1755806599.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754775
2025-08-21T20:03:19.868Z,1755806599.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006713
2025-08-21T20:03:20.121Z,1755806600.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259071
2025-08-21T20:03:20.374Z,1755806600.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512590
2025-08-21T20:03:20.624Z,1755806600.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762742
2025-08-21T20:03:20.876Z,1755806600.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014845
2025-08-21T20:03:21.128Z,1755806601.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266714
2025-08-21T20:03:21.380Z,1755806601.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518953
2025-08-21T20:03:21.632Z,1755806601.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770746
2025-08-21T20:03:21.884Z,1755806601.884 [DAT](INFO): DAT read: Rx Time:20:03:20.4562

2025-08-21T20:03:21.885Z,1755806601.885 [DAT](INFO): Rx dataTimestamp_ set to:1755806601.884497
2025-08-21T20:03:21.885Z,1755806601.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023863
2025-08-21T20:03:22.157Z,1755806602.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295190
2025-08-21T20:03:22.414Z,1755806602.414 [DAT](INFO): DAT read: 20:03:20.4562 LVL= 24368, 12273, 24562, 25075, AGC= 40, IDX= 438,-0.32,-1.336,-2.162,-2.655,-0.667, PHS=-0.568,-1.450,-2.032, RAW=  66.8,  48.3, CAL=  63.3,  53.6, ROT=  86.7, -53.6

2025-08-21T20:03:22.415Z,1755806602.415 [DAT](INFO): got valid direction response:
 20:03:20.4562 LVL= 24368, 12273, 24562, 25075, AGC= 40, IDX= 438,-0.32,-1.336,-2.162,-2.655,-0.667, PHS=-0.568,-1.450,-2.032, RAW=  66.8,  48.3, CAL=  63.3,  53.6, ROT=  86.7, -53.6

2025-08-21T20:03:22.416Z,1755806602.416 [DAT](INFO): DAT read: Bearing   3.2,  42.6 (Local)

2025-08-21T20:03:22.416Z,1755806602.416 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.2,  42.6 (Local)

2025-08-21T20:03:22.417Z,1755806602.417 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:03:22.418Z,1755806602.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:22.419Z,1755806602.419 [DAT](INFO): direction in FSK: [0.034160,0.592435,0.804894]
2025-08-21T20:03:22.419Z,1755806602.419 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:28.585Z,1755806608.585 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:28.704Z,1755806608.704 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:28.704Z,1755806608.704 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:28.705Z,1755806608.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:28.956Z,1755806608.956 [DAT](INFO): DAT read: user:4156>

2025-08-21T20:03:28.957Z,1755806608.957 [DAT](INFO): DAT read: Tx time:20:03:28.1496

2025-08-21T20:03:28.957Z,1755806608.957 [DAT](INFO): Ping request sent.
2025-08-21T20:03:28.957Z,1755806608.957 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:28.958Z,1755806608.958 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:28.958Z,1755806608.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T20:03:29.208Z,1755806609.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250947
2025-08-21T20:03:29.464Z,1755806609.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505485
2025-08-21T20:03:29.712Z,1755806609.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800
2025-08-21T20:03:29.964Z,1755806609.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007054
2025-08-21T20:03:30.217Z,1755806610.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259517
2025-08-21T20:03:30.470Z,1755806610.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512482
2025-08-21T20:03:30.720Z,1755806610.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762793
2025-08-21T20:03:30.972Z,1755806610.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014975
2025-08-21T20:03:31.224Z,1755806611.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266778
2025-08-21T20:03:31.479Z,1755806611.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520761
2025-08-21T20:03:31.728Z,1755806611.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770864
2025-08-21T20:03:31.980Z,1755806611.980 [DAT](INFO): DAT read: Rx Time:20:03:30.5561

2025-08-21T20:03:31.981Z,1755806611.981 [DAT](INFO): Rx dataTimestamp_ set to:1755806611.980442
2025-08-21T20:03:31.981Z,1755806611.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866
2025-08-21T20:03:32.233Z,1755806612.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275630
2025-08-21T20:03:32.490Z,1755806612.490 [DAT](INFO): DAT read: 20:03:30.5561 LVL= 24160, 12657, 25186, 24963, AGC= 41, IDX= 438,-0.20, 1.469, 0.509, 0.135, 2.140, PHS=-0.569,-1.586,-2.049, RAW=  72.2,  48.6, CAL=  68.7,  54.2, ROT=  81.3, -54.2

2025-08-21T20:03:32.491Z,1755806612.491 [DAT](INFO): got valid direction response:
 20:03:30.5561 LVL= 24160, 12657, 25186, 24963, AGC= 41, IDX= 438,-0.20, 1.469, 0.509, 0.135, 2.140, PHS=-0.569,-1.586,-2.049, RAW=  72.2,  48.6, CAL=  68.7,  54.2, ROT=  81.3, -54.2

2025-08-21T20:03:32.492Z,1755806612.492 [DAT](INFO): DAT read: Bearing 359.3,  41.3 (Local)

2025-08-21T20:03:32.493Z,1755806612.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  41.3 (Local)

2025-08-21T20:03:32.498Z,1755806612.498 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:03:32.512Z,1755806612.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:32.530Z,1755806612.530 [DAT](INFO): direction in FSK: [0.088481,0.578227,0.811064]
2025-08-21T20:03:32.531Z,1755806612.531 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:38.705Z,1755806618.705 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:38.788Z,1755806618.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:38.789Z,1755806618.789 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:38.789Z,1755806618.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:39.040Z,1755806619.040 [DAT](INFO): DAT read: user:4157>

2025-08-21T20:03:39.041Z,1755806619.041 [DAT](INFO): DAT read: Tx time:20:03:38.1996

2025-08-21T20:03:39.041Z,1755806619.041 [DAT](INFO): Ping request sent.
2025-08-21T20:03:39.041Z,1755806619.041 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:39.041Z,1755806619.041 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:39.042Z,1755806619.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T20:03:39.292Z,1755806619.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250946
2025-08-21T20:03:39.544Z,1755806619.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503109
2025-08-21T20:03:39.796Z,1755806619.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755138
2025-08-21T20:03:40.048Z,1755806620.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007112
2025-08-21T20:03:40.313Z,1755806620.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271528
2025-08-21T20:03:40.564Z,1755806620.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522939
2025-08-21T20:03:40.816Z,1755806620.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774953
2025-08-21T20:03:41.068Z,1755806621.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026978
2025-08-21T20:03:41.320Z,1755806621.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278913
2025-08-21T20:03:41.572Z,1755806621.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530999
2025-08-21T20:03:41.824Z,1755806621.824 [DAT](INFO): DAT read: Rx Time:20:03:40.6061

2025-08-21T20:03:41.825Z,1755806621.825 [DAT](INFO): Rx dataTimestamp_ set to:1755806621.824420
2025-08-21T20:03:41.825Z,1755806621.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783967
2025-08-21T20:03:42.077Z,1755806622.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035740
2025-08-21T20:03:42.331Z,1755806622.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289262
2025-08-21T20:03:42.586Z,1755806622.586 [DAT](INFO): DAT read: 20:03:40.6061 LVL= 24272, 12945, 24914, 24547, AGC= 40, IDX= 438,-0.11,-2.638, 2.793, 2.331,-1.970, PHS=-0.566,-1.475,-2.026, RAW=  68.1,  48.4, CAL=  64.6,  53.7, ROT=  85.4, -53.7

2025-08-21T20:03:42.587Z,1755806622.587 [DAT](INFO): got valid direction response:
 20:03:40.6061 LVL= 24272, 12945, 24914, 24547, AGC= 40, IDX= 438,-0.11,-2.638, 2.793, 2.331,-1.970, PHS=-0.566,-1.475,-2.026, RAW=  68.1,  48.4, CAL=  64.6,  53.7, ROT=  85.4, -53.7

2025-08-21T20:03:42.588Z,1755806622.588 [DAT](INFO): DAT read: Bearing   1.3,  42.0 (Local)

2025-08-21T20:03:42.588Z,1755806622.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.3,  42.0 (Local)

2025-08-21T20:03:42.590Z,1755806622.590 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:03:42.590Z,1755806622.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:42.591Z,1755806622.591 [DAT](INFO): direction in FSK: [0.047479,0.590106,0.805928]
2025-08-21T20:03:42.592Z,1755806622.592 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:48.808Z,1755806628.808 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:48.888Z,1755806628.888 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:48.888Z,1755806628.888 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:48.888Z,1755806628.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:49.140Z,1755806629.140 [DAT](INFO): DAT read: user:4158>

2025-08-21T20:03:49.141Z,1755806629.141 [DAT](INFO): DAT read: Tx time:20:03:48.2996

2025-08-21T20:03:49.142Z,1755806629.142 [DAT](INFO): Ping request sent.
2025-08-21T20:03:49.142Z,1755806629.142 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:49.142Z,1755806629.142 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:49.143Z,1755806629.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001044
2025-08-21T20:03:49.392Z,1755806629.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250318
2025-08-21T20:03:49.644Z,1755806629.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502429
2025-08-21T20:03:49.896Z,1755806629.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754453
2025-08-21T20:03:50.149Z,1755806630.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006719
2025-08-21T20:03:50.401Z,1755806630.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259052
2025-08-21T20:03:50.652Z,1755806630.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510451
2025-08-21T20:03:50.905Z,1755806630.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763442
2025-08-21T20:03:51.157Z,1755806631.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014809
2025-08-21T20:03:51.408Z,1755806631.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266406
2025-08-21T20:03:51.661Z,1755806631.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518806
2025-08-21T20:03:51.913Z,1755806631.913 [DAT](INFO): DAT read: Rx Time:20:03:50.7061

2025-08-21T20:03:51.913Z,1755806631.913 [DAT](INFO): Rx dataTimestamp_ set to:1755806631.912700
2025-08-21T20:03:51.914Z,1755806631.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771714
2025-08-21T20:03:52.165Z,1755806632.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022956
2025-08-21T20:03:52.419Z,1755806632.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276639
2025-08-21T20:03:52.678Z,1755806632.678 [DAT](INFO): DAT read: 20:03:50.7061 LVL= 22064, 11761, 22450, 22403, AGC= 39, IDX= 438,-0.10, 0.177,-0.590,-1.138, 0.855, PHS=-0.576,-1.400,-2.037, RAW=  64.2,  48.2, CAL=  60.7,  53.3, ROT=  89.3, -53.3

2025-08-21T20:03:52.679Z,1755806632.679 [DAT](INFO): got valid direction response:
 20:03:50.7061 LVL= 22064, 11761, 22450, 22403, AGC= 39, IDX= 438,-0.10, 0.177,-0.590,-1.138, 0.855, PHS=-0.576,-1.400,-2.037, RAW=  64.2,  48.2, CAL=  60.7,  53.3, ROT=  89.3, -53.3

2025-08-21T20:03:52.680Z,1755806632.680 [DAT](INFO): DAT read: Bearing   9.4,  42.9 (Local)

2025-08-21T20:03:52.681Z,1755806632.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.4,  42.9 (Local)

2025-08-21T20:03:52.682Z,1755806632.682 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:03:52.682Z,1755806632.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:03:52.684Z,1755806632.684 [DAT](INFO): direction in FSK: [0.007301,0.597581,0.801776]
2025-08-21T20:03:52.684Z,1755806632.684 [DAT](INFO): publishing direction and range info
2025-08-21T20:03:58.865Z,1755806638.865 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:03:58.968Z,1755806638.968 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:03:58.968Z,1755806638.968 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:03:58.968Z,1755806638.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:03:59.220Z,1755806639.220 [DAT](INFO): DAT read: user:4159>

2025-08-21T20:03:59.221Z,1755806639.221 [DAT](INFO): DAT read: Tx time:20:03:58.3995

2025-08-21T20:03:59.221Z,1755806639.221 [DAT](INFO): Ping request sent.
2025-08-21T20:03:59.221Z,1755806639.221 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:03:59.221Z,1755806639.221 [DAT](INFO): publishing transmit ping time
2025-08-21T20:03:59.222Z,1755806639.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T20:03:59.472Z,1755806639.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895
2025-08-21T20:03:59.725Z,1755806639.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504045
2025-08-21T20:03:59.976Z,1755806639.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754893
2025-08-21T20:04:00.228Z,1755806640.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006918
2025-08-21T20:04:00.483Z,1755806640.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261468
2025-08-21T20:04:00.732Z,1755806640.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826
2025-08-21T20:04:00.985Z,1755806640.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763238
2025-08-21T20:04:01.236Z,1755806641.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014948
2025-08-21T20:04:01.488Z,1755806641.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266945
2025-08-21T20:04:01.747Z,1755806641.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526117
2025-08-21T20:04:02.000Z,1755806642.000 [DAT](INFO): DAT read: Rx Time:20:04:00.8061

2025-08-21T20:04:02.001Z,1755806642.001 [DAT](INFO): Rx dataTimestamp_ set to:1755806642.000515
2025-08-21T20:04:02.001Z,1755806642.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780046
2025-08-21T20:04:02.252Z,1755806642.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030839
2025-08-21T20:04:02.507Z,1755806642.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285155
2025-08-21T20:04:02.762Z,1755806642.762 [DAT](INFO): DAT read: 20:04:00.8061 LVL= 23696, 12577, 24386, 24243, AGC= 40, IDX= 438,-0.04,-2.521, 2.745, 2.443,-1.852, PHS=-0.566,-1.641,-2.033, RAW=  75.0,  48.7, CAL=  71.8,  54.5, ROT=  78.2, -54.5

2025-08-21T20:04:02.763Z,1755806642.763 [DAT](INFO): got valid direction response:
 20:04:00.8061 LVL= 23696, 12577, 24386, 24243, AGC= 40, IDX= 438,-0.04,-2.521, 2.745, 2.443,-1.852, PHS=-0.566,-1.641,-2.033, RAW=  75.0,  48.7, CAL=  71.8,  54.5, ROT=  78.2, -54.5

2025-08-21T20:04:02.764Z,1755806642.764 [DAT](INFO): DAT read: Bearing 358.3,  40.7 (Local)

2025-08-21T20:04:02.764Z,1755806642.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  40.7 (Local)

2025-08-21T20:04:02.765Z,1755806642.765 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:04:02.766Z,1755806642.766 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:02.767Z,1755806642.767 [DAT](INFO): direction in FSK: [0.118751,0.568431,0.814116]
2025-08-21T20:04:02.768Z,1755806642.768 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:08.955Z,1755806648.955 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:09.074Z,1755806649.074 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:09.075Z,1755806649.075 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:09.076Z,1755806649.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:09.324Z,1755806649.324 [DAT](INFO): DAT read: user:4160>

2025-08-21T20:04:09.325Z,1755806649.325 [DAT](INFO): DAT read: Tx time:20:04:08.4995

2025-08-21T20:04:09.325Z,1755806649.325 [DAT](INFO): Ping request sent.
2025-08-21T20:04:09.325Z,1755806649.325 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:09.325Z,1755806649.325 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:09.326Z,1755806649.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-21T20:04:09.576Z,1755806649.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250979
2025-08-21T20:04:09.828Z,1755806649.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503153
2025-08-21T20:04:10.084Z,1755806650.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758703
2025-08-21T20:04:10.332Z,1755806650.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954
2025-08-21T20:04:10.584Z,1755806650.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031
2025-08-21T20:04:10.836Z,1755806650.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511140
2025-08-21T20:04:11.093Z,1755806651.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766575
2025-08-21T20:04:11.340Z,1755806651.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014878
2025-08-21T20:04:11.592Z,1755806651.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902
2025-08-21T20:04:11.845Z,1755806651.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519786
2025-08-21T20:04:12.098Z,1755806652.098 [DAT](INFO): DAT read: Rx Time:20:04:10.9061

2025-08-21T20:04:12.100Z,1755806652.100 [DAT](INFO): Rx dataTimestamp_ set to:1755806652.099322
2025-08-21T20:04:12.102Z,1755806652.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775985
2025-08-21T20:04:12.349Z,1755806652.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023357
2025-08-21T20:04:12.605Z,1755806652.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278905
2025-08-21T20:04:12.857Z,1755806652.857 [DAT](INFO): DAT read: 20:04:10.9061 LVL= 19008, 10673, 20658, 19251, AGC= 42, IDX= 438, 0.07, 1.073,-0.190,-0.282, 1.726, PHS=-0.552,-1.871,-2.052, RAW=  83.7,  48.1, CAL=  81.7,  54.4, ROT=  68.3, -54.4

2025-08-21T20:04:12.858Z,1755806652.858 [DAT](INFO): got valid direction response:
 20:04:10.9061 LVL= 19008, 10673, 20658, 19251, AGC= 42, IDX= 438, 0.07, 1.073,-0.190,-0.282, 1.726, PHS=-0.552,-1.871,-2.052, RAW=  83.7,  48.1, CAL=  81.7,  54.4, ROT=  68.3, -54.4

2025-08-21T20:04:12.859Z,1755806652.859 [DAT](INFO): DAT read: Bearing 352.1,  38.4 (Local)

2025-08-21T20:04:12.860Z,1755806652.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.1,  38.4 (Local)

2025-08-21T20:04:12.861Z,1755806652.861 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:04:12.862Z,1755806652.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:12.863Z,1755806652.863 [DAT](INFO): direction in FSK: [0.215238,0.540869,0.813101]
2025-08-21T20:04:12.863Z,1755806652.863 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:19.068Z,1755806659.068 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:19.161Z,1755806659.161 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:19.161Z,1755806659.161 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:19.161Z,1755806659.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:19.412Z,1755806659.412 [DAT](INFO): DAT read: user:4161>

2025-08-21T20:04:19.413Z,1755806659.413 [DAT](INFO): DAT read: Tx time:20:04:18.5995

2025-08-21T20:04:19.413Z,1755806659.413 [DAT](INFO): Ping request sent.
2025-08-21T20:04:19.413Z,1755806659.413 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:19.413Z,1755806659.413 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:19.414Z,1755806659.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T20:04:19.664Z,1755806659.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251076
2025-08-21T20:04:19.917Z,1755806659.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503215
2025-08-21T20:04:20.172Z,1755806660.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758004
2025-08-21T20:04:20.420Z,1755806660.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006882
2025-08-21T20:04:20.673Z,1755806660.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259225
2025-08-21T20:04:20.924Z,1755806660.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510962
2025-08-21T20:04:21.177Z,1755806661.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763279
2025-08-21T20:04:21.428Z,1755806661.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869
2025-08-21T20:04:21.680Z,1755806661.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266960
2025-08-21T20:04:21.941Z,1755806661.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527852
2025-08-21T20:04:22.192Z,1755806662.192 [DAT](INFO): DAT read: Rx Time:20:04:21.0061

2025-08-21T20:04:22.193Z,1755806662.193 [DAT](INFO): Rx dataTimestamp_ set to:1755806662.192678
2025-08-21T20:04:22.193Z,1755806662.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780235
2025-08-21T20:04:22.444Z,1755806662.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031027
2025-08-21T20:04:22.699Z,1755806662.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285021
2025-08-21T20:04:22.954Z,1755806662.954 [DAT](INFO): DAT read: 20:04:21.0061 LVL= 21104, 12209, 21826, 20659, AGC= 40, IDX= 438, 0.18,-1.761,-3.023,-3.095,-1.104, PHS=-0.555,-1.873,-2.034, RAW=  84.3,  48.3, CAL=  82.4,  54.5, ROT=  67.6, -54.5

2025-08-21T20:04:22.955Z,1755806662.955 [DAT](INFO): got valid direction response:
 20:04:21.0061 LVL= 21104, 12209, 21826, 20659, AGC= 40, IDX= 438, 0.18,-1.761,-3.023,-3.095,-1.104, PHS=-0.555,-1.873,-2.034, RAW=  84.3,  48.3, CAL=  82.4,  54.5, ROT=  67.6, -54.5

2025-08-21T20:04:22.956Z,1755806662.956 [DAT](INFO): DAT read: Bearing 350.4,  38.5 (Local)

2025-08-21T20:04:22.956Z,1755806662.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.4,  38.5 (Local)

2025-08-21T20:04:22.957Z,1755806662.957 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:04:22.958Z,1755806662.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:22.959Z,1755806662.959 [DAT](INFO): direction in FSK: [0.221289,0.536887,0.814116]
2025-08-21T20:04:22.959Z,1755806662.959 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:29.164Z,1755806669.164 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:29.248Z,1755806669.248 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:29.248Z,1755806669.248 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:29.248Z,1755806669.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:29.500Z,1755806669.500 [DAT](INFO): DAT read: user:4162>

2025-08-21T20:04:29.501Z,1755806669.501 [DAT](INFO): DAT read: Tx time:20:04:28.6494

2025-08-21T20:04:29.501Z,1755806669.501 [DAT](INFO): Ping request sent.
2025-08-21T20:04:29.501Z,1755806669.501 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:29.501Z,1755806669.501 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:29.502Z,1755806669.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:04:29.752Z,1755806669.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251101
2025-08-21T20:04:30.005Z,1755806670.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503601
2025-08-21T20:04:30.256Z,1755806670.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854
2025-08-21T20:04:30.508Z,1755806670.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006990
2025-08-21T20:04:30.760Z,1755806670.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259041
2025-08-21T20:04:31.012Z,1755806671.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510879
2025-08-21T20:04:31.264Z,1755806671.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762919
2025-08-21T20:04:31.516Z,1755806671.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014925
2025-08-21T20:04:31.768Z,1755806671.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266861
2025-08-21T20:04:32.020Z,1755806672.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519169
2025-08-21T20:04:32.272Z,1755806672.272 [DAT](INFO): DAT read: Rx Time:20:04:31.0560

2025-08-21T20:04:32.273Z,1755806672.273 [DAT](INFO): Rx dataTimestamp_ set to:1755806672.272478
2025-08-21T20:04:32.273Z,1755806672.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771997
2025-08-21T20:04:32.525Z,1755806672.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023951
2025-08-21T20:04:32.780Z,1755806672.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278278
2025-08-21T20:04:33.033Z,1755806673.033 [DAT](INFO): DAT read: 20:04:31.0560 LVL= 22000, 11697, 22450, 22179, AGC= 40, IDX= 438, 0.27, 0.490,-0.483,-0.852, 1.152, PHS=-0.561,-1.590,-2.049, RAW=  72.5,  48.4, CAL=  69.0,  54.0, ROT=  81.0, -54.0

2025-08-21T20:04:33.035Z,1755806673.035 [DAT](INFO): got valid direction response:
 20:04:31.0560 LVL= 22000, 11697, 22450, 22179, AGC= 40, IDX= 438, 0.27, 0.490,-0.483,-0.852, 1.152, PHS=-0.561,-1.590,-2.049, RAW=  72.5,  48.4, CAL=  69.0,  54.0, ROT=  81.0, -54.0

2025-08-21T20:04:33.036Z,1755806673.036 [DAT](INFO): DAT read: Bearing   3.3,  42.2 (Local)

2025-08-21T20:04:33.036Z,1755806673.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  42.2 (Local)

2025-08-21T20:04:33.037Z,1755806673.037 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:04:33.038Z,1755806673.038 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:33.039Z,1755806673.039 [DAT](INFO): direction in FSK: [0.091950,0.580549,0.809017]
2025-08-21T20:04:33.039Z,1755806673.039 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:39.260Z,1755806679.260 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:39.340Z,1755806679.340 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:39.340Z,1755806679.340 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:39.340Z,1755806679.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:39.592Z,1755806679.592 [DAT](INFO): DAT read: user:4163>

2025-08-21T20:04:39.593Z,1755806679.593 [DAT](INFO): DAT read: Tx time:20:04:38.7494

2025-08-21T20:04:39.593Z,1755806679.593 [DAT](INFO): Ping request sent.
2025-08-21T20:04:39.593Z,1755806679.593 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:39.593Z,1755806679.593 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:39.594Z,1755806679.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:04:39.844Z,1755806679.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250877
2025-08-21T20:04:40.097Z,1755806680.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503427
2025-08-21T20:04:40.348Z,1755806680.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755140
2025-08-21T20:04:40.600Z,1755806680.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897
2025-08-21T20:04:40.852Z,1755806680.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258851
2025-08-21T20:04:41.104Z,1755806681.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511127
2025-08-21T20:04:41.356Z,1755806681.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762909
2025-08-21T20:04:41.608Z,1755806681.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981
2025-08-21T20:04:41.860Z,1755806681.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267140
2025-08-21T20:04:42.114Z,1755806682.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521140
2025-08-21T20:04:42.364Z,1755806682.364 [DAT](INFO): DAT read: Rx Time:20:04:41.1559

2025-08-21T20:04:42.365Z,1755806682.365 [DAT](INFO): Rx dataTimestamp_ set to:1755806682.364418
2025-08-21T20:04:42.365Z,1755806682.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771921
2025-08-21T20:04:42.616Z,1755806682.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022841
2025-08-21T20:04:42.871Z,1755806682.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277262
2025-08-21T20:04:43.130Z,1755806683.130 [DAT](INFO): DAT read: 20:04:41.1559 LVL= 23280, 12385, 24018, 24883, AGC= 43, IDX= 437, 0.34, 2.719, 1.577, 1.371,-2.903, PHS=-0.560,-1.758,-2.054, RAW=  79.2,  48.4, CAL=  76.6,  54.5, ROT=  73.4, -54.5

2025-08-21T20:04:43.131Z,1755806683.131 [DAT](INFO): got valid direction response:
 20:04:41.1559 LVL= 23280, 12385, 24018, 24883, AGC= 43, IDX= 437, 0.34, 2.719, 1.577, 1.371,-2.903, PHS=-0.560,-1.758,-2.054, RAW=  79.2,  48.4, CAL=  76.6,  54.5, ROT=  73.4, -54.5

2025-08-21T20:04:43.132Z,1755806683.132 [DAT](INFO): DAT read: Bearing 356.2,  40.3 (Local)

2025-08-21T20:04:43.132Z,1755806683.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  40.3 (Local)

2025-08-21T20:04:43.134Z,1755806683.134 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:04:43.134Z,1755806683.134 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:43.135Z,1755806683.135 [DAT](INFO): direction in FSK: [0.165900,0.556501,0.814116]
2025-08-21T20:04:43.136Z,1755806683.136 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:49.364Z,1755806689.364 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:49.424Z,1755806689.424 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:49.424Z,1755806689.424 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:49.424Z,1755806689.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:49.679Z,1755806689.679 [DAT](INFO): DAT read: user:4164>

2025-08-21T20:04:49.681Z,1755806689.681 [DAT](INFO): DAT read: Tx time:20:04:48.8494

2025-08-21T20:04:49.683Z,1755806689.683 [DAT](INFO): Ping request sent.
2025-08-21T20:04:49.683Z,1755806689.683 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:49.684Z,1755806689.684 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:49.686Z,1755806689.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003148
2025-08-21T20:04:49.932Z,1755806689.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249307
2025-08-21T20:04:50.180Z,1755806690.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497904
2025-08-21T20:04:50.432Z,1755806690.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749794
2025-08-21T20:04:50.576Z,1755806690.576 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T20:04:50.687Z,1755806690.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003859
2025-08-21T20:04:50.936Z,1755806690.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253960
2025-08-21T20:04:51.011Z,1755806691.011 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T20:04:51.188Z,1755806691.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505850
2025-08-21T20:04:51.440Z,1755806691.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757812
2025-08-21T20:04:51.696Z,1755806691.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012837
2025-08-21T20:04:51.944Z,1755806691.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261840
2025-08-21T20:04:52.196Z,1755806692.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513793
2025-08-21T20:04:52.449Z,1755806692.449 [DAT](INFO): DAT read: Rx Time:20:04:51.2559

2025-08-21T20:04:52.449Z,1755806692.449 [DAT](INFO): Rx dataTimestamp_ set to:1755806692.448701
2025-08-21T20:04:52.449Z,1755806692.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767085
2025-08-21T20:04:52.703Z,1755806692.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019978
2025-08-21T20:04:52.955Z,1755806692.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272312
2025-08-21T20:04:53.209Z,1755806693.209 [DAT](INFO): DAT read: 20:04:51.2559 LVL= 21056, 11345, 21858, 21731, AGC= 40, IDX= 438,-0.35,-3.112, 2.373, 1.841,-2.445, PHS=-0.566,-1.421,-2.042, RAW=  65.2,  48.0, CAL=  61.7,  53.2, ROT=  88.3, -53.2

2025-08-21T20:04:53.211Z,1755806693.211 [DAT](INFO): got valid direction response:
 20:04:51.2559 LVL= 21056, 11345, 21858, 21731, AGC= 40, IDX= 438,-0.35,-3.112, 2.373, 1.841,-2.445, PHS=-0.566,-1.421,-2.042, RAW=  65.2,  48.0, CAL=  61.7,  53.2, ROT=  88.3, -53.2

2025-08-21T20:04:53.212Z,1755806693.212 [DAT](INFO): DAT read: Bearing   6.8,  43.1 (Local)

2025-08-21T20:04:53.212Z,1755806693.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.8,  43.1 (Local)

2025-08-21T20:04:53.214Z,1755806693.214 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:04:53.214Z,1755806693.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:04:53.216Z,1755806693.216 [DAT](INFO): direction in FSK: [0.017771,0.598760,0.800731]
2025-08-21T20:04:53.216Z,1755806693.216 [DAT](INFO): publishing direction and range info
2025-08-21T20:04:59.472Z,1755806699.472 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:04:59.513Z,1755806699.513 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:04:59.513Z,1755806699.513 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:04:59.513Z,1755806699.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:04:59.764Z,1755806699.764 [DAT](INFO): DAT read: user:4165>

2025-08-21T20:04:59.765Z,1755806699.765 [DAT](INFO): DAT read: Tx time:20:04:58.9494

2025-08-21T20:04:59.765Z,1755806699.765 [DAT](INFO): Ping request sent.
2025-08-21T20:04:59.765Z,1755806699.765 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:04:59.766Z,1755806699.766 [DAT](INFO): publishing transmit ping time
2025-08-21T20:04:59.768Z,1755806699.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002289
2025-08-21T20:05:00.016Z,1755806700.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251004
2025-08-21T20:05:00.268Z,1755806700.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503048
2025-08-21T20:05:00.520Z,1755806700.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754886
2025-08-21T20:05:00.774Z,1755806700.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008678
2025-08-21T20:05:01.025Z,1755806701.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259308
2025-08-21T20:05:01.109Z,1755806701.109 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T20:05:01.276Z,1755806701.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889
2025-08-21T20:05:01.529Z,1755806701.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763673
2025-08-21T20:05:01.780Z,1755806701.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014965
2025-08-21T20:05:02.032Z,1755806702.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266994
2025-08-21T20:05:02.285Z,1755806702.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519242
2025-08-21T20:05:02.539Z,1755806702.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773161
2025-08-21T20:05:02.788Z,1755806702.788 [DAT](INFO): DAT read: Rx Time:20:05:01.3559

2025-08-21T20:05:02.789Z,1755806702.789 [DAT](INFO): Rx dataTimestamp_ set to:1755806702.788368
2025-08-21T20:05:02.789Z,1755806702.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023905
2025-08-21T20:05:03.040Z,1755806703.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957
2025-08-21T20:05:03.298Z,1755806703.298 [DAT](INFO): DAT read: 20:05:01.3559 LVL= 22464, 12881, 21810, 21123, AGC= 40, IDX= 438,-0.22,-0.805,-1.962,-2.115,-0.138, PHS=-0.565,-1.779,-2.021, RAW=  81.1,  48.8, CAL=  78.7,  54.9, ROT=  71.3, -54.9

2025-08-21T20:05:03.299Z,1755806703.299 [DAT](INFO): got valid direction response:
 20:05:01.3559 LVL= 22464, 12881, 21810, 21123, AGC= 40, IDX= 438,-0.22,-0.805,-1.962,-2.115,-0.138, PHS=-0.565,-1.779,-2.021, RAW=  81.1,  48.8, CAL=  78.7,  54.9, ROT=  71.3, -54.9

2025-08-21T20:05:03.300Z,1755806703.300 [DAT](INFO): DAT read: Bearing 358.8,  38.6 (Local)

2025-08-21T20:05:03.300Z,1755806703.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  38.6 (Local)

2025-08-21T20:05:03.301Z,1755806703.301 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:05:03.302Z,1755806703.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:05:03.303Z,1755806703.303 [DAT](INFO): direction in FSK: [0.184354,0.544651,0.818150]
2025-08-21T20:05:03.314Z,1755806703.314 [DAT](INFO): publishing direction and range info
2025-08-21T20:05:09.576Z,1755806709.576 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:05:09.596Z,1755806709.596 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:05:09.596Z,1755806709.596 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:05:09.596Z,1755806709.596 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:05:09.848Z,1755806709.848 [DAT](INFO): DAT read: user:4166>

2025-08-21T20:05:09.849Z,1755806709.849 [DAT](INFO): DAT read: Tx time:20:05:08.9993

2025-08-21T20:05:09.849Z,1755806709.849 [DAT](INFO): Ping request sent.
2025-08-21T20:05:09.850Z,1755806709.850 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:05:09.850Z,1755806709.850 [DAT](INFO): publishing transmit ping time
2025-08-21T20:05:09.850Z,1755806709.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-21T20:05:10.100Z,1755806710.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250814
2025-08-21T20:05:10.352Z,1755806710.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502869
2025-08-21T20:05:10.604Z,1755806710.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754643
2025-08-21T20:05:10.856Z,1755806710.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006702
2025-08-21T20:05:11.108Z,1755806711.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258586
2025-08-21T20:05:11.360Z,1755806711.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510657
2025-08-21T20:05:11.613Z,1755806711.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762918
2025-08-21T20:05:11.864Z,1755806711.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014598
2025-08-21T20:05:12.116Z,1755806712.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702
2025-08-21T20:05:12.368Z,1755806712.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518772
2025-08-21T20:05:12.620Z,1755806712.620 [DAT](INFO): DAT read: Rx Time:20:05:11.4058

2025-08-21T20:05:12.621Z,1755806712.621 [DAT](INFO): Rx dataTimestamp_ set to:1755806712.620415
2025-08-21T20:05:12.621Z,1755806712.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771692
2025-08-21T20:05:12.872Z,1755806712.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022691
2025-08-21T20:05:13.125Z,1755806713.125 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:05:13.126Z,1755806713.126 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:05:19.661Z,1755806719.661 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:05:19.692Z,1755806719.692 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:05:19.693Z,1755806719.693 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:05:19.693Z,1755806719.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:05:19.944Z,1755806719.944 [DAT](INFO): DAT read: user:4167>

2025-08-21T20:05:19.945Z,1755806719.945 [DAT](INFO): DAT read: Tx time:20:05:19.0993

2025-08-21T20:05:19.945Z,1755806719.945 [DAT](INFO): Ping request sent.
2025-08-21T20:05:19.945Z,1755806719.945 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:05:19.945Z,1755806719.945 [DAT](INFO): publishing transmit ping time
2025-08-21T20:05:19.946Z,1755806719.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:05:20.196Z,1755806720.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250859
2025-08-21T20:05:20.452Z,1755806720.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507062
2025-08-21T20:05:20.704Z,1755806720.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758923
2025-08-21T20:05:20.956Z,1755806720.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010872
2025-08-21T20:05:21.208Z,1755806721.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262862
2025-08-21T20:05:21.460Z,1755806721.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514925
2025-08-21T20:05:21.713Z,1755806721.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767244
2025-08-21T20:05:21.964Z,1755806721.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018944
2025-08-21T20:05:22.216Z,1755806722.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270926
2025-08-21T20:05:22.469Z,1755806722.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523418
2025-08-21T20:05:22.721Z,1755806722.721 [DAT](INFO): DAT read: Rx Time:20:05:21.5059

2025-08-21T20:05:22.721Z,1755806722.721 [DAT](INFO): Rx dataTimestamp_ set to:1755806722.720686
2025-08-21T20:05:22.722Z,1755806722.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776199
2025-08-21T20:05:22.972Z,1755806722.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026926
2025-08-21T20:05:23.226Z,1755806723.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280721
2025-08-21T20:05:23.482Z,1755806723.482 [DAT](INFO): DAT read: 20:05:21.5059 LVL= 17200, 11889, 18706, 20691, AGC= 39, IDX= 438, 0.14,-1.828,-2.910,-3.063,-1.147, PHS=-0.579,-1.718,-1.960, RAW=  80.6,  49.7, CAL=  78.2,  55.6, ROT=  71.8, -55.6

2025-08-21T20:05:23.483Z,1755806723.483 [DAT](INFO): got valid direction response:
 20:05:21.5059 LVL= 17200, 11889, 18706, 20691, AGC= 39, IDX= 438, 0.14,-1.828,-2.910,-3.063,-1.147, PHS=-0.579,-1.718,-1.960, RAW=  80.6,  49.7, CAL=  78.2,  55.6, ROT=  71.8, -55.6

2025-08-21T20:05:23.484Z,1755806723.484 [DAT](INFO): DAT read: Bearing 350.6,  39.2 (Local)

2025-08-21T20:05:23.484Z,1755806723.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  39.2 (Local)

2025-08-21T20:05:23.485Z,1755806723.485 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:05:23.486Z,1755806723.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:05:23.506Z,1755806723.506 [DAT](INFO): direction in FSK: [0.176459,0.536703,0.825113]
2025-08-21T20:05:23.506Z,1755806723.506 [DAT](INFO): publishing direction and range info
2025-08-21T20:05:29.762Z,1755806729.762 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:05:29.776Z,1755806729.776 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:05:29.776Z,1755806729.776 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:05:29.776Z,1755806729.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:05:30.028Z,1755806730.028 [DAT](INFO): DAT read: user:4168>

2025-08-21T20:05:30.029Z,1755806730.029 [DAT](INFO): DAT read: Tx time:20:05:29.1993

2025-08-21T20:05:30.029Z,1755806730.029 [DAT](INFO): Ping request sent.
2025-08-21T20:05:30.029Z,1755806730.029 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:05:30.029Z,1755806730.029 [DAT](INFO): publishing transmit ping time
2025-08-21T20:05:30.030Z,1755806730.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T20:05:30.285Z,1755806730.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253142
2025-08-21T20:05:30.532Z,1755806730.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503035
2025-08-21T20:05:30.784Z,1755806730.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754950
2025-08-21T20:05:31.037Z,1755806731.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007335
2025-08-21T20:05:31.291Z,1755806731.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260822
2025-08-21T20:05:31.540Z,1755806731.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-08-21T20:05:31.792Z,1755806731.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763217
2025-08-21T20:05:32.044Z,1755806732.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015008
2025-08-21T20:05:32.299Z,1755806732.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269122
2025-08-21T20:05:32.548Z,1755806732.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518914
2025-08-21T20:05:32.800Z,1755806732.800 [DAT](INFO): DAT read: Rx Time:20:05:31.6059

2025-08-21T20:05:32.801Z,1755806732.801 [DAT](INFO): Rx dataTimestamp_ set to:1755806732.800480
2025-08-21T20:05:32.801Z,1755806732.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772074
2025-08-21T20:05:33.053Z,1755806733.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023521
2025-08-21T20:05:33.308Z,1755806733.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278483
2025-08-21T20:05:33.584Z,1755806733.584 [DAT](INFO): DAT read: 20:05:31.6059 LVL= 22480, 12273, 22306, 21571, AGC= 40, IDX= 438, 0.04, 2.915, 1.827, 1.575,-2.715, PHS=-0.551,-1.697,-2.037, RAW=  77.4,  48.3, CAL=  74.5,  54.3, ROT=  75.5, -54.3

2025-08-21T20:05:33.591Z,1755806733.591 [DAT](INFO): got valid direction response:
 20:05:31.6059 LVL= 22480, 12273, 22306, 21571, AGC= 40, IDX= 438, 0.04, 2.915, 1.827, 1.575,-2.715, PHS=-0.551,-1.697,-2.037, RAW=  77.4,  48.3, CAL=  74.5,  54.3, ROT=  75.5, -54.3

2025-08-21T20:05:33.592Z,1755806733.592 [DAT](INFO): DAT read: Bearing 358.6,  41.2 (Local)

2025-08-21T20:05:33.592Z,1755806733.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,  41.2 (Local)

2025-08-21T20:05:33.593Z,1755806733.593 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:05:33.594Z,1755806733.594 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:05:33.595Z,1755806733.595 [DAT](INFO): direction in FSK: [0.146107,0.564954,0.812084]
2025-08-21T20:05:33.595Z,1755806733.595 [DAT](INFO): publishing direction and range info
2025-08-21T20:05:39.868Z,1755806739.868 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:05:40.108Z,1755806740.108 [DAT](DEBUG): Acoustic response timeout
2025-08-21T20:05:40.109Z,1755806740.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:05:40.360Z,1755806740.360 [DAT](INFO): DAT read: user:4169>

2025-08-21T20:05:40.361Z,1755806740.361 [DAT](INFO): DAT read: Tx time:20:05:39.5493

2025-08-21T20:05:40.361Z,1755806740.361 [DAT](INFO): Ping request sent.
2025-08-21T20:05:40.361Z,1755806740.361 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:05:40.361Z,1755806740.361 [DAT](INFO): publishing transmit ping time
2025-08-21T20:05:40.362Z,1755806740.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-21T20:05:40.612Z,1755806740.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250874
2025-08-21T20:05:40.864Z,1755806740.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502869
2025-08-21T20:05:41.117Z,1755806741.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755567
2025-08-21T20:05:41.371Z,1755806741.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008925
2025-08-21T20:05:41.620Z,1755806741.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880
2025-08-21T20:05:41.872Z,1755806741.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511039
2025-08-21T20:05:42.124Z,1755806742.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762915
2025-08-21T20:05:42.376Z,1755806742.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869
2025-08-21T20:05:42.628Z,1755806742.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266921
2025-08-21T20:05:42.880Z,1755806742.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518842
2025-08-21T20:05:43.133Z,1755806743.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771304
2025-08-21T20:05:43.384Z,1755806743.384 [DAT](INFO): DAT read: Rx Time:20:05:41.9558

2025-08-21T20:05:43.385Z,1755806743.385 [DAT](INFO): Rx dataTimestamp_ set to:1755806743.384482
2025-08-21T20:05:43.385Z,1755806743.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023983
2025-08-21T20:05:43.636Z,1755806743.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274847
2025-08-21T20:05:43.893Z,1755806743.893 [DAT](INFO): DAT read: 20:05:41.9558 LVL= 24288, 13425, 24290, 26579, AGC= 41, IDX= 438, 0.03, 0.391,-1.004,-0.934, 1.079, PHS=-0.586,-2.038,-2.057, RAW=  89.4,  48.6, CAL=  88.1,  54.5, ROT=  61.9, -54.5

2025-08-21T20:05:43.894Z,1755806743.894 [DAT](INFO): got valid direction response:
 20:05:41.9558 LVL= 24288, 13425, 24290, 26579, AGC= 41, IDX= 438, 0.03, 0.391,-1.004,-0.934, 1.079, PHS=-0.586,-2.038,-2.057, RAW=  89.4,  48.6, CAL=  88.1,  54.5, ROT=  61.9, -54.5

2025-08-21T20:05:43.896Z,1755806743.896 [DAT](INFO): DAT read: Bearing 343.8,  35.5 (Local)

2025-08-21T20:05:43.896Z,1755806743.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.8,  35.5 (Local)

2025-08-21T20:05:43.897Z,1755806743.897 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:05:43.898Z,1755806743.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:05:43.899Z,1755806743.899 [DAT](INFO): direction in FSK: [0.273518,0.512254,0.814116]
2025-08-21T20:05:43.899Z,1755806743.899 [DAT](INFO): publishing direction and range info
2025-08-21T20:05:49.957Z,1755806749.957 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:05:50.188Z,1755806750.188 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:05:50.188Z,1755806750.188 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:05:50.188Z,1755806750.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:05:50.440Z,1755806750.440 [DAT](INFO): DAT read: user:4170>

2025-08-21T20:05:50.441Z,1755806750.441 [DAT](INFO): DAT read: Tx time:20:05:49.5992

2025-08-21T20:05:50.441Z,1755806750.441 [DAT](INFO): Ping request sent.
2025-08-21T20:05:50.441Z,1755806750.441 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:05:50.441Z,1755806750.441 [DAT](INFO): publishing transmit ping time
2025-08-21T20:05:50.442Z,1755806750.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-21T20:05:50.692Z,1755806750.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251178
2025-08-21T20:05:50.944Z,1755806750.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966
2025-08-21T20:05:51.196Z,1755806751.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754968
2025-08-21T20:05:51.448Z,1755806751.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007134
2025-08-21T20:05:51.700Z,1755806751.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990
2025-08-21T20:05:51.956Z,1755806751.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514881
2025-08-21T20:05:52.208Z,1755806752.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767189
2025-08-21T20:05:52.461Z,1755806752.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020062
2025-08-21T20:05:52.712Z,1755806752.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270940
2025-08-21T20:05:52.965Z,1755806752.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523213
2025-08-21T20:05:53.216Z,1755806753.216 [DAT](INFO): DAT read: Rx Time:20:05:52.0058

2025-08-21T20:05:53.217Z,1755806753.217 [DAT](INFO): Rx dataTimestamp_ set to:1755806753.216532
2025-08-21T20:05:53.217Z,1755806753.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776092
2025-08-21T20:05:53.468Z,1755806753.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026913
2025-08-21T20:05:53.724Z,1755806753.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282209
2025-08-21T20:05:53.977Z,1755806753.977 [DAT](INFO): DAT read: 20:05:52.0058 LVL= 24048, 11921, 24882, 25139, AGC= 41, IDX= 438, 0.18,-2.854, 2.398, 2.079,-2.195, PHS=-0.557,-1.646,-2.054, RAW=  74.7,  48.3, CAL=  71.4,  54.1, ROT=  78.6, -54.1

2025-08-21T20:05:53.979Z,1755806753.979 [DAT](INFO): got valid direction response:
 20:05:52.0058 LVL= 24048, 11921, 24882, 25139, AGC= 41, IDX= 438, 0.18,-2.854, 2.398, 2.079,-2.195, PHS=-0.557,-1.646,-2.054, RAW=  74.7,  48.3, CAL=  71.4,  54.1, ROT=  78.6, -54.1

2025-08-21T20:05:53.980Z,1755806753.980 [DAT](INFO): DAT read: Bearing 359.2,  41.3 (Local)

2025-08-21T20:05:53.980Z,1755806753.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  41.3 (Local)

2025-08-21T20:05:53.981Z,1755806753.981 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:05:53.982Z,1755806753.982 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:05:53.983Z,1755806753.983 [DAT](INFO): direction in FSK: [0.115901,0.574804,0.810042]
2025-08-21T20:05:53.983Z,1755806753.983 [DAT](INFO): publishing direction and range info
2025-08-21T20:06:00.094Z,1755806760.094 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:00.276Z,1755806760.276 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:00.276Z,1755806760.276 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:00.276Z,1755806760.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:00.528Z,1755806760.528 [DAT](INFO): DAT read: user:4171>

2025-08-21T20:06:00.529Z,1755806760.529 [DAT](INFO): DAT read: Tx time:20:05:59.6992

2025-08-21T20:06:00.529Z,1755806760.529 [DAT](INFO): Ping request sent.
2025-08-21T20:06:00.530Z,1755806760.530 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:00.530Z,1755806760.530 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:00.530Z,1755806760.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-21T20:06:00.780Z,1755806760.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250636
2025-08-21T20:06:01.032Z,1755806761.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502585
2025-08-21T20:06:01.284Z,1755806761.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591
2025-08-21T20:06:01.536Z,1755806761.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006582
2025-08-21T20:06:01.789Z,1755806761.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259303
2025-08-21T20:06:02.040Z,1755806762.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510800
2025-08-21T20:06:02.292Z,1755806762.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762789
2025-08-21T20:06:02.545Z,1755806762.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886
2025-08-21T20:06:02.798Z,1755806762.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268037
2025-08-21T20:06:03.049Z,1755806763.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518892
2025-08-21T20:06:03.300Z,1755806763.300 [DAT](INFO): DAT read: Rx Time:20:06:02.1057

2025-08-21T20:06:03.301Z,1755806763.301 [DAT](INFO): Rx dataTimestamp_ set to:1755806763.300653
2025-08-21T20:06:03.301Z,1755806763.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771880
2025-08-21T20:06:03.552Z,1755806763.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022851
2025-08-21T20:06:03.807Z,1755806763.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276940
2025-08-21T20:06:04.062Z,1755806764.062 [DAT](INFO): DAT read: 20:06:02.1057 LVL= 24304, 13361, 24082, 25171, AGC= 41, IDX= 437, 0.32,-1.594,-2.755,-2.938,-0.938, PHS=-0.554,-1.771,-2.043, RAW=  80.1,  48.4, CAL=  77.6,  54.5, ROT=  72.4, -54.5

2025-08-21T20:06:04.064Z,1755806764.064 [DAT](INFO): got valid direction response:
 20:06:02.1057 LVL= 24304, 13361, 24082, 25171, AGC= 41, IDX= 437, 0.32,-1.594,-2.755,-2.938,-0.938, PHS=-0.554,-1.771,-2.043, RAW=  80.1,  48.4, CAL=  77.6,  54.5, ROT=  72.4, -54.5

2025-08-21T20:06:04.065Z,1755806764.065 [DAT](INFO): DAT read: Bearing 356.7,  39.6 (Local)

2025-08-21T20:06:04.065Z,1755806764.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.7,  39.6 (Local)

2025-08-21T20:06:04.066Z,1755806764.066 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:06:04.067Z,1755806764.067 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:06:04.112Z,1755806764.112 [DAT](INFO): direction in FSK: [0.175587,0.553521,0.814116]
2025-08-21T20:06:04.112Z,1755806764.112 [DAT](INFO): publishing direction and range info
2025-08-21T20:06:10.201Z,1755806770.201 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:10.360Z,1755806770.360 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:10.360Z,1755806770.360 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:10.361Z,1755806770.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:10.613Z,1755806770.613 [DAT](INFO): DAT read: user:4172>

2025-08-21T20:06:10.614Z,1755806770.614 [DAT](INFO): DAT read: Tx time:20:06:09.7992

2025-08-21T20:06:10.614Z,1755806770.614 [DAT](INFO): Ping request sent.
2025-08-21T20:06:10.614Z,1755806770.614 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:10.615Z,1755806770.615 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:10.616Z,1755806770.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001418
2025-08-21T20:06:10.867Z,1755806770.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251932
2025-08-21T20:06:11.116Z,1755806771.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502175
2025-08-21T20:06:11.368Z,1755806771.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754118
2025-08-21T20:06:11.620Z,1755806771.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005948
2025-08-21T20:06:11.877Z,1755806771.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260188
2025-08-21T20:06:12.124Z,1755806772.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509979
2025-08-21T20:06:12.377Z,1755806772.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762333
2025-08-21T20:06:12.628Z,1755806772.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014202
2025-08-21T20:06:12.883Z,1755806772.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268063
2025-08-21T20:06:13.132Z,1755806773.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517926
2025-08-21T20:06:13.386Z,1755806773.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771071
2025-08-21T20:06:13.636Z,1755806773.636 [DAT](INFO): DAT read: Rx Time:20:06:12.2057

2025-08-21T20:06:13.637Z,1755806773.637 [DAT](INFO): Rx dataTimestamp_ set to:1755806773.636509
2025-08-21T20:06:13.637Z,1755806773.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023107
2025-08-21T20:06:13.893Z,1755806773.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276471
2025-08-21T20:06:14.141Z,1755806774.141 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:06:14.142Z,1755806774.142 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:06:20.287Z,1755806780.287 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:20.440Z,1755806780.440 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:20.440Z,1755806780.440 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:20.440Z,1755806780.440 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:20.692Z,1755806780.692 [DAT](INFO): DAT read: user:4173>

2025-08-21T20:06:20.693Z,1755806780.693 [DAT](INFO): DAT read: Tx time:20:06:19.8492

2025-08-21T20:06:20.693Z,1755806780.693 [DAT](INFO): Ping request sent.
2025-08-21T20:06:20.693Z,1755806780.693 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:20.694Z,1755806780.694 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:20.694Z,1755806780.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-21T20:06:20.944Z,1755806780.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250931
2025-08-21T20:06:21.196Z,1755806781.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502888
2025-08-21T20:06:21.448Z,1755806781.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869
2025-08-21T20:06:21.700Z,1755806781.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006719
2025-08-21T20:06:21.952Z,1755806781.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258941
2025-08-21T20:06:22.204Z,1755806782.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510758
2025-08-21T20:06:22.457Z,1755806782.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763099
2025-08-21T20:06:22.709Z,1755806782.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015133
2025-08-21T20:06:22.960Z,1755806782.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266791
2025-08-21T20:06:23.212Z,1755806783.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518849
2025-08-21T20:06:23.465Z,1755806783.465 [DAT](INFO): DAT read: Rx Time:20:06:22.2556

2025-08-21T20:06:23.465Z,1755806783.465 [DAT](INFO): Rx dataTimestamp_ set to:1755806783.464902
2025-08-21T20:06:23.466Z,1755806783.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772331
2025-08-21T20:06:23.716Z,1755806783.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022769
2025-08-21T20:06:23.971Z,1755806783.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276893
2025-08-21T20:06:24.225Z,1755806784.225 [DAT](INFO): DAT read: 20:06:22.2556 LVL= 24480, 13169, 25394, 24627, AGC= 40, IDX= 438,-0.32, 2.124, 1.124, 0.792, 2.789, PHS=-0.563,-1.620,-2.041, RAW=  73.9,  48.6, CAL=  70.5,  54.3, ROT=  79.5, -54.3

2025-08-21T20:06:24.227Z,1755806784.227 [DAT](INFO): got valid direction response:
 20:06:22.2556 LVL= 24480, 13169, 25394, 24627, AGC= 40, IDX= 438,-0.32, 2.124, 1.124, 0.792, 2.789, PHS=-0.563,-1.620,-2.041, RAW=  73.9,  48.6, CAL=  70.5,  54.3, ROT=  79.5, -54.3

2025-08-21T20:06:24.228Z,1755806784.228 [DAT](INFO): DAT read: Bearing   4.7,  41.2 (Local)

2025-08-21T20:06:24.228Z,1755806784.228 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.7,  41.2 (Local)

2025-08-21T20:06:24.229Z,1755806784.229 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:06:24.230Z,1755806784.230 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:06:24.231Z,1755806784.231 [DAT](INFO): direction in FSK: [0.106342,0.573770,0.812084]
2025-08-21T20:06:24.231Z,1755806784.231 [DAT](INFO): publishing direction and range info
2025-08-21T20:06:30.394Z,1755806790.394 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:30.528Z,1755806790.528 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:30.528Z,1755806790.528 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:30.529Z,1755806790.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:30.780Z,1755806790.780 [DAT](INFO): DAT read: user:4174>

2025-08-21T20:06:30.781Z,1755806790.781 [DAT](INFO): DAT read: Tx time:20:06:29.9491

2025-08-21T20:06:30.782Z,1755806790.782 [DAT](INFO): Ping request sent.
2025-08-21T20:06:30.782Z,1755806790.782 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:30.782Z,1755806790.782 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:30.782Z,1755806790.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-21T20:06:31.032Z,1755806791.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250575
2025-08-21T20:06:31.284Z,1755806791.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804
2025-08-21T20:06:31.536Z,1755806791.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754579
2025-08-21T20:06:31.788Z,1755806791.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006577
2025-08-21T20:06:32.040Z,1755806792.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258566
2025-08-21T20:06:32.292Z,1755806792.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510697
2025-08-21T20:06:32.544Z,1755806792.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738
2025-08-21T20:06:32.796Z,1755806792.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014595
2025-08-21T20:06:33.048Z,1755806793.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266809
2025-08-21T20:06:33.300Z,1755806793.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518636
2025-08-21T20:06:33.552Z,1755806793.552 [DAT](INFO): DAT read: Rx Time:20:06:32.3556

2025-08-21T20:06:33.553Z,1755806793.553 [DAT](INFO): Rx dataTimestamp_ set to:1755806793.552378
2025-08-21T20:06:33.553Z,1755806793.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771563
2025-08-21T20:06:33.804Z,1755806793.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022542
2025-08-21T20:06:34.059Z,1755806794.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276642
2025-08-21T20:06:34.317Z,1755806794.317 [DAT](INFO): DAT read: 20:06:32.3556 LVL= 23664, 13553, 23506, 24755, AGC= 40, IDX= 438,-0.24,-1.892, 3.123, 3.073,-1.226, PHS=-0.563,-1.889,-2.028, RAW=  85.1,  48.5, CAL=  83.3,  54.6, ROT=  66.7, -54.6

2025-08-21T20:06:34.318Z,1755806794.318 [DAT](INFO): got valid direction response:
 20:06:32.3556 LVL= 23664, 13553, 23506, 24755, AGC= 40, IDX= 438,-0.24,-1.892, 3.123, 3.073,-1.226, PHS=-0.563,-1.889,-2.028, RAW=  85.1,  48.5, CAL=  83.3,  54.6, ROT=  66.7, -54.6

2025-08-21T20:06:34.319Z,1755806794.319 [DAT](INFO): DAT read: Bearing 355.8,  37.9 (Local)

2025-08-21T20:06:34.320Z,1755806794.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  37.9 (Local)

2025-08-21T20:06:34.321Z,1755806794.321 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:06:34.322Z,1755806794.322 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:06:34.323Z,1755806794.323 [DAT](INFO): direction in FSK: [0.229132,0.532039,0.815128]
2025-08-21T20:06:34.323Z,1755806794.323 [DAT](INFO): publishing direction and range info
2025-08-21T20:06:40.495Z,1755806800.495 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:40.620Z,1755806800.620 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:40.620Z,1755806800.620 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:40.621Z,1755806800.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:40.872Z,1755806800.872 [DAT](INFO): DAT read: user:4175>

2025-08-21T20:06:40.873Z,1755806800.873 [DAT](INFO): DAT read: Tx time:20:06:40.0491

2025-08-21T20:06:40.873Z,1755806800.873 [DAT](INFO): Ping request sent.
2025-08-21T20:06:40.873Z,1755806800.873 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:40.874Z,1755806800.874 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:40.874Z,1755806800.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-21T20:06:41.124Z,1755806801.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250910
2025-08-21T20:06:41.376Z,1755806801.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502820
2025-08-21T20:06:41.628Z,1755806801.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754857
2025-08-21T20:06:41.880Z,1755806801.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006775
2025-08-21T20:06:42.139Z,1755806802.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265487
2025-08-21T20:06:42.392Z,1755806802.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518817
2025-08-21T20:06:42.644Z,1755806802.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770822
2025-08-21T20:06:42.896Z,1755806802.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022916
2025-08-21T20:06:43.149Z,1755806803.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275213
2025-08-21T20:06:43.400Z,1755806803.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526756
2025-08-21T20:06:43.653Z,1755806803.653 [DAT](INFO): DAT read: Rx Time:20:06:42.4556

2025-08-21T20:06:43.653Z,1755806803.653 [DAT](INFO): Rx dataTimestamp_ set to:1755806803.652919
2025-08-21T20:06:43.654Z,1755806803.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780328
2025-08-21T20:06:43.904Z,1755806803.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030833
2025-08-21T20:06:44.159Z,1755806804.159 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:06:44.160Z,1755806804.160 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:06:50.576Z,1755806810.576 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:06:50.708Z,1755806810.708 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:06:50.708Z,1755806810.708 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:06:50.708Z,1755806810.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:06:50.960Z,1755806810.960 [DAT](INFO): DAT read: user:4176>

2025-08-21T20:06:50.961Z,1755806810.961 [DAT](INFO): DAT read: Tx time:20:06:50.1490

2025-08-21T20:06:50.961Z,1755806810.961 [DAT](INFO): Ping request sent.
2025-08-21T20:06:50.961Z,1755806810.961 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:06:50.961Z,1755806810.961 [DAT](INFO): publishing transmit ping time
2025-08-21T20:06:50.962Z,1755806810.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T20:06:51.213Z,1755806811.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252064
2025-08-21T20:06:51.467Z,1755806811.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505070
2025-08-21T20:06:51.716Z,1755806811.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972
2025-08-21T20:06:51.968Z,1755806811.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006982
2025-08-21T20:06:52.221Z,1755806812.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259455
2025-08-21T20:06:52.475Z,1755806812.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513134
2025-08-21T20:06:52.724Z,1755806812.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762933
2025-08-21T20:06:52.976Z,1755806812.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014953
2025-08-21T20:06:53.228Z,1755806813.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266951
2025-08-21T20:06:53.483Z,1755806813.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521054
2025-08-21T20:06:53.732Z,1755806813.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771002
2025-08-21T20:06:53.984Z,1755806813.984 [DAT](INFO): DAT read: Rx Time:20:06:52.5556

2025-08-21T20:06:53.985Z,1755806813.985 [DAT](INFO): Rx dataTimestamp_ set to:1755806813.984424
2025-08-21T20:06:53.985Z,1755806813.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024040
2025-08-21T20:06:54.264Z,1755806814.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.302483
2025-08-21T20:06:54.527Z,1755806814.527 [DAT](INFO): DAT read: 20:06:52.5556 LVL= 21248, 11313, 23106, 22515, AGC= 40, IDX= 438,-0.01,-1.663,-2.613,-2.996,-0.999, PHS=-0.562,-1.569,-2.041, RAW=  71.8,  48.4, CAL=  68.3,  54.0, ROT=  81.7, -54.0

2025-08-21T20:06:54.528Z,1755806814.528 [DAT](INFO): got valid direction response:
 20:06:52.5556 LVL= 21248, 11313, 23106, 22515, AGC= 40, IDX= 438,-0.01,-1.663,-2.613,-2.996,-0.999, PHS=-0.562,-1.569,-2.041, RAW=  71.8,  48.4, CAL=  68.3,  54.0, ROT=  81.7, -54.0

2025-08-21T20:06:54.529Z,1755806814.529 [DAT](INFO): DAT read: Bearing   6.7,  42.0 (Local)

2025-08-21T20:06:54.529Z,1755806814.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.7,  42.0 (Local)

2025-08-21T20:06:54.531Z,1755806814.531 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:06:54.531Z,1755806814.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:06:54.532Z,1755806814.532 [DAT](INFO): direction in FSK: [0.084850,0.581629,0.809017]
2025-08-21T20:06:54.533Z,1755806814.533 [DAT](INFO): publishing direction and range info
2025-08-21T20:07:00.683Z,1755806820.683 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:00.812Z,1755806820.812 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:00.812Z,1755806820.812 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:00.812Z,1755806820.812 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:01.064Z,1755806821.064 [DAT](INFO): DAT read: user:4177>

2025-08-21T20:07:01.065Z,1755806821.065 [DAT](INFO): DAT read: Tx time:20:07:00.2490

2025-08-21T20:07:01.066Z,1755806821.066 [DAT](INFO): Ping request sent.
2025-08-21T20:07:01.066Z,1755806821.066 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:01.080Z,1755806821.080 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:01.081Z,1755806821.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.014863
2025-08-21T20:07:01.316Z,1755806821.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250602
2025-08-21T20:07:01.570Z,1755806821.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504438
2025-08-21T20:07:01.820Z,1755806821.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754724
2025-08-21T20:07:02.072Z,1755806822.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006754
2025-08-21T20:07:02.325Z,1755806822.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967
2025-08-21T20:07:02.576Z,1755806822.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510828
2025-08-21T20:07:02.828Z,1755806822.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590
2025-08-21T20:07:03.088Z,1755806823.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022576
2025-08-21T20:07:03.340Z,1755806823.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274770
2025-08-21T20:07:03.592Z,1755806823.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526584
2025-08-21T20:07:03.844Z,1755806823.844 [DAT](INFO): DAT read: Rx Time:20:07:02.6556

2025-08-21T20:07:03.845Z,1755806823.845 [DAT](INFO): Rx dataTimestamp_ set to:1755806823.844479
2025-08-21T20:07:03.845Z,1755806823.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779663
2025-08-21T20:07:04.096Z,1755806824.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030540
2025-08-21T20:07:04.351Z,1755806824.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285074
2025-08-21T20:07:04.606Z,1755806824.606 [DAT](INFO): DAT read: 20:07:02.6556 LVL= 23200, 13601, 24402, 23731, AGC= 40, IDX= 438, 0.05, 2.027, 0.742, 0.698, 2.683, PHS=-0.553,-1.895,-2.029, RAW=  85.3,  48.2, CAL=  83.5,  54.4, ROT=  66.5, -54.4

2025-08-21T20:07:04.607Z,1755806824.607 [DAT](INFO): got valid direction response:
 20:07:02.6556 LVL= 23200, 13601, 24402, 23731, AGC= 40, IDX= 438, 0.05, 2.027, 0.742, 0.698, 2.683, PHS=-0.553,-1.895,-2.029, RAW=  85.3,  48.2, CAL=  83.5,  54.4, ROT=  66.5, -54.4

2025-08-21T20:07:04.608Z,1755806824.608 [DAT](INFO): DAT read: Bearing 354.2,  38.6 (Local)

2025-08-21T20:07:04.608Z,1755806824.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.2,  38.6 (Local)

2025-08-21T20:07:04.610Z,1755806824.610 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:07:04.612Z,1755806824.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:07:04.616Z,1755806824.616 [DAT](INFO): direction in FSK: [0.232121,0.533842,0.813101]
2025-08-21T20:07:04.617Z,1755806824.617 [DAT](INFO): publishing direction and range info
2025-08-21T20:07:10.822Z,1755806830.822 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:10.916Z,1755806830.916 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:10.916Z,1755806830.916 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:10.916Z,1755806830.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:11.169Z,1755806831.169 [DAT](INFO): DAT read: user:4178>

2025-08-21T20:07:11.170Z,1755806831.170 [DAT](INFO): DAT read: Tx time:20:07:10.3490

2025-08-21T20:07:11.170Z,1755806831.170 [DAT](INFO): Ping request sent.
2025-08-21T20:07:11.170Z,1755806831.170 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:11.171Z,1755806831.171 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:11.174Z,1755806831.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003323
2025-08-21T20:07:11.420Z,1755806831.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249967
2025-08-21T20:07:11.673Z,1755806831.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502263
2025-08-21T20:07:11.924Z,1755806831.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753998
2025-08-21T20:07:12.177Z,1755806832.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006261
2025-08-21T20:07:12.428Z,1755806832.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257894
2025-08-21T20:07:12.680Z,1755806832.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509930
2025-08-21T20:07:12.932Z,1755806832.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761913
2025-08-21T20:07:13.184Z,1755806833.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014049
2025-08-21T20:07:13.436Z,1755806833.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265974
2025-08-21T20:07:13.688Z,1755806833.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518007
2025-08-21T20:07:13.941Z,1755806833.941 [DAT](INFO): DAT read: Rx Time:20:07:12.7556

2025-08-21T20:07:13.941Z,1755806833.941 [DAT](INFO): Rx dataTimestamp_ set to:1755806833.940761
2025-08-21T20:07:13.942Z,1755806833.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771326
2025-08-21T20:07:14.192Z,1755806834.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021921
2025-08-21T20:07:14.444Z,1755806834.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274213
2025-08-21T20:07:14.702Z,1755806834.702 [DAT](INFO): DAT read: 20:07:12.7556 LVL= 21008, 11441, 21490, 21635, AGC= 40, IDX= 438, 0.11,-1.176,-2.268,-2.512,-0.512, PHS=-0.562,-1.711,-2.044, RAW=  77.6,  48.6, CAL=  74.8,  54.5, ROT=  75.2, -54.5

2025-08-21T20:07:14.703Z,1755806834.703 [DAT](INFO): got valid direction response:
 20:07:12.7556 LVL= 21008, 11441, 21490, 21635, AGC= 40, IDX= 438, 0.11,-1.176,-2.268,-2.512,-0.512, PHS=-0.562,-1.711,-2.044, RAW=  77.6,  48.6, CAL=  74.8,  54.5, ROT=  75.2, -54.5

2025-08-21T20:07:14.704Z,1755806834.704 [DAT](INFO): DAT read: Bearing   3.5,  41.2 (Local)

2025-08-21T20:07:14.704Z,1755806834.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  41.2 (Local)

2025-08-21T20:07:14.705Z,1755806834.705 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:07:14.706Z,1755806834.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:07:14.707Z,1755806834.707 [DAT](INFO): direction in FSK: [0.148338,0.561437,0.814116]
2025-08-21T20:07:14.707Z,1755806834.707 [DAT](INFO): publishing direction and range info
2025-08-21T20:07:20.917Z,1755806840.917 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:20.996Z,1755806840.996 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:20.996Z,1755806840.996 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:20.996Z,1755806840.996 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:21.248Z,1755806841.248 [DAT](INFO): DAT read: user:4179>

2025-08-21T20:07:21.249Z,1755806841.249 [DAT](INFO): DAT read: Tx time:20:07:20.3990

2025-08-21T20:07:21.249Z,1755806841.249 [DAT](INFO): Ping request sent.
2025-08-21T20:07:21.249Z,1755806841.249 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:21.250Z,1755806841.250 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:21.250Z,1755806841.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-21T20:07:21.500Z,1755806841.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250779
2025-08-21T20:07:21.752Z,1755806841.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502875
2025-08-21T20:07:22.004Z,1755806842.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754788
2025-08-21T20:07:22.256Z,1755806842.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007003
2025-08-21T20:07:22.511Z,1755806842.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261725
2025-08-21T20:07:22.764Z,1755806842.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514763
2025-08-21T20:07:23.020Z,1755806843.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770731
2025-08-21T20:07:23.272Z,1755806843.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022884
2025-08-21T20:07:23.524Z,1755806843.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274734
2025-08-21T20:07:23.777Z,1755806843.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527177
2025-08-21T20:07:24.028Z,1755806844.028 [DAT](INFO): DAT read: Rx Time:20:07:22.8056

2025-08-21T20:07:24.029Z,1755806844.029 [DAT](INFO): Rx dataTimestamp_ set to:1755806844.028475
2025-08-21T20:07:24.029Z,1755806844.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779931
2025-08-21T20:07:24.280Z,1755806844.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030795
2025-08-21T20:07:24.533Z,1755806844.533 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:07:24.534Z,1755806844.534 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:07:30.962Z,1755806850.962 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:31.084Z,1755806851.084 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:31.084Z,1755806851.084 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:31.084Z,1755806851.084 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:31.340Z,1755806851.340 [DAT](INFO): DAT read: user:4180>

2025-08-21T20:07:31.341Z,1755806851.341 [DAT](INFO): DAT read: Tx time:20:07:30.4990

2025-08-21T20:07:31.341Z,1755806851.341 [DAT](INFO): Ping request sent.
2025-08-21T20:07:31.342Z,1755806851.342 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:31.342Z,1755806851.342 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:31.342Z,1755806851.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-08-21T20:07:31.592Z,1755806851.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250706
2025-08-21T20:07:31.844Z,1755806851.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502621
2025-08-21T20:07:32.098Z,1755806852.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756418
2025-08-21T20:07:32.348Z,1755806852.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006862
2025-08-21T20:07:32.600Z,1755806852.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258684
2025-08-21T20:07:32.852Z,1755806852.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510659
2025-08-21T20:07:33.104Z,1755806853.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762766
2025-08-21T20:07:33.356Z,1755806853.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014561
2025-08-21T20:07:33.608Z,1755806853.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882
2025-08-21T20:07:33.860Z,1755806853.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518736
2025-08-21T20:07:34.115Z,1755806854.115 [DAT](INFO): DAT read: Rx Time:20:07:32.9055

2025-08-21T20:07:34.116Z,1755806854.116 [DAT](INFO): Rx dataTimestamp_ set to:1755806854.115449
2025-08-21T20:07:34.118Z,1755806854.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775896
2025-08-21T20:07:34.364Z,1755806854.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022835
2025-08-21T20:07:34.619Z,1755806854.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276918
2025-08-21T20:07:34.873Z,1755806854.873 [DAT](INFO): DAT read: 20:07:32.9055 LVL= 21040, 11601, 21906, 21747, AGC= 40, IDX= 438, 0.29,-1.955,-3.038, 2.974,-1.309, PHS=-0.543,-1.684,-2.044, RAW=  76.7,  48.1, CAL=  73.7,  54.0, ROT=  76.3, -54.0

2025-08-21T20:07:34.874Z,1755806854.874 [DAT](INFO): got valid direction response:
 20:07:32.9055 LVL= 21040, 11601, 21906, 21747, AGC= 40, IDX= 438, 0.29,-1.955,-3.038, 2.974,-1.309, PHS=-0.543,-1.684,-2.044, RAW=  76.7,  48.1, CAL=  73.7,  54.0, ROT=  76.3, -54.0

2025-08-21T20:07:34.876Z,1755806854.876 [DAT](INFO): DAT read: Bearing   5.0,  41.8 (Local)

2025-08-21T20:07:34.876Z,1755806854.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  41.8 (Local)

2025-08-21T20:07:34.877Z,1755806854.877 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:07:34.878Z,1755806854.878 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:07:34.879Z,1755806854.879 [DAT](INFO): direction in FSK: [0.139210,0.571062,0.809017]
2025-08-21T20:07:34.879Z,1755806854.879 [DAT](INFO): publishing direction and range info
2025-08-21T20:07:41.064Z,1755806861.064 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:41.171Z,1755806861.171 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:41.172Z,1755806861.172 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:41.172Z,1755806861.172 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:41.420Z,1755806861.420 [DAT](INFO): DAT read: user:4181>

2025-08-21T20:07:41.421Z,1755806861.421 [DAT](INFO): DAT read: Tx time:20:07:40.5989

2025-08-21T20:07:41.421Z,1755806861.421 [DAT](INFO): Ping request sent.
2025-08-21T20:07:41.421Z,1755806861.421 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:41.421Z,1755806861.421 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:41.422Z,1755806861.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T20:07:41.672Z,1755806861.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250856
2025-08-21T20:07:41.925Z,1755806861.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503535
2025-08-21T20:07:42.177Z,1755806862.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755161
2025-08-21T20:07:42.428Z,1755806862.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006828
2025-08-21T20:07:42.680Z,1755806862.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993
2025-08-21T20:07:42.932Z,1755806862.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510904
2025-08-21T20:07:43.187Z,1755806863.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765135
2025-08-21T20:07:43.436Z,1755806863.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849
2025-08-21T20:07:43.688Z,1755806863.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-08-21T20:07:43.940Z,1755806863.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519079
2025-08-21T20:07:44.193Z,1755806864.193 [DAT](INFO): DAT read: Rx Time:20:07:43.0054

2025-08-21T20:07:44.194Z,1755806864.194 [DAT](INFO): Rx dataTimestamp_ set to:1755806864.193297
2025-08-21T20:07:44.195Z,1755806864.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772788
2025-08-21T20:07:44.444Z,1755806864.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881
2025-08-21T20:07:44.698Z,1755806864.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276035
2025-08-21T20:07:44.954Z,1755806864.954 [DAT](INFO): DAT read: 20:07:43.0054 LVL= 20912, 11313, 22258, 22003, AGC= 40, IDX= 437, 0.40,-0.657,-1.778,-2.009,-0.005, PHS=-0.550,-1.728,-2.048, RAW=  78.3,  48.2, CAL=  75.5,  54.3, ROT=  74.5, -54.3

2025-08-21T20:07:44.955Z,1755806864.955 [DAT](INFO): got valid direction response:
 20:07:43.0054 LVL= 20912, 11313, 22258, 22003, AGC= 40, IDX= 437, 0.40,-0.657,-1.778,-2.009,-0.005, PHS=-0.550,-1.728,-2.048, RAW=  78.3,  48.2, CAL=  75.5,  54.3, ROT=  74.5, -54.3

2025-08-21T20:07:44.956Z,1755806864.956 [DAT](INFO): DAT read: Bearing   0.5,  41.4 (Local)

2025-08-21T20:07:44.957Z,1755806864.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  41.4 (Local)

2025-08-21T20:07:44.958Z,1755806864.958 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:07:44.958Z,1755806864.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:07:44.960Z,1755806864.960 [DAT](INFO): direction in FSK: [0.155945,0.562318,0.812084]
2025-08-21T20:07:44.960Z,1755806864.960 [DAT](INFO): publishing direction and range info
2025-08-21T20:07:51.183Z,1755806871.183 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:07:51.248Z,1755806871.248 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:07:51.248Z,1755806871.248 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:07:51.248Z,1755806871.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:07:51.500Z,1755806871.500 [DAT](INFO): DAT read: user:4182>

2025-08-21T20:07:51.501Z,1755806871.501 [DAT](INFO): DAT read: Tx time:20:07:50.6989

2025-08-21T20:07:51.501Z,1755806871.501 [DAT](INFO): Ping request sent.
2025-08-21T20:07:51.501Z,1755806871.501 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:07:51.501Z,1755806871.501 [DAT](INFO): publishing transmit ping time
2025-08-21T20:07:51.502Z,1755806871.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-21T20:07:51.752Z,1755806871.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250930
2025-08-21T20:07:52.005Z,1755806872.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503184
2025-08-21T20:07:52.256Z,1755806872.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863
2025-08-21T20:07:52.509Z,1755806872.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007750
2025-08-21T20:07:52.760Z,1755806872.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003
2025-08-21T20:07:53.012Z,1755806873.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511071
2025-08-21T20:07:53.264Z,1755806873.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762912
2025-08-21T20:07:53.516Z,1755806873.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-08-21T20:07:53.768Z,1755806873.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266880
2025-08-21T20:07:54.021Z,1755806874.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519415
2025-08-21T20:07:54.272Z,1755806874.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943
2025-08-21T20:07:54.525Z,1755806874.525 [DAT](INFO): DAT read: Rx Time:20:07:53.1054

2025-08-21T20:07:54.526Z,1755806874.526 [DAT](INFO): Rx dataTimestamp_ set to:1755806874.525545
2025-08-21T20:07:54.527Z,1755806874.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025179
2025-08-21T20:07:54.776Z,1755806874.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274923
2025-08-21T20:07:55.033Z,1755806875.033 [DAT](INFO): DAT read: 20:07:53.1054 LVL= 21392, 12161, 21490, 20979, AGC= 39, IDX= 438,-0.30,-0.060,-1.085,-1.376, 0.605, PHS=-0.563,-1.645,-2.025, RAW=  75.5,  48.7, CAL=  72.3,  54.5, ROT=  77.7, -54.5

2025-08-21T20:07:55.035Z,1755806875.035 [DAT](INFO): got valid direction response:
 20:07:53.1054 LVL= 21392, 12161, 21490, 20979, AGC= 39, IDX= 438,-0.30,-0.060,-1.085,-1.376, 0.605, PHS=-0.563,-1.645,-2.025, RAW=  75.5,  48.7, CAL=  72.3,  54.5, ROT=  77.7, -54.5

2025-08-21T20:07:55.040Z,1755806875.040 [DAT](INFO): DAT read: Bearing   5.5,  41.4 (Local)

2025-08-21T20:07:55.040Z,1755806875.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  41.4 (Local)

2025-08-21T20:07:55.041Z,1755806875.041 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:07:55.042Z,1755806875.042 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:07:55.043Z,1755806875.043 [DAT](INFO): direction in FSK: [0.123707,0.567373,0.814116]
2025-08-21T20:07:55.056Z,1755806875.056 [DAT](INFO): publishing direction and range info
2025-08-21T20:08:01.259Z,1755806881.259 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T20:08:01.260Z,1755806881.260 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:01.333Z,1755806881.333 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:08:01.333Z,1755806881.333 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:08:01.333Z,1755806881.333 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:01.584Z,1755806881.584 [DAT](INFO): DAT read: user:4183>

2025-08-21T20:08:01.585Z,1755806881.585 [DAT](INFO): DAT read: Tx time:20:08:00.7488

2025-08-21T20:08:01.585Z,1755806881.585 [DAT](INFO): Ping request sent.
2025-08-21T20:08:01.585Z,1755806881.585 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:01.586Z,1755806881.586 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:01.586Z,1755806881.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-21T20:08:01.720Z,1755806881.720 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T20:08:01.837Z,1755806881.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251599
2025-08-21T20:08:02.088Z,1755806882.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502776
2025-08-21T20:08:02.340Z,1755806882.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754864
2025-08-21T20:08:02.592Z,1755806882.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750
2025-08-21T20:08:02.844Z,1755806882.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258933
2025-08-21T20:08:03.097Z,1755806883.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510992
2025-08-21T20:08:03.352Z,1755806883.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766925
2025-08-21T20:08:03.604Z,1755806883.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018664
2025-08-21T20:08:03.856Z,1755806883.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270935
2025-08-21T20:08:04.108Z,1755806884.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522725
2025-08-21T20:08:04.360Z,1755806884.360 [DAT](INFO): DAT read: Rx Time:20:08:03.1553

2025-08-21T20:08:04.361Z,1755806884.361 [DAT](INFO): Rx dataTimestamp_ set to:1755806884.360424
2025-08-21T20:08:04.361Z,1755806884.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775758
2025-08-21T20:08:04.613Z,1755806884.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027402
2025-08-21T20:08:04.875Z,1755806884.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281089
2025-08-21T20:08:05.121Z,1755806885.121 [DAT](INFO): DAT read: 20:08:03.1553 LVL= 19328, 10529, 20338, 20595, AGC= 42, IDX= 438,-0.21,-2.979, 2.346, 1.967,-2.327, PHS=-0.550,-1.566,-2.033, RAW=  72.1,  48.2, CAL=  68.5,  53.8, ROT=  81.5, -53.8

2025-08-21T20:08:05.122Z,1755806885.122 [DAT](INFO): got valid direction response:
 20:08:03.1553 LVL= 19328, 10529, 20338, 20595, AGC= 42, IDX= 438,-0.21,-2.979, 2.346, 1.967,-2.327, PHS=-0.550,-1.566,-2.033, RAW=  72.1,  48.2, CAL=  68.5,  53.8, ROT=  81.5, -53.8

2025-08-21T20:08:05.124Z,1755806885.124 [DAT](INFO): DAT read: Bearing   7.5,  42.2 (Local)

2025-08-21T20:08:05.124Z,1755806885.124 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.5,  42.2 (Local)

2025-08-21T20:08:05.125Z,1755806885.125 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:08:05.126Z,1755806885.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:08:05.127Z,1755806885.127 [DAT](INFO): direction in FSK: [0.087297,0.584118,0.806960]
2025-08-21T20:08:05.127Z,1755806885.127 [DAT](INFO): publishing direction and range info
2025-08-21T20:08:11.361Z,1755806891.361 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:11.416Z,1755806891.416 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:08:11.416Z,1755806891.416 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:08:11.416Z,1755806891.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:11.668Z,1755806891.668 [DAT](INFO): DAT read: user:4184>

2025-08-21T20:08:11.669Z,1755806891.669 [DAT](INFO): DAT read: Tx time:20:08:10.8488

2025-08-21T20:08:11.669Z,1755806891.669 [DAT](INFO): Ping request sent.
2025-08-21T20:08:11.669Z,1755806891.669 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:11.670Z,1755806891.670 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:11.670Z,1755806891.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T20:08:11.789Z,1755806891.789 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T20:08:11.920Z,1755806891.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250733
2025-08-21T20:08:12.173Z,1755806892.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503793
2025-08-21T20:08:12.424Z,1755806892.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754829
2025-08-21T20:08:12.679Z,1755806892.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008923
2025-08-21T20:08:12.929Z,1755806892.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259185
2025-08-21T20:08:13.180Z,1755806893.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510859
2025-08-21T20:08:13.433Z,1755806893.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763188
2025-08-21T20:08:13.706Z,1755806893.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.035060
2025-08-21T20:08:13.936Z,1755806893.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266831
2025-08-21T20:08:14.188Z,1755806894.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518878
2025-08-21T20:08:14.441Z,1755806894.441 [DAT](INFO): DAT read: Rx Time:20:08:13.2553

2025-08-21T20:08:14.442Z,1755806894.442 [DAT](INFO): Rx dataTimestamp_ set to:1755806894.441621
2025-08-21T20:08:14.442Z,1755806894.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773044
2025-08-21T20:08:14.695Z,1755806894.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025225
2025-08-21T20:08:14.945Z,1755806894.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274713
2025-08-21T20:08:15.197Z,1755806895.197 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:08:15.198Z,1755806895.198 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:08:21.460Z,1755806901.460 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:21.505Z,1755806901.505 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:08:21.505Z,1755806901.505 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:08:21.505Z,1755806901.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:21.759Z,1755806901.759 [DAT](INFO): DAT read: user:4185>

2025-08-21T20:08:21.761Z,1755806901.761 [DAT](INFO): DAT read: Tx time:20:08:20.9488

2025-08-21T20:08:21.762Z,1755806901.762 [DAT](INFO): Ping request sent.
2025-08-21T20:08:21.762Z,1755806901.762 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:21.763Z,1755806901.763 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:21.765Z,1755806901.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002555
2025-08-21T20:08:22.008Z,1755806902.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246579
2025-08-21T20:08:22.260Z,1755806902.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498455
2025-08-21T20:08:22.512Z,1755806902.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750282
2025-08-21T20:08:22.767Z,1755806902.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004522
2025-08-21T20:08:23.016Z,1755806903.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254401
2025-08-21T20:08:23.268Z,1755806903.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506322
2025-08-21T20:08:23.521Z,1755806903.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758689
2025-08-21T20:08:23.772Z,1755806903.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010458
2025-08-21T20:08:24.024Z,1755806904.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262320
2025-08-21T20:08:24.277Z,1755806904.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514692
2025-08-21T20:08:24.528Z,1755806904.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766365
2025-08-21T20:08:24.780Z,1755806904.780 [DAT](INFO): DAT read: Rx Time:20:08:23.3554

2025-08-21T20:08:24.781Z,1755806904.781 [DAT](INFO): Rx dataTimestamp_ set to:1755806904.780599
2025-08-21T20:08:24.781Z,1755806904.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019555
2025-08-21T20:08:25.033Z,1755806905.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270751
2025-08-21T20:08:25.290Z,1755806905.290 [DAT](INFO): DAT read: 20:08:23.3554 LVL= 23024, 11121, 27490, 29075, AGC= 42, IDX= 438,-0.13,-2.531,-2.994, 2.462,-1.791, PHS=-0.639,-1.158,-2.074, RAW=  50.9,  47.4, CAL=  48.3,  52.2, ROT= 101.7, -52.2

2025-08-21T20:08:25.291Z,1755806905.291 [DAT](INFO): got valid direction response:
 20:08:23.3554 LVL= 23024, 11121, 27490, 29075, AGC= 42, IDX= 438,-0.13,-2.531,-2.994, 2.462,-1.791, PHS=-0.639,-1.158,-2.074, RAW=  50.9,  47.4, CAL=  48.3,  52.2, ROT= 101.7, -52.2

2025-08-21T20:08:25.292Z,1755806905.292 [DAT](INFO): DAT read: Bearing  19.4,  42.9 (Local)

2025-08-21T20:08:25.292Z,1755806905.292 [DAT](INFO): Local bearing/azimuth received:
 Bearing  19.4,  42.9 (Local)

2025-08-21T20:08:25.293Z,1755806905.293 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:08:25.294Z,1755806905.294 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:08:25.295Z,1755806905.295 [DAT](INFO): direction in FSK: [-0.124290,0.600173,0.790155]
2025-08-21T20:08:25.295Z,1755806905.295 [DAT](INFO): publishing direction and range info
2025-08-21T20:08:31.560Z,1755806911.560 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:31.592Z,1755806911.592 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:08:31.592Z,1755806911.592 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:08:31.592Z,1755806911.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:31.844Z,1755806911.844 [DAT](INFO): DAT read: user:4186>

2025-08-21T20:08:31.845Z,1755806911.845 [DAT](INFO): DAT read: Tx time:20:08:30.9988

2025-08-21T20:08:31.845Z,1755806911.845 [DAT](INFO): Ping request sent.
2025-08-21T20:08:31.845Z,1755806911.845 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:31.845Z,1755806911.845 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:31.846Z,1755806911.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-21T20:08:32.096Z,1755806912.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251076
2025-08-21T20:08:32.352Z,1755806912.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506900
2025-08-21T20:08:32.604Z,1755806912.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759072
2025-08-21T20:08:32.856Z,1755806912.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010930
2025-08-21T20:08:33.108Z,1755806913.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262874
2025-08-21T20:08:33.360Z,1755806913.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514887
2025-08-21T20:08:33.613Z,1755806913.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767229
2025-08-21T20:08:33.864Z,1755806913.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018768
2025-08-21T20:08:34.116Z,1755806914.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271144
2025-08-21T20:08:34.368Z,1755806914.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523013
2025-08-21T20:08:34.620Z,1755806914.620 [DAT](INFO): DAT read: Rx Time:20:08:33.4054

2025-08-21T20:08:34.621Z,1755806914.621 [DAT](INFO): Rx dataTimestamp_ set to:1755806914.620376
2025-08-21T20:08:34.621Z,1755806914.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775883
2025-08-21T20:08:34.872Z,1755806914.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027160
2025-08-21T20:08:35.127Z,1755806915.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281207
2025-08-21T20:08:35.381Z,1755806915.381 [DAT](INFO): DAT read: 20:08:33.4054 LVL= 23776, 10705, 27122, 29907, AGC= 42, IDX= 438,-0.13, 0.320,-0.354,-0.987, 1.018, PHS=-0.596,-1.326,-2.049, RAW=  60.2,  48.1, CAL=  56.9,  53.1, ROT=  93.1, -53.1

2025-08-21T20:08:35.382Z,1755806915.382 [DAT](INFO): got valid direction response:
 20:08:33.4054 LVL= 23776, 10705, 27122, 29907, AGC= 42, IDX= 438,-0.13, 0.320,-0.354,-0.987, 1.018, PHS=-0.596,-1.326,-2.049, RAW=  60.2,  48.1, CAL=  56.9,  53.1, ROT=  93.1, -53.1

2025-08-21T20:08:35.383Z,1755806915.383 [DAT](INFO): DAT read: Bearing  10.6,  42.9 (Local)

2025-08-21T20:08:35.384Z,1755806915.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.6,  42.9 (Local)

2025-08-21T20:08:35.385Z,1755806915.385 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:08:35.386Z,1755806915.386 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:08:35.387Z,1755806915.387 [DAT](INFO): direction in FSK: [-0.032470,0.599542,0.799685]
2025-08-21T20:08:35.387Z,1755806915.387 [DAT](INFO): publishing direction and range info
2025-08-21T20:08:41.660Z,1755806921.660 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:41.676Z,1755806921.676 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:08:41.676Z,1755806921.676 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:08:41.677Z,1755806921.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:41.928Z,1755806921.928 [DAT](INFO): DAT read: user:4187>

2025-08-21T20:08:41.929Z,1755806921.929 [DAT](INFO): DAT read: Tx time:20:08:41.0988

2025-08-21T20:08:41.929Z,1755806921.929 [DAT](INFO): Ping request sent.
2025-08-21T20:08:41.929Z,1755806921.929 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:41.929Z,1755806921.929 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:41.930Z,1755806921.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-21T20:08:42.180Z,1755806922.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250984
2025-08-21T20:08:42.432Z,1755806922.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503031
2025-08-21T20:08:42.685Z,1755806922.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755260
2025-08-21T20:08:42.937Z,1755806922.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007922
2025-08-21T20:08:43.189Z,1755806923.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259141
2025-08-21T20:08:43.440Z,1755806923.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510959
2025-08-21T20:08:43.692Z,1755806923.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762916
2025-08-21T20:08:43.944Z,1755806923.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015123
2025-08-21T20:08:44.197Z,1755806924.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267196
2025-08-21T20:08:44.448Z,1755806924.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518818
2025-08-21T20:08:44.700Z,1755806924.700 [DAT](INFO): DAT read: Rx Time:20:08:43.5053

2025-08-21T20:08:44.701Z,1755806924.701 [DAT](INFO): Rx dataTimestamp_ set to:1755806924.700634
2025-08-21T20:08:44.701Z,1755806924.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772112
2025-08-21T20:08:44.954Z,1755806924.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023954
2025-08-21T20:08:45.206Z,1755806925.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276813
2025-08-21T20:08:45.461Z,1755806925.461 [DAT](INFO): DAT read: 20:08:43.5053 LVL= 20976, 11713, 22914, 23379, AGC= 40, IDX= 438, 0.01, 3.065, 2.084, 1.720,-2.573, PHS=-0.543,-1.581,-2.033, RAW=  72.8,  48.0, CAL=  69.3,  53.7, ROT=  80.7, -53.7

2025-08-21T20:08:45.462Z,1755806925.462 [DAT](INFO): got valid direction response:
 20:08:43.5053 LVL= 20976, 11713, 22914, 23379, AGC= 40, IDX= 438, 0.01, 3.065, 2.084, 1.720,-2.573, PHS=-0.543,-1.581,-2.033, RAW=  72.8,  48.0, CAL=  69.3,  53.7, ROT=  80.7, -53.7

2025-08-21T20:08:45.463Z,1755806925.463 [DAT](INFO): DAT read: Bearing   2.3,  42.6 (Local)

2025-08-21T20:08:45.464Z,1755806925.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  42.6 (Local)

2025-08-21T20:08:45.465Z,1755806925.465 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:08:45.466Z,1755806925.466 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:08:45.467Z,1755806925.467 [DAT](INFO): direction in FSK: [0.095672,0.584232,0.805928]
2025-08-21T20:08:45.467Z,1755806925.467 [DAT](INFO): publishing direction and range info
2025-08-21T20:08:51.778Z,1755806931.778 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:08:52.008Z,1755806932.008 [DAT](DEBUG): Acoustic response timeout
2025-08-21T20:08:52.008Z,1755806932.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:08:52.262Z,1755806932.262 [DAT](INFO): DAT read: user:4188>

2025-08-21T20:08:52.266Z,1755806932.266 [DAT](INFO): DAT read: Tx time:20:08:51.4487

2025-08-21T20:08:52.266Z,1755806932.266 [DAT](INFO): Ping request sent.
2025-08-21T20:08:52.266Z,1755806932.266 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:08:52.266Z,1755806932.266 [DAT](INFO): publishing transmit ping time
2025-08-21T20:08:52.267Z,1755806932.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T20:08:52.512Z,1755806932.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246010
2025-08-21T20:08:52.764Z,1755806932.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497957
2025-08-21T20:08:53.018Z,1755806933.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751355
2025-08-21T20:08:53.271Z,1755806933.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004223
2025-08-21T20:08:53.520Z,1755806933.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253949
2025-08-21T20:08:53.772Z,1755806933.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506078
2025-08-21T20:08:54.024Z,1755806934.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758015
2025-08-21T20:08:54.279Z,1755806934.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012039
2025-08-21T20:08:54.528Z,1755806934.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262147
2025-08-21T20:08:54.780Z,1755806934.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514013
2025-08-21T20:08:55.032Z,1755806935.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765955
2025-08-21T20:08:55.287Z,1755806935.287 [DAT](INFO): DAT read: Rx Time:20:08:53.8553

2025-08-21T20:08:55.288Z,1755806935.288 [DAT](INFO): Rx dataTimestamp_ set to:1755806935.287350
2025-08-21T20:08:55.290Z,1755806935.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023557
2025-08-21T20:08:55.536Z,1755806935.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270004
2025-08-21T20:08:55.794Z,1755806935.794 [DAT](INFO): DAT read: 20:08:53.8553 LVL= 21680, 11729, 21282, 20691, AGC= 39, IDX= 438, 0.21,-0.648,-1.936,-1.959,-0.004, PHS=-0.543,-1.888,-1.999, RAW=  86.1,  48.1, CAL=  84.4,  54.3, ROT=  65.6, -54.3

2025-08-21T20:08:55.795Z,1755806935.795 [DAT](INFO): got valid direction response:
 20:08:53.8553 LVL= 21680, 11729, 21282, 20691, AGC= 39, IDX= 438, 0.21,-0.648,-1.936,-1.959,-0.004, PHS=-0.543,-1.888,-1.999, RAW=  86.1,  48.1, CAL=  84.4,  54.3, ROT=  65.6, -54.3

2025-08-21T20:08:55.796Z,1755806935.796 [DAT](INFO): DAT read: Bearing 350.8,  38.4 (Local)

2025-08-21T20:08:55.796Z,1755806935.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.8,  38.4 (Local)

2025-08-21T20:08:55.797Z,1755806935.797 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:08:55.798Z,1755806935.798 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:08:55.799Z,1755806935.799 [DAT](INFO): direction in FSK: [0.241063,0.531421,0.812084]
2025-08-21T20:08:55.799Z,1755806935.799 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:01.862Z,1755806941.862 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:02.092Z,1755806942.092 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:02.092Z,1755806942.092 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:02.093Z,1755806942.093 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:02.344Z,1755806942.344 [DAT](INFO): DAT read: user:4189>

2025-08-21T20:09:02.345Z,1755806942.345 [DAT](INFO): DAT read: Tx time:20:09:01.4987

2025-08-21T20:09:02.345Z,1755806942.345 [DAT](INFO): Ping request sent.
2025-08-21T20:09:02.345Z,1755806942.345 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:02.345Z,1755806942.345 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:02.346Z,1755806942.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T20:09:02.596Z,1755806942.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250810
2025-08-21T20:09:02.848Z,1755806942.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502836
2025-08-21T20:09:03.101Z,1755806943.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755244
2025-08-21T20:09:03.352Z,1755806943.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006814
2025-08-21T20:09:03.604Z,1755806943.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258832
2025-08-21T20:09:03.860Z,1755806943.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514893
2025-08-21T20:09:04.112Z,1755806944.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766711
2025-08-21T20:09:04.367Z,1755806944.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020803
2025-08-21T20:09:04.616Z,1755806944.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270895
2025-08-21T20:09:04.868Z,1755806944.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522795
2025-08-21T20:09:05.121Z,1755806945.121 [DAT](INFO): DAT read: Rx Time:20:09:03.9052

2025-08-21T20:09:05.121Z,1755806945.121 [DAT](INFO): Rx dataTimestamp_ set to:1755806945.120694
2025-08-21T20:09:05.122Z,1755806945.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776163
2025-08-21T20:09:05.373Z,1755806945.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026832
2025-08-21T20:09:05.626Z,1755806945.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280794
2025-08-21T20:09:05.890Z,1755806945.890 [DAT](INFO): DAT read: 20:09:03.9052 LVL= 28496, 14689, 29538, 28339, AGC= 39, IDX= 437, 0.38, 0.756,-0.189,-0.560, 1.421, PHS=-0.562,-1.565,-2.025, RAW=  72.1,  48.6, CAL=  68.6,  54.2, ROT=  81.4, -54.2

2025-08-21T20:09:05.891Z,1755806945.891 [DAT](INFO): got valid direction response:
 20:09:03.9052 LVL= 28496, 14689, 29538, 28339, AGC= 39, IDX= 437, 0.38, 0.756,-0.189,-0.560, 1.421, PHS=-0.562,-1.565,-2.025, RAW=  72.1,  48.6, CAL=  68.6,  54.2, ROT=  81.4, -54.2

2025-08-21T20:09:05.892Z,1755806945.892 [DAT](INFO): DAT read: Bearing   9.8,  41.9 (Local)

2025-08-21T20:09:05.892Z,1755806945.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  41.9 (Local)

2025-08-21T20:09:05.894Z,1755806945.894 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:09:05.894Z,1755806945.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:05.895Z,1755806945.895 [DAT](INFO): direction in FSK: [0.087472,0.578381,0.811064]
2025-08-21T20:09:05.896Z,1755806945.896 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:11.974Z,1755806951.974 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:12.192Z,1755806952.192 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:12.192Z,1755806952.192 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:12.192Z,1755806952.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:12.444Z,1755806952.444 [DAT](INFO): DAT read: user:4190>

2025-08-21T20:09:12.445Z,1755806952.445 [DAT](INFO): DAT read: Tx time:20:09:11.5986

2025-08-21T20:09:12.445Z,1755806952.445 [DAT](INFO): Ping request sent.
2025-08-21T20:09:12.445Z,1755806952.445 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:12.446Z,1755806952.446 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:12.446Z,1755806952.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-21T20:09:12.696Z,1755806952.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251021
2025-08-21T20:09:12.953Z,1755806952.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507678
2025-08-21T20:09:13.204Z,1755806953.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758747
2025-08-21T20:09:13.456Z,1755806953.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010820
2025-08-21T20:09:13.708Z,1755806953.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262978
2025-08-21T20:09:13.960Z,1755806953.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514717
2025-08-21T20:09:14.212Z,1755806954.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766843
2025-08-21T20:09:14.464Z,1755806954.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018859
2025-08-21T20:09:14.716Z,1755806954.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270794
2025-08-21T20:09:14.968Z,1755806954.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522882
2025-08-21T20:09:15.300Z,1755806955.300 [DAT](INFO): DAT read: Rx Time:20:09:14.0051

2025-08-21T20:09:15.301Z,1755806955.301 [DAT](INFO): Rx dataTimestamp_ set to:1755806955.300380
2025-08-21T20:09:15.301Z,1755806955.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.855837
2025-08-21T20:09:15.472Z,1755806955.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026794
2025-08-21T20:09:15.727Z,1755806955.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280939
2025-08-21T20:09:15.981Z,1755806955.981 [DAT](INFO): DAT read: 20:09:14.0051 LVL= 24544, 14369, 24882, 27011, AGC= 40, IDX= 437, 0.46,-1.851, 3.058, 3.102,-1.186, PHS=-0.562,-1.994,-2.038, RAW=  88.5,  48.2, CAL=  87.1,  54.2, ROT=  62.9, -54.2

2025-08-21T20:09:15.983Z,1755806955.983 [DAT](INFO): got valid direction response:
 20:09:14.0051 LVL= 24544, 14369, 24882, 27011, AGC= 40, IDX= 437, 0.46,-1.851, 3.058, 3.102,-1.186, PHS=-0.562,-1.994,-2.038, RAW=  88.5,  48.2, CAL=  87.1,  54.2, ROT=  62.9, -54.2

2025-08-21T20:09:15.984Z,1755806955.984 [DAT](INFO): DAT read: Bearing 351.9,  37.0 (Local)

2025-08-21T20:09:15.984Z,1755806955.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.9,  37.0 (Local)

2025-08-21T20:09:15.985Z,1755806955.985 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:09:15.986Z,1755806955.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:15.987Z,1755806955.987 [DAT](INFO): direction in FSK: [0.266474,0.520737,0.811064]
2025-08-21T20:09:15.987Z,1755806955.987 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:22.088Z,1755806962.088 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:22.280Z,1755806962.280 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:22.280Z,1755806962.280 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:22.280Z,1755806962.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:22.532Z,1755806962.532 [DAT](INFO): DAT read: user:4191>

2025-08-21T20:09:22.533Z,1755806962.533 [DAT](INFO): DAT read: Tx time:20:09:21.6986

2025-08-21T20:09:22.533Z,1755806962.533 [DAT](INFO): Ping request sent.
2025-08-21T20:09:22.533Z,1755806962.533 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:22.534Z,1755806962.534 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:22.534Z,1755806962.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T20:09:22.784Z,1755806962.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250803
2025-08-21T20:09:23.036Z,1755806963.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502897
2025-08-21T20:09:23.288Z,1755806963.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754873
2025-08-21T20:09:23.540Z,1755806963.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007037
2025-08-21T20:09:23.796Z,1755806963.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262883
2025-08-21T20:09:24.044Z,1755806964.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853
2025-08-21T20:09:24.296Z,1755806964.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762986
2025-08-21T20:09:24.548Z,1755806964.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950
2025-08-21T20:09:24.800Z,1755806964.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266732
2025-08-21T20:09:25.053Z,1755806965.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519618
2025-08-21T20:09:25.304Z,1755806965.304 [DAT](INFO): DAT read: Rx Time:20:09:24.1051

2025-08-21T20:09:25.305Z,1755806965.305 [DAT](INFO): Rx dataTimestamp_ set to:1755806965.304594
2025-08-21T20:09:25.305Z,1755806965.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772066
2025-08-21T20:09:25.556Z,1755806965.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022824
2025-08-21T20:09:25.811Z,1755806965.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277142
2025-08-21T20:09:26.066Z,1755806966.066 [DAT](INFO): DAT read: 20:09:24.1051 LVL= 21376, 11761, 21874, 21795, AGC= 40, IDX= 438,-0.23,-1.474,-2.451,-2.777,-0.804, PHS=-0.567,-1.602,-2.017, RAW=  73.9,  48.9, CAL=  70.4,  54.5, ROT=  79.6, -54.5

2025-08-21T20:09:26.067Z,1755806966.067 [DAT](INFO): got valid direction response:
 20:09:24.1051 LVL= 21376, 11761, 21874, 21795, AGC= 40, IDX= 438,-0.23,-1.474,-2.451,-2.777,-0.804, PHS=-0.567,-1.602,-2.017, RAW=  73.9,  48.9, CAL=  70.4,  54.5, ROT=  79.6, -54.5

2025-08-21T20:09:26.068Z,1755806966.068 [DAT](INFO): DAT read: Bearing   7.1,  41.3 (Local)

2025-08-21T20:09:26.069Z,1755806966.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  41.3 (Local)

2025-08-21T20:09:26.070Z,1755806966.070 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:09:26.070Z,1755806966.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:26.084Z,1755806966.084 [DAT](INFO): direction in FSK: [0.104828,0.571163,0.814116]
2025-08-21T20:09:26.084Z,1755806966.084 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:32.191Z,1755806972.191 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:32.376Z,1755806972.376 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:32.376Z,1755806972.376 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:32.376Z,1755806972.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:32.628Z,1755806972.628 [DAT](INFO): DAT read: user:4192>

2025-08-21T20:09:32.629Z,1755806972.629 [DAT](INFO): DAT read: Tx time:20:09:31.7986

2025-08-21T20:09:32.629Z,1755806972.629 [DAT](INFO): Ping request sent.
2025-08-21T20:09:32.629Z,1755806972.629 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:32.630Z,1755806972.630 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:32.630Z,1755806972.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T20:09:32.881Z,1755806972.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251681
2025-08-21T20:09:33.132Z,1755806973.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502743
2025-08-21T20:09:33.385Z,1755806973.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755449
2025-08-21T20:09:33.636Z,1755806973.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006807
2025-08-21T20:09:33.891Z,1755806973.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260687
2025-08-21T20:09:34.141Z,1755806974.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511300
2025-08-21T20:09:34.392Z,1755806974.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762836
2025-08-21T20:09:34.644Z,1755806974.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014838
2025-08-21T20:09:34.897Z,1755806974.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267378
2025-08-21T20:09:35.149Z,1755806975.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519196
2025-08-21T20:09:35.400Z,1755806975.400 [DAT](INFO): DAT read: Rx Time:20:09:34.2051

2025-08-21T20:09:35.401Z,1755806975.401 [DAT](INFO): Rx dataTimestamp_ set to:1755806975.400566
2025-08-21T20:09:35.403Z,1755806975.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773022
2025-08-21T20:09:35.652Z,1755806975.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022767
2025-08-21T20:09:35.917Z,1755806975.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286634
2025-08-21T20:09:36.175Z,1755806976.175 [DAT](INFO): DAT read: 20:09:34.2051 LVL= 19808, 11121, 20978, 20691, AGC= 42, IDX= 438,-0.15, 1.679, 0.733, 0.343, 2.341, PHS=-0.560,-1.563,-2.042, RAW=  71.5,  48.4, CAL=  68.0,  53.9, ROT=  82.0, -53.9

2025-08-21T20:09:36.177Z,1755806976.177 [DAT](INFO): got valid direction response:
 20:09:34.2051 LVL= 19808, 11121, 20978, 20691, AGC= 42, IDX= 438,-0.15, 1.679, 0.733, 0.343, 2.341, PHS=-0.560,-1.563,-2.042, RAW=  71.5,  48.4, CAL=  68.0,  53.9, ROT=  82.0, -53.9

2025-08-21T20:09:36.178Z,1755806976.178 [DAT](INFO): DAT read: Bearing  10.1,  42.2 (Local)

2025-08-21T20:09:36.178Z,1755806976.178 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.1,  42.2 (Local)

2025-08-21T20:09:36.184Z,1755806976.184 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:09:36.185Z,1755806976.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:36.186Z,1755806976.186 [DAT](INFO): direction in FSK: [0.082000,0.583462,0.807990]
2025-08-21T20:09:36.186Z,1755806976.186 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:42.286Z,1755806982.286 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:42.464Z,1755806982.464 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:42.464Z,1755806982.464 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:42.464Z,1755806982.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:42.717Z,1755806982.717 [DAT](INFO): DAT read: user:4193>

2025-08-21T20:09:42.718Z,1755806982.718 [DAT](INFO): DAT read: Tx time:20:09:41.8986

2025-08-21T20:09:42.718Z,1755806982.718 [DAT](INFO): Ping request sent.
2025-08-21T20:09:42.718Z,1755806982.718 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:42.718Z,1755806982.718 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:42.719Z,1755806982.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001034
2025-08-21T20:09:42.971Z,1755806982.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252443
2025-08-21T20:09:43.220Z,1755806983.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502183
2025-08-21T20:09:43.473Z,1755806983.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754830
2025-08-21T20:09:43.724Z,1755806983.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006209
2025-08-21T20:09:43.976Z,1755806983.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258213
2025-08-21T20:09:44.228Z,1755806984.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510212
2025-08-21T20:09:44.480Z,1755806984.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762238
2025-08-21T20:09:44.733Z,1755806984.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015102
2025-08-21T20:09:44.987Z,1755806984.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268369
2025-08-21T20:09:45.236Z,1755806985.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518189
2025-08-21T20:09:45.488Z,1755806985.488 [DAT](INFO): DAT read: Rx Time:20:09:44.3051

2025-08-21T20:09:45.489Z,1755806985.489 [DAT](INFO): Rx dataTimestamp_ set to:1755806985.488666
2025-08-21T20:09:45.489Z,1755806985.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771482
2025-08-21T20:09:45.740Z,1755806985.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022230
2025-08-21T20:09:45.992Z,1755806985.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274178
2025-08-21T20:09:46.249Z,1755806986.249 [DAT](INFO): DAT read: 20:09:44.3051 LVL= 25248, 14449, 24994, 26995, AGC= 41, IDX= 438,-0.20,-1.120,-2.417,-2.434,-0.448, PHS=-0.570,-1.923,-2.030, RAW=  86.2,  48.6, CAL=  84.6,  54.7, ROT=  65.4, -54.7

2025-08-21T20:09:46.251Z,1755806986.251 [DAT](INFO): got valid direction response:
 20:09:44.3051 LVL= 25248, 14449, 24994, 26995, AGC= 41, IDX= 438,-0.20,-1.120,-2.417,-2.434,-0.448, PHS=-0.570,-1.923,-2.030, RAW=  86.2,  48.6, CAL=  84.6,  54.7, ROT=  65.4, -54.7

2025-08-21T20:09:46.252Z,1755806986.252 [DAT](INFO): DAT read: Bearing 356.8,  37.6 (Local)

2025-08-21T20:09:46.252Z,1755806986.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.8,  37.6 (Local)

2025-08-21T20:09:46.254Z,1755806986.254 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:09:46.254Z,1755806986.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:46.255Z,1755806986.255 [DAT](INFO): direction in FSK: [0.240551,0.525409,0.816138]
2025-08-21T20:09:46.256Z,1755806986.256 [DAT](INFO): publishing direction and range info
2025-08-21T20:09:52.405Z,1755806992.405 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:09:52.556Z,1755806992.556 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:09:52.556Z,1755806992.556 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:09:52.556Z,1755806992.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:09:52.808Z,1755806992.808 [DAT](INFO): DAT read: user:4194>

2025-08-21T20:09:52.809Z,1755806992.809 [DAT](INFO): DAT read: Tx time:20:09:51.9985

2025-08-21T20:09:52.810Z,1755806992.810 [DAT](INFO): Ping request sent.
2025-08-21T20:09:52.810Z,1755806992.810 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:09:52.810Z,1755806992.810 [DAT](INFO): publishing transmit ping time
2025-08-21T20:09:52.811Z,1755806992.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001029
2025-08-21T20:09:53.061Z,1755806993.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848
2025-08-21T20:09:53.312Z,1755806993.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502437
2025-08-21T20:09:53.564Z,1755806993.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754352
2025-08-21T20:09:53.816Z,1755806993.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006614
2025-08-21T20:09:54.068Z,1755806994.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258463
2025-08-21T20:09:54.320Z,1755806994.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510333
2025-08-21T20:09:54.572Z,1755806994.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762406
2025-08-21T20:09:54.825Z,1755806994.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014765
2025-08-21T20:09:55.076Z,1755806995.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266302
2025-08-21T20:09:55.328Z,1755806995.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518398
2025-08-21T20:09:55.580Z,1755806995.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770552
2025-08-21T20:09:55.832Z,1755806995.832 [DAT](INFO): DAT read: Rx Time:20:09:54.4051

2025-08-21T20:09:55.833Z,1755806995.833 [DAT](INFO): Rx dataTimestamp_ set to:1755806995.832399
2025-08-21T20:09:55.833Z,1755806995.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023444
2025-08-21T20:09:56.084Z,1755806996.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274586
2025-08-21T20:09:56.341Z,1755806996.341 [DAT](INFO): DAT read: 20:09:54.4051 LVL= 21376, 12129, 22722, 22771, AGC= 40, IDX= 438,-0.09, 1.441, 0.388, 0.117, 2.107, PHS=-0.563,-1.673,-2.033, RAW=  76.4,  48.7, CAL=  73.4,  54.5, ROT=  76.6, -54.5

2025-08-21T20:09:56.343Z,1755806996.343 [DAT](INFO): got valid direction response:
 20:09:54.4051 LVL= 21376, 12129, 22722, 22771, AGC= 40, IDX= 438,-0.09, 1.441, 0.388, 0.117, 2.107, PHS=-0.563,-1.673,-2.033, RAW=  76.4,  48.7, CAL=  73.4,  54.5, ROT=  76.6, -54.5

2025-08-21T20:09:56.344Z,1755806996.344 [DAT](INFO): DAT read: Bearing   2.3,  40.8 (Local)

2025-08-21T20:09:56.344Z,1755806996.344 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,  40.8 (Local)

2025-08-21T20:09:56.345Z,1755806996.345 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:09:56.346Z,1755806996.346 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:09:56.347Z,1755806996.347 [DAT](INFO): direction in FSK: [0.134577,0.564894,0.814116]
2025-08-21T20:09:56.347Z,1755806996.347 [DAT](INFO): publishing direction and range info
2025-08-21T20:10:02.499Z,1755807002.499 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:02.640Z,1755807002.640 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:02.640Z,1755807002.640 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:02.640Z,1755807002.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:02.893Z,1755807002.893 [DAT](INFO): DAT read: user:4195>

2025-08-21T20:10:02.894Z,1755807002.894 [DAT](INFO): DAT read: Tx time:20:10:02.0485

2025-08-21T20:10:02.894Z,1755807002.894 [DAT](INFO): Ping request sent.
2025-08-21T20:10:02.894Z,1755807002.894 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:02.895Z,1755807002.895 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:02.896Z,1755807002.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001290
2025-08-21T20:10:03.145Z,1755807003.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250151
2025-08-21T20:10:03.397Z,1755807003.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502341
2025-08-21T20:10:03.648Z,1755807003.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754014
2025-08-21T20:10:03.900Z,1755807003.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005889
2025-08-21T20:10:04.153Z,1755807004.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258143
2025-08-21T20:10:04.404Z,1755807004.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509930
2025-08-21T20:10:04.656Z,1755807004.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761886
2025-08-21T20:10:04.908Z,1755807004.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013882
2025-08-21T20:10:05.161Z,1755807005.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266415
2025-08-21T20:10:05.412Z,1755807005.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517930
2025-08-21T20:10:05.664Z,1755807005.664 [DAT](INFO): DAT read: Rx Time:20:10:04.4551

2025-08-21T20:10:05.665Z,1755807005.665 [DAT](INFO): Rx dataTimestamp_ set to:1755807005.664420
2025-08-21T20:10:05.665Z,1755807005.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897
2025-08-21T20:10:05.916Z,1755807005.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022075
2025-08-21T20:10:06.174Z,1755807006.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279456
2025-08-21T20:10:06.429Z,1755807006.429 [DAT](INFO): DAT read: 20:10:04.4551 LVL= 19680, 11249, 20466, 20275, AGC= 42, IDX= 438,-0.04,-2.382, 2.721, 2.573,-1.729, PHS=-0.551,-1.788,-2.025, RAW=  81.4,  48.4, CAL=  79.1,  54.6, ROT=  70.9, -54.6

2025-08-21T20:10:06.430Z,1755807006.430 [DAT](INFO): got valid direction response:
 20:10:04.4551 LVL= 19680, 11249, 20466, 20275, AGC= 42, IDX= 438,-0.04,-2.382, 2.721, 2.573,-1.729, PHS=-0.551,-1.788,-2.025, RAW=  81.4,  48.4, CAL=  79.1,  54.6, ROT=  70.9, -54.6

2025-08-21T20:10:06.432Z,1755807006.432 [DAT](INFO): DAT read: Bearing   5.0,  39.7 (Local)

2025-08-21T20:10:06.432Z,1755807006.432 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.0,  39.7 (Local)

2025-08-21T20:10:06.433Z,1755807006.433 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T20:10:06.434Z,1755807006.434 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:10:06.435Z,1755807006.435 [DAT](INFO): direction in FSK: [0.189551,0.547391,0.815128]
2025-08-21T20:10:06.435Z,1755807006.435 [DAT](INFO): publishing direction and range info
2025-08-21T20:10:12.589Z,1755807012.589 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:12.728Z,1755807012.728 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:12.728Z,1755807012.728 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:12.728Z,1755807012.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:12.980Z,1755807012.980 [DAT](INFO): DAT read: user:4196>

2025-08-21T20:10:12.981Z,1755807012.981 [DAT](INFO): DAT read: Tx time:20:10:12.1485

2025-08-21T20:10:12.981Z,1755807012.981 [DAT](INFO): Ping request sent.
2025-08-21T20:10:12.981Z,1755807012.981 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:12.982Z,1755807012.982 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:12.982Z,1755807012.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T20:10:13.232Z,1755807013.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250757
2025-08-21T20:10:13.485Z,1755807013.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503707
2025-08-21T20:10:13.736Z,1755807013.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754875
2025-08-21T20:10:13.988Z,1755807013.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006785
2025-08-21T20:10:14.245Z,1755807014.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262861
2025-08-21T20:10:14.495Z,1755807014.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513098
2025-08-21T20:10:14.745Z,1755807014.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763163
2025-08-21T20:10:14.996Z,1755807014.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-08-21T20:10:15.248Z,1755807015.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266833
2025-08-21T20:10:15.500Z,1755807015.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897
2025-08-21T20:10:15.752Z,1755807015.752 [DAT](INFO): DAT read: Rx Time:20:10:14.5550

2025-08-21T20:10:15.753Z,1755807015.753 [DAT](INFO): Rx dataTimestamp_ set to:1755807015.752609
2025-08-21T20:10:15.753Z,1755807015.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772051
2025-08-21T20:10:16.004Z,1755807016.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022858
2025-08-21T20:10:16.259Z,1755807016.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277027
2025-08-21T20:10:16.526Z,1755807016.526 [DAT](INFO): DAT read: 20:10:14.5550 LVL= 24400, 14033, 26354, 27491, AGC= 41, IDX= 438,-0.14, 0.989,-0.232,-0.343, 1.669, PHS=-0.578,-1.857,-2.056, RAW=  82.9,  48.8, CAL=  80.8,  55.0, ROT=  69.2, -55.0

2025-08-21T20:10:16.528Z,1755807016.528 [DAT](INFO): got valid direction response:
 20:10:14.5550 LVL= 24400, 14033, 26354, 27491, AGC= 41, IDX= 438,-0.14, 0.989,-0.232,-0.343, 1.669, PHS=-0.578,-1.857,-2.056, RAW=  82.9,  48.8, CAL=  80.8,  55.0, ROT=  69.2, -55.0

2025-08-21T20:10:16.529Z,1755807016.529 [DAT](INFO): DAT read: Bearing   1.9,  38.7 (Local)

2025-08-21T20:10:16.529Z,1755807016.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  38.7 (Local)

2025-08-21T20:10:16.530Z,1755807016.530 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:10:16.531Z,1755807016.531 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:10:16.532Z,1755807016.532 [DAT](INFO): direction in FSK: [0.203681,0.536194,0.819152]
2025-08-21T20:10:16.532Z,1755807016.532 [DAT](INFO): publishing direction and range info
2025-08-21T20:10:22.716Z,1755807022.716 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:22.816Z,1755807022.816 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:22.816Z,1755807022.816 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:22.816Z,1755807022.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:23.068Z,1755807023.068 [DAT](INFO): DAT read: user:4197>

2025-08-21T20:10:23.069Z,1755807023.069 [DAT](INFO): DAT read: Tx time:20:10:22.2485

2025-08-21T20:10:23.069Z,1755807023.069 [DAT](INFO): Ping request sent.
2025-08-21T20:10:23.069Z,1755807023.069 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:23.070Z,1755807023.070 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:23.070Z,1755807023.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T20:10:23.320Z,1755807023.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819
2025-08-21T20:10:23.575Z,1755807023.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505300
2025-08-21T20:10:23.824Z,1755807023.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754820
2025-08-21T20:10:24.077Z,1755807024.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007093
2025-08-21T20:10:24.329Z,1755807024.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259504
2025-08-21T20:10:24.582Z,1755807024.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512642
2025-08-21T20:10:24.832Z,1755807024.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762782
2025-08-21T20:10:25.084Z,1755807025.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014799
2025-08-21T20:10:25.336Z,1755807025.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266765
2025-08-21T20:10:25.591Z,1755807025.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521319
2025-08-21T20:10:25.840Z,1755807025.840 [DAT](INFO): DAT read: Rx Time:20:10:24.6550

2025-08-21T20:10:25.841Z,1755807025.841 [DAT](INFO): Rx dataTimestamp_ set to:1755807025.840531
2025-08-21T20:10:25.841Z,1755807025.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771968
2025-08-21T20:10:26.092Z,1755807026.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022768
2025-08-21T20:10:26.345Z,1755807026.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275629
2025-08-21T20:10:26.604Z,1755807026.604 [DAT](INFO): DAT read: 20:10:24.6550 LVL= 25680, 12049, 26994, 27891, AGC= 43, IDX= 438,-0.19,-2.589, 2.360, 2.393,-1.910, PHS=-0.577,-1.968,-2.025, RAW=  88.0,  48.7, CAL=  86.6,  54.7, ROT=  63.4, -54.7

2025-08-21T20:10:26.605Z,1755807026.605 [DAT](INFO): got valid direction response:
 20:10:24.6550 LVL= 25680, 12049, 26994, 27891, AGC= 43, IDX= 438,-0.19,-2.589, 2.360, 2.393,-1.910, PHS=-0.577,-1.968,-2.025, RAW=  88.0,  48.7, CAL=  86.6,  54.7, ROT=  63.4, -54.7

2025-08-21T20:10:26.606Z,1755807026.606 [DAT](INFO): DAT read: Bearing 353.6,  35.8 (Local)

2025-08-21T20:10:26.606Z,1755807026.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  35.8 (Local)

2025-08-21T20:10:26.612Z,1755807026.612 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:10:26.614Z,1755807026.614 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:10:26.636Z,1755807026.636 [DAT](INFO): direction in FSK: [0.258741,0.516694,0.816138]
2025-08-21T20:10:26.637Z,1755807026.637 [DAT](INFO): publishing direction and range info
2025-08-21T20:10:32.820Z,1755807032.820 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:32.896Z,1755807032.896 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:32.896Z,1755807032.896 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:32.896Z,1755807032.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:33.153Z,1755807033.153 [DAT](INFO): DAT read: user:4198>

2025-08-21T20:10:33.154Z,1755807033.154 [DAT](INFO): DAT read: Tx time:20:10:32.3485

2025-08-21T20:10:33.154Z,1755807033.154 [DAT](INFO): Ping request sent.
2025-08-21T20:10:33.154Z,1755807033.154 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:33.154Z,1755807033.154 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:33.155Z,1755807033.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125
2025-08-21T20:10:33.404Z,1755807033.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249925
2025-08-21T20:10:33.656Z,1755807033.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501889
2025-08-21T20:10:33.908Z,1755807033.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754038
2025-08-21T20:10:34.161Z,1755807034.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006335
2025-08-21T20:10:34.412Z,1755807034.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257842
2025-08-21T20:10:34.665Z,1755807034.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510662
2025-08-21T20:10:34.916Z,1755807034.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761897
2025-08-21T20:10:35.169Z,1755807035.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014986
2025-08-21T20:10:35.420Z,1755807035.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266080
2025-08-21T20:10:35.672Z,1755807035.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914
2025-08-21T20:10:35.924Z,1755807035.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769837
2025-08-21T20:10:36.177Z,1755807036.177 [DAT](INFO): DAT read: Rx Time:20:10:34.7550

2025-08-21T20:10:36.178Z,1755807036.178 [DAT](INFO): Rx dataTimestamp_ set to:1755807036.177333
2025-08-21T20:10:36.178Z,1755807036.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024137
2025-08-21T20:10:36.429Z,1755807036.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274412
2025-08-21T20:10:36.681Z,1755807036.681 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:10:36.682Z,1755807036.682 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:10:38.885Z,1755807038.885 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V
2025-08-21T20:10:42.925Z,1755807042.925 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:42.988Z,1755807042.988 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:42.988Z,1755807042.988 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:42.988Z,1755807042.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:43.240Z,1755807043.240 [DAT](INFO): DAT read: user:4199>

2025-08-21T20:10:43.241Z,1755807043.241 [DAT](INFO): DAT read: Tx time:20:10:42.3985

2025-08-21T20:10:43.241Z,1755807043.241 [DAT](INFO): Ping request sent.
2025-08-21T20:10:43.241Z,1755807043.241 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:43.241Z,1755807043.241 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:43.242Z,1755807043.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T20:10:43.492Z,1755807043.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250847
2025-08-21T20:10:43.744Z,1755807043.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502855
2025-08-21T20:10:43.996Z,1755807043.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754946
2025-08-21T20:10:44.077Z,1755807044.077 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022623580304,35.0, +10.3,   0.0, 0
2025-08-21T20:10:44.248Z,1755807044.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941
2025-08-21T20:10:44.502Z,1755807044.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260655
2025-08-21T20:10:44.752Z,1755807044.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510923
2025-08-21T20:10:45.004Z,1755807045.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762910
2025-08-21T20:10:45.256Z,1755807045.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015134
2025-08-21T20:10:45.508Z,1755807045.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266905
2025-08-21T20:10:45.761Z,1755807045.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519314
2025-08-21T20:10:46.012Z,1755807046.012 [DAT](INFO): DAT read: Rx Time:20:10:44.8050

2025-08-21T20:10:46.013Z,1755807046.013 [DAT](INFO): Rx dataTimestamp_ set to:1755807046.012647
2025-08-21T20:10:46.013Z,1755807046.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772142
2025-08-21T20:10:46.264Z,1755807046.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022915
2025-08-21T20:10:46.519Z,1755807046.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277057
2025-08-21T20:10:46.773Z,1755807046.773 [DAT](INFO): DAT read: 20:10:44.8050 LVL= 23296, 10689, 28834, 31027, AGC= 42, IDX= 437,-0.12, 2.372, 1.568, 1.044, 3.069, PHS=-0.595,-1.456,-2.069, RAW=  65.5,  48.6, CAL=  62.1,  53.8, ROT=  87.9, -53.8

2025-08-21T20:10:46.774Z,1755807046.774 [DAT](INFO): got valid direction response:
 20:10:44.8050 LVL= 23296, 10689, 28834, 31027, AGC= 42, IDX= 437,-0.12, 2.372, 1.568, 1.044, 3.069, PHS=-0.595,-1.456,-2.069, RAW=  65.5,  48.6, CAL=  62.1,  53.8, ROT=  87.9, -53.8

2025-08-21T20:10:46.776Z,1755807046.776 [DAT](INFO): DAT read: Bearing  17.3,  42.8 (Local)

2025-08-21T20:10:46.776Z,1755807046.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.3,  42.8 (Local)

2025-08-21T20:10:46.777Z,1755807046.777 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:10:46.778Z,1755807046.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:10:46.779Z,1755807046.779 [DAT](INFO): direction in FSK: [0.021642,0.590209,0.806960]
2025-08-21T20:10:46.779Z,1755807046.779 [DAT](INFO): publishing direction and range info
2025-08-21T20:10:52.980Z,1755807052.980 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:10:53.068Z,1755807053.068 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:10:53.068Z,1755807053.068 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:10:53.068Z,1755807053.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:10:53.320Z,1755807053.320 [DAT](INFO): DAT read: user:4200>

2025-08-21T20:10:53.321Z,1755807053.321 [DAT](INFO): DAT read: Tx time:20:10:52.4984

2025-08-21T20:10:53.321Z,1755807053.321 [DAT](INFO): Ping request sent.
2025-08-21T20:10:53.321Z,1755807053.321 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:10:53.321Z,1755807053.321 [DAT](INFO): publishing transmit ping time
2025-08-21T20:10:53.322Z,1755807053.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T20:10:53.572Z,1755807053.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251043
2025-08-21T20:10:53.825Z,1755807053.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504053
2025-08-21T20:10:54.076Z,1755807054.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754982
2025-08-21T20:10:54.328Z,1755807054.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007203
2025-08-21T20:10:54.580Z,1755807054.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259217
2025-08-21T20:10:54.832Z,1755807054.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511057
2025-08-21T20:10:55.087Z,1755807055.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765165
2025-08-21T20:10:55.336Z,1755807055.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015039
2025-08-21T20:10:55.588Z,1755807055.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266984
2025-08-21T20:10:55.841Z,1755807055.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519923
2025-08-21T20:10:56.095Z,1755807056.095 [DAT](INFO): DAT read: Rx Time:20:10:54.9049

2025-08-21T20:10:56.095Z,1755807056.095 [DAT](INFO): Rx dataTimestamp_ set to:1755807056.094785
2025-08-21T20:10:56.096Z,1755807056.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774550
2025-08-21T20:10:56.344Z,1755807056.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022981
2025-08-21T20:10:56.596Z,1755807056.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274979
2025-08-21T20:10:56.853Z,1755807056.853 [DAT](INFO): DAT read: 20:10:54.9049 LVL= 22208, 11409, 29202, 30771, AGC= 41, IDX= 437,-0.10,-0.783,-1.611,-2.116,-0.092, PHS=-0.589,-1.474,-2.068, RAW=  66.5,  48.6, CAL=  63.0,  53.8, ROT=  87.0, -53.8

2025-08-21T20:10:56.855Z,1755807056.855 [DAT](INFO): got valid direction response:
 20:10:54.9049 LVL= 22208, 11409, 29202, 30771, AGC= 41, IDX= 437,-0.10,-0.783,-1.611,-2.116,-0.092, PHS=-0.589,-1.474,-2.068, RAW=  66.5,  48.6, CAL=  63.0,  53.8, ROT=  87.0, -53.8

2025-08-21T20:10:56.856Z,1755807056.856 [DAT](INFO): DAT read: Bearing   9.8,  42.2 (Local)

2025-08-21T20:10:56.856Z,1755807056.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing   9.8,  42.2 (Local)

2025-08-21T20:10:56.857Z,1755807056.857 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:10:56.858Z,1755807056.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:10:56.859Z,1755807056.859 [DAT](INFO): direction in FSK: [0.030910,0.589796,0.806960]
2025-08-21T20:10:56.859Z,1755807056.859 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:03.070Z,1755807063.070 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:03.150Z,1755807063.150 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:03.150Z,1755807063.150 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:03.151Z,1755807063.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:03.400Z,1755807063.400 [DAT](INFO): DAT read: user:4201>

2025-08-21T20:11:03.401Z,1755807063.401 [DAT](INFO): DAT read: Tx time:20:11:02.5984

2025-08-21T20:11:03.401Z,1755807063.401 [DAT](INFO): Ping request sent.
2025-08-21T20:11:03.401Z,1755807063.401 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:03.402Z,1755807063.402 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:03.402Z,1755807063.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-21T20:11:03.652Z,1755807063.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250691
2025-08-21T20:11:03.904Z,1755807063.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502705
2025-08-21T20:11:04.160Z,1755807064.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758293
2025-08-21T20:11:04.408Z,1755807064.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801
2025-08-21T20:11:04.661Z,1755807064.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259211
2025-08-21T20:11:04.912Z,1755807064.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510945
2025-08-21T20:11:05.167Z,1755807065.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765282
2025-08-21T20:11:05.416Z,1755807065.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014672
2025-08-21T20:11:05.668Z,1755807065.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266846
2025-08-21T20:11:05.920Z,1755807065.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518685
2025-08-21T20:11:06.172Z,1755807066.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770890
2025-08-21T20:11:06.424Z,1755807066.424 [DAT](INFO): DAT read: Rx Time:20:11:05.0049

2025-08-21T20:11:06.425Z,1755807066.425 [DAT](INFO): Rx dataTimestamp_ set to:1755807066.424608
2025-08-21T20:11:06.425Z,1755807066.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023898
2025-08-21T20:11:06.676Z,1755807066.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274712
2025-08-21T20:11:06.933Z,1755807066.933 [DAT](INFO): DAT read: 20:11:05.0049 LVL= 26096, 13633, 30354, 29763, AGC= 42, IDX= 437,-0.09, 1.389, 0.687, 0.032, 2.030, PHS=-0.539,-1.298,-2.042, RAW=  60.3,  46.5, CAL=  56.9,  51.6, ROT=  93.1, -51.6

2025-08-21T20:11:06.934Z,1755807066.934 [DAT](INFO): got valid direction response:
 20:11:05.0049 LVL= 26096, 13633, 30354, 29763, AGC= 42, IDX= 437,-0.09, 1.389, 0.687, 0.032, 2.030, PHS=-0.539,-1.298,-2.042, RAW=  60.3,  46.5, CAL=  56.9,  51.6, ROT=  93.1, -51.6

2025-08-21T20:11:06.935Z,1755807066.935 [DAT](INFO): DAT read: Bearing  20.6,  45.0 (Local)

2025-08-21T20:11:06.936Z,1755807066.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.6,  45.0 (Local)

2025-08-21T20:11:06.937Z,1755807066.937 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:11:06.938Z,1755807066.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:06.939Z,1755807066.939 [DAT](INFO): direction in FSK: [-0.033591,0.620239,0.783693]
2025-08-21T20:11:06.939Z,1755807066.939 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:11.966Z,1755807071.966 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T20:11:12.392Z,1755807072.392 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T20:11:13.182Z,1755807073.182 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:13.232Z,1755807073.232 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:13.232Z,1755807073.232 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:13.233Z,1755807073.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:13.484Z,1755807073.484 [DAT](INFO): DAT read: user:4202>

2025-08-21T20:11:13.485Z,1755807073.485 [DAT](INFO): DAT read: Tx time:20:11:12.6484

2025-08-21T20:11:13.485Z,1755807073.485 [DAT](INFO): Ping request sent.
2025-08-21T20:11:13.485Z,1755807073.485 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:13.485Z,1755807073.485 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:13.486Z,1755807073.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:11:13.736Z,1755807073.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250842
2025-08-21T20:11:13.989Z,1755807073.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503268
2025-08-21T20:11:14.240Z,1755807074.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900
2025-08-21T20:11:14.492Z,1755807074.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006896
2025-08-21T20:11:14.745Z,1755807074.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259151
2025-08-21T20:11:14.996Z,1755807074.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510893
2025-08-21T20:11:15.249Z,1755807075.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763513
2025-08-21T20:11:15.504Z,1755807075.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018590
2025-08-21T20:11:15.752Z,1755807075.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898
2025-08-21T20:11:16.004Z,1755807076.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925
2025-08-21T20:11:16.256Z,1755807076.256 [DAT](INFO): DAT read: Rx Time:20:11:15.0548

2025-08-21T20:11:16.257Z,1755807076.257 [DAT](INFO): Rx dataTimestamp_ set to:1755807076.256624
2025-08-21T20:11:16.257Z,1755807076.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772119
2025-08-21T20:11:16.508Z,1755807076.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023010
2025-08-21T20:11:16.763Z,1755807076.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277533
2025-08-21T20:11:17.018Z,1755807077.018 [DAT](INFO): DAT read: 20:11:15.0548 LVL= 20912, 11121, 24306, 29059, AGC= 42, IDX= 437,-0.27,-1.246,-1.929,-2.600,-0.543, PHS=-0.602,-1.342,-2.101, RAW=  59.6,  47.8, CAL=  56.3,  52.7, ROT=  93.7, -52.7

2025-08-21T20:11:17.019Z,1755807077.019 [DAT](INFO): got valid direction response:
 20:11:15.0548 LVL= 20912, 11121, 24306, 29059, AGC= 42, IDX= 437,-0.27,-1.246,-1.929,-2.600,-0.543, PHS=-0.602,-1.342,-2.101, RAW=  59.6,  47.8, CAL=  56.3,  52.7, ROT=  93.7, -52.7

2025-08-21T20:11:17.020Z,1755807077.020 [DAT](INFO): DAT read: Bearing  20.7,  44.5 (Local)

2025-08-21T20:11:17.020Z,1755807077.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing  20.7,  44.5 (Local)

2025-08-21T20:11:17.021Z,1755807077.021 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:11:17.022Z,1755807077.022 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:17.023Z,1755807077.023 [DAT](INFO): direction in FSK: [-0.039106,0.604725,0.795473]
2025-08-21T20:11:17.028Z,1755807077.028 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:22.535Z,1755807082.535 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T20:11:23.269Z,1755807083.269 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:23.316Z,1755807083.316 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:23.317Z,1755807083.317 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:23.317Z,1755807083.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:23.568Z,1755807083.568 [DAT](INFO): DAT read: user:4203>

2025-08-21T20:11:23.569Z,1755807083.569 [DAT](INFO): DAT read: Tx time:20:11:22.7484

2025-08-21T20:11:23.569Z,1755807083.569 [DAT](INFO): Ping request sent.
2025-08-21T20:11:23.569Z,1755807083.569 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:23.569Z,1755807083.569 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:23.570Z,1755807083.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:11:23.820Z,1755807083.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251207
2025-08-21T20:11:24.072Z,1755807084.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502974
2025-08-21T20:11:24.324Z,1755807084.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917
2025-08-21T20:11:24.577Z,1755807084.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008026
2025-08-21T20:11:24.828Z,1755807084.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968
2025-08-21T20:11:25.080Z,1755807085.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510909
2025-08-21T20:11:25.333Z,1755807085.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763626
2025-08-21T20:11:25.584Z,1755807085.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014933
2025-08-21T20:11:25.836Z,1755807085.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266904
2025-08-21T20:11:26.089Z,1755807086.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519317
2025-08-21T20:11:26.342Z,1755807086.342 [DAT](INFO): DAT read: Rx Time:20:11:25.1548

2025-08-21T20:11:26.342Z,1755807086.342 [DAT](INFO): Rx dataTimestamp_ set to:1755807086.342165
2025-08-21T20:11:26.343Z,1755807086.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773735
2025-08-21T20:11:26.592Z,1755807086.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022998
2025-08-21T20:11:26.845Z,1755807086.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275230
2025-08-21T20:11:27.102Z,1755807087.102 [DAT](INFO): DAT read: 20:11:25.1548 LVL= 17552, 10833, 18626, 20179, AGC= 42, IDX= 437,-0.19,-0.258, 0.627,-1.521, 0.436, PHS=-0.593, 0.236,-2.001, RAW=   8.5,  23.1, CAL=   7.8,  27.7, ROT= 142.2, -27.7

2025-08-21T20:11:27.103Z,1755807087.103 [DAT](INFO): got valid direction response:
 20:11:25.1548 LVL= 17552, 10833, 18626, 20179, AGC= 42, IDX= 437,-0.19,-0.258, 0.627,-1.521, 0.436, PHS=-0.593, 0.236,-2.001, RAW=   8.5,  23.1, CAL=   7.8,  27.7, ROT= 142.2, -27.7

2025-08-21T20:11:27.104Z,1755807087.104 [DAT](INFO): DAT read: Bearing  70.7,  35.0 (Local)

2025-08-21T20:11:27.104Z,1755807087.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.7,  35.0 (Local)

2025-08-21T20:11:27.106Z,1755807087.106 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:11:27.106Z,1755807087.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:27.108Z,1755807087.108 [DAT](INFO): direction in FSK: [-0.699598,0.542664,0.464842]
2025-08-21T20:11:27.108Z,1755807087.108 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:33.382Z,1755807093.382 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:33.396Z,1755807093.396 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:33.396Z,1755807093.396 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:33.396Z,1755807093.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:33.650Z,1755807093.650 [DAT](INFO): DAT read: user:4204>

2025-08-21T20:11:33.653Z,1755807093.653 [DAT](INFO): DAT read: Tx time:20:11:32.8484

2025-08-21T20:11:33.654Z,1755807093.654 [DAT](INFO): Ping request sent.
2025-08-21T20:11:33.655Z,1755807093.655 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:33.655Z,1755807093.655 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:33.657Z,1755807093.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002442
2025-08-21T20:11:33.900Z,1755807093.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245757
2025-08-21T20:11:34.161Z,1755807094.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506113
2025-08-21T20:11:34.412Z,1755807094.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757881
2025-08-21T20:11:34.666Z,1755807094.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011441
2025-08-21T20:11:34.916Z,1755807094.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261692
2025-08-21T20:11:35.169Z,1755807095.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514051
2025-08-21T20:11:35.421Z,1755807095.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766102
2025-08-21T20:11:35.675Z,1755807095.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019925
2025-08-21T20:11:35.925Z,1755807095.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270120
2025-08-21T20:11:36.177Z,1755807096.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522157
2025-08-21T20:11:36.428Z,1755807096.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773612
2025-08-21T20:11:36.684Z,1755807096.684 [DAT](INFO): DAT read: Rx Time:20:11:35.2548

2025-08-21T20:11:36.685Z,1755807096.685 [DAT](INFO): Rx dataTimestamp_ set to:1755807096.684450
2025-08-21T20:11:36.689Z,1755807096.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032113
2025-08-21T20:11:36.932Z,1755807096.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277718
2025-08-21T20:11:37.191Z,1755807097.191 [DAT](INFO): DAT read: 20:11:35.2548 LVL= 18672, 12497, 26786, 28099, AGC= 41, IDX= 437,-0.39,-1.953,-2.120, 3.070,-1.117, PHS=-0.734,-0.958,-2.140, RAW=  38.5,  46.0, CAL=  36.5,  51.1, ROT= 113.5, -51.1

2025-08-21T20:11:37.192Z,1755807097.192 [DAT](INFO): got valid direction response:
 20:11:35.2548 LVL= 18672, 12497, 26786, 28099, AGC= 41, IDX= 437,-0.39,-1.953,-2.120, 3.070,-1.117, PHS=-0.734,-0.958,-2.140, RAW=  38.5,  46.0, CAL=  36.5,  51.1, ROT= 113.5, -51.1

2025-08-21T20:11:37.193Z,1755807097.193 [DAT](INFO): DAT read: Bearing  33.7,  41.5 (Local)

2025-08-21T20:11:37.193Z,1755807097.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing  33.7,  41.5 (Local)

2025-08-21T20:11:37.194Z,1755807097.194 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:11:37.195Z,1755807097.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:37.196Z,1755807097.196 [DAT](INFO): direction in FSK: [-0.250400,0.575880,0.778243]
2025-08-21T20:11:37.196Z,1755807097.196 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:43.470Z,1755807103.470 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:43.517Z,1755807103.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:43.517Z,1755807103.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:43.517Z,1755807103.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:43.770Z,1755807103.770 [DAT](INFO): DAT read: user:4205>

2025-08-21T20:11:43.773Z,1755807103.773 [DAT](INFO): DAT read: Tx time:20:11:42.9484

2025-08-21T20:11:43.774Z,1755807103.774 [DAT](INFO): Ping request sent.
2025-08-21T20:11:43.774Z,1755807103.774 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:43.774Z,1755807103.774 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:43.776Z,1755807103.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002256
2025-08-21T20:11:44.020Z,1755807104.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246548
2025-08-21T20:11:44.272Z,1755807104.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498772
2025-08-21T20:11:44.524Z,1755807104.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750595
2025-08-21T20:11:44.779Z,1755807104.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004917
2025-08-21T20:11:45.029Z,1755807105.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255005
2025-08-21T20:11:45.280Z,1755807105.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506627
2025-08-21T20:11:45.534Z,1755807105.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759777
2025-08-21T20:11:45.788Z,1755807105.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013860
2025-08-21T20:11:46.036Z,1755807106.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262634
2025-08-21T20:11:46.288Z,1755807106.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514448
2025-08-21T20:11:46.540Z,1755807106.540 [DAT](INFO): DAT read: Rx Time:20:11:45.3547

2025-08-21T20:11:46.541Z,1755807106.541 [DAT](INFO): Rx dataTimestamp_ set to:1755807106.540656
2025-08-21T20:11:46.541Z,1755807106.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767854
2025-08-21T20:11:46.795Z,1755807106.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020436
2025-08-21T20:11:47.047Z,1755807107.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272424
2025-08-21T20:11:47.301Z,1755807107.301 [DAT](INFO): DAT read: 20:11:45.3547 LVL= 17952, 13809, 24498, 28659, AGC= 40, IDX= 436, 0.45, 2.913, 2.840, 1.683,-2.471, PHS=-0.798,-0.927,-2.173, RAW=  34.9,  46.3, CAL=  33.0,  51.3, ROT= 117.0, -51.3

2025-08-21T20:11:47.303Z,1755807107.303 [DAT](INFO): got valid direction response:
 20:11:45.3547 LVL= 17952, 13809, 24498, 28659, AGC= 40, IDX= 436, 0.45, 2.913, 2.840, 1.683,-2.471, PHS=-0.798,-0.927,-2.173, RAW=  34.9,  46.3, CAL=  33.0,  51.3, ROT= 117.0, -51.3

2025-08-21T20:11:47.304Z,1755807107.304 [DAT](INFO): DAT read: Bearing  29.8,  39.6 (Local)

2025-08-21T20:11:47.304Z,1755807107.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing  29.8,  39.6 (Local)

2025-08-21T20:11:47.306Z,1755807107.306 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:11:47.306Z,1755807107.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:47.307Z,1755807107.307 [DAT](INFO): direction in FSK: [-0.283854,0.557095,0.780430]
2025-08-21T20:11:47.308Z,1755807107.308 [DAT](INFO): publishing direction and range info
2025-08-21T20:11:53.569Z,1755807113.569 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:11:53.608Z,1755807113.608 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:11:53.608Z,1755807113.608 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:11:53.608Z,1755807113.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:11:53.860Z,1755807113.860 [DAT](INFO): DAT read: user:4206>

2025-08-21T20:11:53.861Z,1755807113.861 [DAT](INFO): DAT read: Tx time:20:11:53.0483

2025-08-21T20:11:53.861Z,1755807113.861 [DAT](INFO): Ping request sent.
2025-08-21T20:11:53.861Z,1755807113.861 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:11:53.861Z,1755807113.861 [DAT](INFO): publishing transmit ping time
2025-08-21T20:11:53.862Z,1755807113.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-21T20:11:54.112Z,1755807114.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250918
2025-08-21T20:11:54.364Z,1755807114.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503180
2025-08-21T20:11:54.616Z,1755807114.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754907
2025-08-21T20:11:54.868Z,1755807114.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006893
2025-08-21T20:11:55.120Z,1755807115.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258936
2025-08-21T20:11:55.372Z,1755807115.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510796
2025-08-21T20:11:55.625Z,1755807115.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763280
2025-08-21T20:11:55.876Z,1755807115.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015097
2025-08-21T20:11:56.132Z,1755807116.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270880
2025-08-21T20:11:56.380Z,1755807116.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519089
2025-08-21T20:11:56.632Z,1755807116.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770967
2025-08-21T20:11:56.884Z,1755807116.884 [DAT](INFO): DAT read: Rx Time:20:11:55.4547

2025-08-21T20:11:56.885Z,1755807116.885 [DAT](INFO): Rx dataTimestamp_ set to:1755807116.884565
2025-08-21T20:11:56.885Z,1755807116.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024114
2025-08-21T20:11:57.136Z,1755807117.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274906
2025-08-21T20:11:57.394Z,1755807117.394 [DAT](INFO): DAT read: 20:11:55.4547 LVL= 20240, 11825, 25458, 29331, AGC= 40, IDX= 437,-0.40,-2.285,-2.580, 2.686,-1.541, PHS=-0.642,-0.994,-2.100, RAW=  43.4,  45.1, CAL=  41.2,  50.4, ROT= 108.8, -50.4

2025-08-21T20:11:57.395Z,1755807117.395 [DAT](INFO): got valid direction response:
 20:11:55.4547 LVL= 20240, 11825, 25458, 29331, AGC= 40, IDX= 437,-0.40,-2.285,-2.580, 2.686,-1.541, PHS=-0.642,-0.994,-2.100, RAW=  43.4,  45.1, CAL=  41.2,  50.4, ROT= 108.8, -50.4

2025-08-21T20:11:57.396Z,1755807117.396 [DAT](INFO): DAT read: Bearing  30.9,  43.4 (Local)

2025-08-21T20:11:57.396Z,1755807117.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing  30.9,  43.4 (Local)

2025-08-21T20:11:57.397Z,1755807117.397 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:11:57.398Z,1755807117.398 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:11:57.399Z,1755807117.399 [DAT](INFO): direction in FSK: [-0.205420,0.603417,0.770513]
2025-08-21T20:11:57.399Z,1755807117.399 [DAT](INFO): publishing direction and range info
2025-08-21T20:12:03.692Z,1755807123.692 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:03.940Z,1755807123.940 [DAT](DEBUG): Acoustic response timeout
2025-08-21T20:12:03.941Z,1755807123.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:04.192Z,1755807124.192 [DAT](INFO): DAT read: user:4207>

2025-08-21T20:12:04.193Z,1755807124.193 [DAT](INFO): DAT read: Tx time:20:12:03.3483

2025-08-21T20:12:04.193Z,1755807124.193 [DAT](INFO): Ping request sent.
2025-08-21T20:12:04.193Z,1755807124.193 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:04.194Z,1755807124.194 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:04.194Z,1755807124.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-21T20:12:04.444Z,1755807124.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250796
2025-08-21T20:12:04.696Z,1755807124.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502988
2025-08-21T20:12:04.948Z,1755807124.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754973
2025-08-21T20:12:05.200Z,1755807125.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801
2025-08-21T20:12:05.452Z,1755807125.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258830
2025-08-21T20:12:05.704Z,1755807125.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793
2025-08-21T20:12:05.956Z,1755807125.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762766
2025-08-21T20:12:06.209Z,1755807126.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015416
2025-08-21T20:12:06.460Z,1755807126.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852
2025-08-21T20:12:06.712Z,1755807126.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518791
2025-08-21T20:12:06.964Z,1755807126.964 [DAT](INFO): DAT read: Rx Time:20:12:05.7547

2025-08-21T20:12:06.965Z,1755807126.965 [DAT](INFO): Rx dataTimestamp_ set to:1755807126.964672
2025-08-21T20:12:06.965Z,1755807126.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772125
2025-08-21T20:12:07.216Z,1755807127.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022844
2025-08-21T20:12:07.470Z,1755807127.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276583
2025-08-21T20:12:07.745Z,1755807127.745 [DAT](INFO): DAT read: 20:12:05.7547 LVL= 19696, 10193, 22226, 25635, AGC= 40, IDX= 437,-0.32, 0.231, 0.211,-1.014, 1.024, PHS=-0.691,-0.768,-2.082, RAW=  32.8,  42.8, CAL=  30.9,  48.0, ROT= 119.1, -48.0

2025-08-21T20:12:07.747Z,1755807127.747 [DAT](INFO): got valid direction response:
 20:12:05.7547 LVL= 19696, 10193, 22226, 25635, AGC= 40, IDX= 437,-0.32, 0.231, 0.211,-1.014, 1.024, PHS=-0.691,-0.768,-2.082, RAW=  32.8,  42.8, CAL=  30.9,  48.0, ROT= 119.1, -48.0

2025-08-21T20:12:07.748Z,1755807127.748 [DAT](INFO): DAT read: Bearing  39.2,  41.0 (Local)

2025-08-21T20:12:07.749Z,1755807127.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.2,  41.0 (Local)

2025-08-21T20:12:07.750Z,1755807127.750 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:12:07.759Z,1755807127.759 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:12:07.761Z,1755807127.761 [DAT](INFO): direction in FSK: [-0.325422,0.584668,0.743145]
2025-08-21T20:12:07.761Z,1755807127.761 [DAT](INFO): publishing direction and range info
2025-08-21T20:12:13.771Z,1755807133.771 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:14.020Z,1755807134.020 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:12:14.020Z,1755807134.020 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:12:14.021Z,1755807134.021 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:14.272Z,1755807134.272 [DAT](INFO): DAT read: user:4208>

2025-08-21T20:12:14.273Z,1755807134.273 [DAT](INFO): DAT read: Tx time:20:12:13.4483

2025-08-21T20:12:14.273Z,1755807134.273 [DAT](INFO): Ping request sent.
2025-08-21T20:12:14.273Z,1755807134.273 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:14.274Z,1755807134.274 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:14.274Z,1755807134.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:12:14.524Z,1755807134.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892
2025-08-21T20:12:14.776Z,1755807134.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502767
2025-08-21T20:12:15.029Z,1755807135.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755198
2025-08-21T20:12:15.280Z,1755807135.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006688
2025-08-21T20:12:15.532Z,1755807135.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258752
2025-08-21T20:12:15.784Z,1755807135.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510748
2025-08-21T20:12:16.036Z,1755807136.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762689
2025-08-21T20:12:16.291Z,1755807136.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016868
2025-08-21T20:12:16.540Z,1755807136.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266665
2025-08-21T20:12:16.792Z,1755807136.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518889
2025-08-21T20:12:17.045Z,1755807137.045 [DAT](INFO): DAT read: Rx Time:20:12:15.8548

2025-08-21T20:12:17.045Z,1755807137.045 [DAT](INFO): Rx dataTimestamp_ set to:1755807137.044971
2025-08-21T20:12:17.046Z,1755807137.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772580
2025-08-21T20:12:17.296Z,1755807137.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022754
2025-08-21T20:12:17.549Z,1755807137.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275203
2025-08-21T20:12:17.806Z,1755807137.806 [DAT](INFO): DAT read: 20:12:15.8548 LVL= 20208, 13009, 23330, 24819, AGC= 41, IDX= 437,-0.15, 2.591, 2.074, 1.259,-3.026, PHS=-0.564,-1.138,-2.042, RAW=  52.7,  45.7, CAL=  49.8,  50.7, ROT= 100.2, -50.7

2025-08-21T20:12:17.807Z,1755807137.807 [DAT](INFO): got valid direction response:
 20:12:15.8548 LVL= 20208, 13009, 23330, 24819, AGC= 41, IDX= 437,-0.15, 2.591, 2.074, 1.259,-3.026, PHS=-0.564,-1.138,-2.042, RAW=  52.7,  45.7, CAL=  49.8,  50.7, ROT= 100.2, -50.7

2025-08-21T20:12:17.808Z,1755807137.808 [DAT](INFO): DAT read: Bearing  24.0,  44.9 (Local)

2025-08-21T20:12:17.808Z,1755807137.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.0,  44.9 (Local)

2025-08-21T20:12:17.809Z,1755807137.809 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.4 ms) speed  0.0 m/s

2025-08-21T20:12:17.810Z,1755807137.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:12:17.811Z,1755807137.811 [DAT](INFO): direction in FSK: [-0.112162,0.623371,0.773840]
2025-08-21T20:12:17.819Z,1755807137.819 [DAT](INFO): publishing direction and range info
2025-08-21T20:12:23.883Z,1755807143.883 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:24.100Z,1755807144.100 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:12:24.100Z,1755807144.100 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:12:24.100Z,1755807144.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:24.372Z,1755807144.372 [DAT](INFO): DAT read: user:4209>

2025-08-21T20:12:24.375Z,1755807144.375 [DAT](INFO): DAT read: Tx time:20:12:23.5482

2025-08-21T20:12:24.376Z,1755807144.376 [DAT](INFO): Ping request sent.
2025-08-21T20:12:24.376Z,1755807144.376 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:24.377Z,1755807144.377 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:24.379Z,1755807144.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002397
2025-08-21T20:12:24.604Z,1755807144.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.228112
2025-08-21T20:12:24.856Z,1755807144.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.480077
2025-08-21T20:12:25.108Z,1755807145.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.732355
2025-08-21T20:12:25.363Z,1755807145.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986168
2025-08-21T20:12:25.612Z,1755807145.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236045
2025-08-21T20:12:25.873Z,1755807145.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496667
2025-08-21T20:12:26.124Z,1755807146.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748131
2025-08-21T20:12:26.376Z,1755807146.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000268
2025-08-21T20:12:26.628Z,1755807146.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252249
2025-08-21T20:12:26.880Z,1755807146.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504178
2025-08-21T20:12:27.134Z,1755807147.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757761
2025-08-21T20:12:27.387Z,1755807147.387 [DAT](INFO): DAT read: Rx Time:20:12:25.9546

2025-08-21T20:12:27.388Z,1755807147.388 [DAT](INFO): Rx dataTimestamp_ set to:1755807147.387231
2025-08-21T20:12:27.390Z,1755807147.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013469
2025-08-21T20:12:27.636Z,1755807147.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260124
2025-08-21T20:12:27.894Z,1755807147.894 [DAT](INFO): DAT read: 20:12:25.9546 LVL= 14272, 10705, 22386, 23123, AGC= 42, IDX= 436, 0.20, 1.343, 1.542, 0.348, 2.181, PHS=-0.736,-0.594,-1.877, RAW=  24.2,  42.9, CAL=  22.6,  48.2, ROT= 127.4, -48.2

2025-08-21T20:12:27.895Z,1755807147.895 [DAT](INFO): got valid direction response:
 20:12:25.9546 LVL= 14272, 10705, 22386, 23123, AGC= 42, IDX= 436, 0.20, 1.343, 1.542, 0.348, 2.181, PHS=-0.736,-0.594,-1.877, RAW=  24.2,  42.9, CAL=  22.6,  48.2, ROT= 127.4, -48.2

2025-08-21T20:12:27.896Z,1755807147.896 [DAT](INFO): DAT read: Bearing  47.3,  38.0 (Local)

2025-08-21T20:12:27.896Z,1755807147.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing  47.3,  38.0 (Local)

2025-08-21T20:12:27.897Z,1755807147.897 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m  (Round-trip  2.3 ms) speed  0.0 m/s

2025-08-21T20:12:27.898Z,1755807147.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:12:27.907Z,1755807147.907 [DAT](INFO): direction in FSK: [-0.404836,0.529503,0.745476]
2025-08-21T20:12:27.907Z,1755807147.907 [DAT](INFO): publishing direction and range info
2025-08-21T20:12:33.984Z,1755807153.984 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:34.188Z,1755807154.188 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:12:34.188Z,1755807154.188 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:12:34.188Z,1755807154.188 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:34.441Z,1755807154.441 [DAT](INFO): DAT read: user:4210>

2025-08-21T20:12:34.442Z,1755807154.442 [DAT](INFO): DAT read: Tx time:20:12:33.5982

2025-08-21T20:12:34.443Z,1755807154.443 [DAT](INFO): Ping request sent.
2025-08-21T20:12:34.443Z,1755807154.443 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:34.443Z,1755807154.443 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:34.444Z,1755807154.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001163
2025-08-21T20:12:34.692Z,1755807154.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249114
2025-08-21T20:12:34.944Z,1755807154.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501325
2025-08-21T20:12:35.196Z,1755807155.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753327
2025-08-21T20:12:35.448Z,1755807155.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005288
2025-08-21T20:12:35.700Z,1755807155.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257149
2025-08-21T20:12:35.952Z,1755807155.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509207
2025-08-21T20:12:36.204Z,1755807156.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761124
2025-08-21T20:12:36.456Z,1755807156.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013293
2025-08-21T20:12:36.708Z,1755807156.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265195
2025-08-21T20:12:36.960Z,1755807156.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517092
2025-08-21T20:12:37.212Z,1755807157.212 [DAT](INFO): DAT read: Rx Time:20:12:36.0050

2025-08-21T20:12:37.213Z,1755807157.213 [DAT](INFO): Rx dataTimestamp_ set to:1755807157.212676
2025-08-21T20:12:37.213Z,1755807157.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770445
2025-08-21T20:12:37.464Z,1755807157.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021194
2025-08-21T20:12:37.718Z,1755807157.718 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T20:12:37.719Z,1755807157.719 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T20:12:44.081Z,1755807164.081 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:44.280Z,1755807164.280 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:12:44.280Z,1755807164.280 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:12:44.280Z,1755807164.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:44.542Z,1755807164.542 [DAT](INFO): DAT read: user:4211>

2025-08-21T20:12:44.543Z,1755807164.543 [DAT](INFO): DAT read: Tx time:20:12:43.6982

2025-08-21T20:12:44.543Z,1755807164.543 [DAT](INFO): Ping request sent.
2025-08-21T20:12:44.543Z,1755807164.543 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:44.544Z,1755807164.544 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:44.545Z,1755807164.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001409
2025-08-21T20:12:44.793Z,1755807164.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250116
2025-08-21T20:12:45.044Z,1755807165.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501130
2025-08-21T20:12:45.296Z,1755807165.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753144
2025-08-21T20:12:45.548Z,1755807165.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005028
2025-08-21T20:12:45.801Z,1755807165.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257476
2025-08-21T20:12:46.053Z,1755807166.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509541
2025-08-21T20:12:46.305Z,1755807166.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761369
2025-08-21T20:12:46.557Z,1755807166.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013784
2025-08-21T20:12:46.808Z,1755807166.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265073
2025-08-21T20:12:47.060Z,1755807167.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517159
2025-08-21T20:12:47.312Z,1755807167.312 [DAT](INFO): DAT read: Rx Time:20:12:46.1063

2025-08-21T20:12:47.313Z,1755807167.313 [DAT](INFO): Rx dataTimestamp_ set to:1755807167.312572
2025-08-21T20:12:47.313Z,1755807167.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770279
2025-08-21T20:12:47.564Z,1755807167.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021043
2025-08-21T20:12:47.819Z,1755807167.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275270
2025-08-21T20:12:48.074Z,1755807168.074 [DAT](INFO): DAT read: 20:12:46.1063 LVL= 24672, 22417, 31906, 32755, AGC= 47, IDX= 452, 0.49,-2.133,-0.700,-1.833,-0.903, PHS=-1.128, 0.248,-0.974, RAW= 324.1,  26.7, CAL= 323.8,  31.8, ROT= 186.2, -31.8

2025-08-21T20:12:48.075Z,1755807168.075 [DAT](INFO): got valid direction response:
 20:12:46.1063 LVL= 24672, 22417, 31906, 32755, AGC= 47, IDX= 452, 0.49,-2.133,-0.700,-1.833,-0.903, PHS=-1.128, 0.248,-0.974, RAW= 324.1,  26.7, CAL= 323.8,  31.8, ROT= 186.2, -31.8

2025-08-21T20:12:48.076Z,1755807168.076 [DAT](INFO): DAT read: Bearing  65.4,  -3.1 (Local)

2025-08-21T20:12:48.076Z,1755807168.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing  65.4,  -3.1 (Local)

2025-08-21T20:12:48.077Z,1755807168.077 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m  (Round-trip  4.0 ms) speed  0.0 m/s

2025-08-21T20:12:48.078Z,1755807168.078 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:12:48.079Z,1755807168.079 [DAT](INFO): direction in FSK: [-0.844922,-0.091788,0.526956]
2025-08-21T20:12:48.079Z,1755807168.079 [DAT](INFO): publishing direction and range info
2025-08-21T20:12:53.893Z,1755807173.893 [CBIT](INFO): Clearing failed state for component BPC1
2025-08-21T20:12:53.893Z,1755807173.893 [BPC1] No Fault, FailCount= 2
2025-08-21T20:12:54.250Z,1755807174.250 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:12:54.368Z,1755807174.368 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:12:54.368Z,1755807174.368 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:12:54.368Z,1755807174.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:12:54.621Z,1755807174.621 [DAT](INFO): DAT read: user:4212>

2025-08-21T20:12:54.622Z,1755807174.622 [DAT](INFO): DAT read: Tx time:20:12:53.7981

2025-08-21T20:12:54.622Z,1755807174.622 [DAT](INFO): Ping request sent.
2025-08-21T20:12:54.622Z,1755807174.622 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:12:54.622Z,1755807174.622 [DAT](INFO): publishing transmit ping time
2025-08-21T20:12:54.623Z,1755807174.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001157
2025-08-21T20:12:54.872Z,1755807174.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249956
2025-08-21T20:12:55.124Z,1755807175.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501898
2025-08-21T20:12:55.376Z,1755807175.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962
2025-08-21T20:12:55.628Z,1755807175.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005943
2025-08-21T20:12:55.881Z,1755807175.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258286
2025-08-21T20:12:56.132Z,1755807176.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510173
2025-08-21T20:12:56.384Z,1755807176.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761902
2025-08-21T20:12:56.637Z,1755807176.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014448
2025-08-21T20:12:56.892Z,1755807176.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268811
2025-08-21T20:12:57.140Z,1755807177.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517938
2025-08-21T20:12:57.392Z,1755807177.392 [DAT](INFO): DAT read: Rx Time:20:12:56.2050

2025-08-21T20:12:57.393Z,1755807177.393 [DAT](INFO): Rx dataTimestamp_ set to:1755807177.392523
2025-08-21T20:12:57.393Z,1755807177.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771061
2025-08-21T20:12:57.644Z,1755807177.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021902
2025-08-21T20:12:57.909Z,1755807177.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286066
2025-08-21T20:12:58.156Z,1755807178.156 [DAT](INFO): DAT read: 20:12:56.2050 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 424,-0.09,-1.290,-2.943,-2.660,-1.208, PHS= 0.020,-1.691,-1.496, RAW=  96.0,  34.6, CAL=  94.2,  42.3, ROT=  55.8, -42.3

2025-08-21T20:12:58.157Z,1755807178.157 [DAT](INFO): got valid direction response:
 20:12:56.2050 LVL= 32752, 32753, 32754, 32755, AGC= 45, IDX= 424,-0.09,-1.290,-2.943,-2.660,-1.208, PHS= 0.020,-1.691,-1.496, RAW=  96.0,  34.6, CAL=  94.2,  42.3, ROT=  55.8, -42.3

2025-08-21T20:12:58.158Z,1755807178.158 [DAT](INFO): DAT read: Bearing 332.7,  44.1 (Local)

2025-08-21T20:12:58.159Z,1755807178.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  44.1 (Local)

2025-08-21T20:12:58.160Z,1755807178.160 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T20:12:58.161Z,1755807178.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:12:58.163Z,1755807178.163 [DAT](INFO): direction in FSK: [0.415734,0.611735,0.673013]
2025-08-21T20:12:58.163Z,1755807178.163 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:04.297Z,1755807184.297 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:04.456Z,1755807184.456 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:04.456Z,1755807184.456 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:04.456Z,1755807184.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:04.708Z,1755807184.708 [DAT](INFO): DAT read: user:4213>

2025-08-21T20:13:04.710Z,1755807184.710 [DAT](INFO): DAT read: Tx time:20:13:03.8981

2025-08-21T20:13:04.710Z,1755807184.710 [DAT](INFO): Ping request sent.
2025-08-21T20:13:04.710Z,1755807184.710 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:04.710Z,1755807184.710 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:04.712Z,1755807184.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001031
2025-08-21T20:13:04.963Z,1755807184.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252095
2025-08-21T20:13:05.212Z,1755807185.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502298
2025-08-21T20:13:05.476Z,1755807185.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766362
2025-08-21T20:13:05.728Z,1755807185.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018239
2025-08-21T20:13:05.983Z,1755807185.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.272639
2025-08-21T20:13:06.232Z,1755807186.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522288
2025-08-21T20:13:06.484Z,1755807186.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774211
2025-08-21T20:13:06.737Z,1755807186.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027111
2025-08-21T20:13:06.991Z,1755807186.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280309
2025-08-21T20:13:07.240Z,1755807187.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530345
2025-08-21T20:13:07.492Z,1755807187.492 [DAT](INFO): DAT read: Rx Time:20:13:06.3051

2025-08-21T20:13:07.493Z,1755807187.493 [DAT](INFO): Rx dataTimestamp_ set to:1755807187.492636
2025-08-21T20:13:07.493Z,1755807187.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.783498
2025-08-21T20:13:07.744Z,1755807187.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034310
2025-08-21T20:13:08.001Z,1755807188.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290018
2025-08-21T20:13:08.253Z,1755807188.253 [DAT](INFO): DAT read: 20:13:06.3051 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 442,-0.14, 0.915,-1.043,-0.351, 0.730, PHS= 0.287,-1.728,-1.126, RAW= 106.9,  26.9, CAL= 105.7,  33.0, ROT=  44.3, -33.0

2025-08-21T20:13:08.255Z,1755807188.255 [DAT](INFO): got valid direction response:
 20:13:06.3051 LVL= 32752, 32753, 32754, 32755, AGC= 41, IDX= 442,-0.14, 0.915,-1.043,-0.351, 0.730, PHS= 0.287,-1.728,-1.126, RAW= 106.9,  26.9, CAL= 105.7,  33.0, ROT=  44.3, -33.0

2025-08-21T20:13:08.256Z,1755807188.256 [DAT](INFO): DAT read: Bearing 316.4,  40.8 (Local)

2025-08-21T20:13:08.256Z,1755807188.256 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4,  40.8 (Local)

2025-08-21T20:13:08.257Z,1755807188.257 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T20:13:08.258Z,1755807188.258 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:08.259Z,1755807188.259 [DAT](INFO): direction in FSK: [0.600230,0.585740,0.544639]
2025-08-21T20:13:08.259Z,1755807188.259 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:14.408Z,1755807194.408 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:14.560Z,1755807194.560 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:14.560Z,1755807194.560 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:14.560Z,1755807194.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:14.813Z,1755807194.813 [DAT](INFO): DAT read: user:4214>

2025-08-21T20:13:14.817Z,1755807194.817 [DAT](INFO): DAT read: Tx time:20:13:13.9980

2025-08-21T20:13:14.818Z,1755807194.818 [DAT](INFO): Ping request sent.
2025-08-21T20:13:14.818Z,1755807194.818 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:14.819Z,1755807194.819 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:14.819Z,1755807194.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001205
2025-08-21T20:13:15.065Z,1755807195.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247126
2025-08-21T20:13:15.316Z,1755807195.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497994
2025-08-21T20:13:15.569Z,1755807195.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750345
2025-08-21T20:13:15.820Z,1755807195.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002223
2025-08-21T20:13:16.073Z,1755807196.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255062
2025-08-21T20:13:16.324Z,1755807196.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505934
2025-08-21T20:13:16.576Z,1755807196.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758236
2025-08-21T20:13:16.829Z,1755807196.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010538
2025-08-21T20:13:17.080Z,1755807197.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262081
2025-08-21T20:13:17.332Z,1755807197.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514119
2025-08-21T20:13:17.587Z,1755807197.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768033
2025-08-21T20:13:17.840Z,1755807197.840 [DAT](INFO): DAT read: Rx Time:20:13:16.4055

2025-08-21T20:13:17.841Z,1755807197.841 [DAT](INFO): Rx dataTimestamp_ set to:1755807197.840417
2025-08-21T20:13:17.841Z,1755807197.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023008
2025-08-21T20:13:18.093Z,1755807198.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274844
2025-08-21T20:13:18.350Z,1755807198.350 [DAT](INFO): DAT read: 20:13:16.4055 LVL= 23536, 18785, 24370, 24819, AGC= 37, IDX= 447, 0.14,-2.442, 1.474, 2.374, 3.032, PHS= 0.911,-1.513,-0.702, RAW= 109.2,  12.2, CAL= 110.8,  13.9, ROT=  39.2, -13.9

2025-08-21T20:13:18.351Z,1755807198.351 [DAT](INFO): got valid direction response:
 20:13:16.4055 LVL= 23536, 18785, 24370, 24819, AGC= 37, IDX= 447, 0.14,-2.442, 1.474, 2.374, 3.032, PHS= 0.911,-1.513,-0.702, RAW= 109.2,  12.2, CAL= 110.8,  13.9, ROT=  39.2, -13.9

2025-08-21T20:13:18.352Z,1755807198.352 [DAT](INFO): DAT read: Bearing 292.0,  40.5 (Local)

2025-08-21T20:13:18.352Z,1755807198.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.0,  40.5 (Local)

2025-08-21T20:13:18.353Z,1755807198.353 [DAT](INFO): DAT read: Range 11 to 50 : 2.5 m  (Round-trip  3.4 ms) speed  0.0 m/s

2025-08-21T20:13:18.354Z,1755807198.354 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:18.356Z,1755807198.356 [DAT](INFO): direction in FSK: [0.752251,0.613521,0.240228]
2025-08-21T20:13:18.356Z,1755807198.356 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:24.508Z,1755807204.508 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:24.648Z,1755807204.648 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:24.648Z,1755807204.648 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:24.648Z,1755807204.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:24.900Z,1755807204.900 [DAT](INFO): DAT read: user:4215>

2025-08-21T20:13:24.901Z,1755807204.901 [DAT](INFO): DAT read: Tx time:20:13:24.0480

2025-08-21T20:13:24.901Z,1755807204.901 [DAT](INFO): Ping request sent.
2025-08-21T20:13:24.901Z,1755807204.901 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:24.902Z,1755807204.902 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:24.902Z,1755807204.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T20:13:25.153Z,1755807205.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251448
2025-08-21T20:13:25.404Z,1755807205.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949
2025-08-21T20:13:25.656Z,1755807205.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754770
2025-08-21T20:13:25.908Z,1755807205.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972
2025-08-21T20:13:26.161Z,1755807206.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259440
2025-08-21T20:13:26.412Z,1755807206.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510640
2025-08-21T20:13:26.664Z,1755807206.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762851
2025-08-21T20:13:26.916Z,1755807206.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864
2025-08-21T20:13:27.169Z,1755807207.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267309
2025-08-21T20:13:27.421Z,1755807207.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518994
2025-08-21T20:13:27.672Z,1755807207.672 [DAT](INFO): DAT read: Rx Time:20:13:26.4560

2025-08-21T20:13:27.673Z,1755807207.673 [DAT](INFO): Rx dataTimestamp_ set to:1755807207.672495
2025-08-21T20:13:27.673Z,1755807207.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771923
2025-08-21T20:13:27.924Z,1755807207.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807
2025-08-21T20:13:28.180Z,1755807208.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277604
2025-08-21T20:13:28.437Z,1755807208.437 [DAT](INFO): DAT read: 20:13:26.4560 LVL= 15328, 27761, 20978, 32755, AGC= 36, IDX= 453,-0.45,-2.153, 2.002,-2.624,-2.722, PHS= 0.670,-1.514, 0.054, RAW= 134.1,   8.1, CAL= 134.0,   9.3, ROT=  16.0,  -9.3

2025-08-21T20:13:28.438Z,1755807208.438 [DAT](INFO): got valid direction response:
 20:13:26.4560 LVL= 15328, 27761, 20978, 32755, AGC= 36, IDX= 453,-0.45,-2.153, 2.002,-2.624,-2.722, PHS= 0.670,-1.514, 0.054, RAW= 134.1,   8.1, CAL= 134.0,   9.3, ROT=  16.0,  -9.3

2025-08-21T20:13:28.439Z,1755807208.439 [DAT](INFO): DAT read: Bearing 288.3,  17.9 (Local)

2025-08-21T20:13:28.439Z,1755807208.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.3,  17.9 (Local)

2025-08-21T20:13:28.440Z,1755807208.440 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m  (Round-trip  3.9 ms) speed -0.1 m/s

2025-08-21T20:13:28.441Z,1755807208.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:28.442Z,1755807208.442 [DAT](INFO): direction in FSK: [0.948627,0.272014,0.161604]
2025-08-21T20:13:28.442Z,1755807208.442 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:34.597Z,1755807214.597 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:34.728Z,1755807214.728 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:34.728Z,1755807214.728 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:34.728Z,1755807214.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:34.980Z,1755807214.980 [DAT](INFO): DAT read: user:4216>

2025-08-21T20:13:34.981Z,1755807214.981 [DAT](INFO): DAT read: Tx time:20:13:34.1480

2025-08-21T20:13:34.982Z,1755807214.982 [DAT](INFO): Ping request sent.
2025-08-21T20:13:34.982Z,1755807214.982 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:34.982Z,1755807214.982 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:34.982Z,1755807214.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-21T20:13:35.234Z,1755807215.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251693
2025-08-21T20:13:35.485Z,1755807215.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502889
2025-08-21T20:13:35.736Z,1755807215.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754728
2025-08-21T20:13:35.988Z,1755807215.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006597
2025-08-21T20:13:36.240Z,1755807216.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258822
2025-08-21T20:13:36.492Z,1755807216.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510779
2025-08-21T20:13:36.744Z,1755807216.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762590
2025-08-21T20:13:36.996Z,1755807216.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014553
2025-08-21T20:13:37.249Z,1755807217.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266844
2025-08-21T20:13:37.500Z,1755807217.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518810
2025-08-21T20:13:37.752Z,1755807217.752 [DAT](INFO): DAT read: Rx Time:20:13:36.5570

2025-08-21T20:13:37.753Z,1755807217.753 [DAT](INFO): Rx dataTimestamp_ set to:1755807217.752427
2025-08-21T20:13:37.753Z,1755807217.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771619
2025-08-21T20:13:38.005Z,1755807218.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023101
2025-08-21T20:13:38.262Z,1755807218.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280325
2025-08-21T20:13:38.513Z,1755807218.513 [DAT](INFO): DAT read: 20:13:36.5570 LVL= 19504, 28305, 25682, 32755, AGC= 37, IDX= 430, 0.10,-0.952,-2.799,-1.656,-1.314, PHS= 0.464,-1.440,-0.387, RAW= 123.5,  16.3, CAL= 123.4,  17.5, ROT=  26.6, -17.5

2025-08-21T20:13:38.515Z,1755807218.515 [DAT](INFO): got valid direction response:
 20:13:36.5570 LVL= 19504, 28305, 25682, 32755, AGC= 37, IDX= 430, 0.10,-0.952,-2.799,-1.656,-1.314, PHS= 0.464,-1.440,-0.387, RAW= 123.5,  16.3, CAL= 123.4,  17.5, ROT=  26.6, -17.5

2025-08-21T20:13:38.516Z,1755807218.516 [DAT](INFO): DAT read: Bearing 298.4,  28.2 (Local)

2025-08-21T20:13:38.516Z,1755807218.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4,  28.2 (Local)

2025-08-21T20:13:38.517Z,1755807218.517 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m  (Round-trip  4.8 ms) speed -0.1 m/s

2025-08-21T20:13:38.518Z,1755807218.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:38.519Z,1755807218.519 [DAT](INFO): direction in FSK: [0.852770,0.427035,0.300706]
2025-08-21T20:13:38.519Z,1755807218.519 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:44.707Z,1755807224.707 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:44.808Z,1755807224.808 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:44.808Z,1755807224.808 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:44.809Z,1755807224.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:45.061Z,1755807225.061 [DAT](INFO): DAT read: user:4217>

2025-08-21T20:13:45.061Z,1755807225.061 [DAT](INFO): DAT read: Tx time:20:13:44.2480

2025-08-21T20:13:45.062Z,1755807225.062 [DAT](INFO): Ping request sent.
2025-08-21T20:13:45.062Z,1755807225.062 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:45.062Z,1755807225.062 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:45.063Z,1755807225.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-21T20:13:45.312Z,1755807225.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250223
2025-08-21T20:13:45.568Z,1755807225.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505398
2025-08-21T20:13:45.816Z,1755807225.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754336
2025-08-21T20:13:46.068Z,1755807226.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006319
2025-08-21T20:13:46.321Z,1755807226.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258728
2025-08-21T20:13:46.575Z,1755807226.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512529
2025-08-21T20:13:46.824Z,1755807226.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762317
2025-08-21T20:13:47.078Z,1755807227.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016583
2025-08-21T20:13:47.332Z,1755807227.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270381
2025-08-21T20:13:47.587Z,1755807227.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524549
2025-08-21T20:13:47.839Z,1755807227.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777583
2025-08-21T20:13:48.088Z,1755807228.088 [DAT](INFO): DAT read: Rx Time:20:13:46.6578

2025-08-21T20:13:48.089Z,1755807228.089 [DAT](INFO): Rx dataTimestamp_ set to:1755807228.088483
2025-08-21T20:13:48.089Z,1755807228.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027448
2025-08-21T20:13:48.341Z,1755807228.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278844
2025-08-21T20:13:48.612Z,1755807228.612 [DAT](INFO): DAT read: 20:13:46.6578 LVL= 22032, 32753, 30418, 32755, AGC= 40, IDX= 438, 0.24, 1.962, 0.129, 1.463, 1.637, PHS= 0.427,-1.463,-0.217, RAW= 130.4,  14.9, CAL= 129.5,  16.0, ROT=  20.5, -16.0

2025-08-21T20:13:48.616Z,1755807228.616 [DAT](INFO): got valid direction response:
 20:13:46.6578 LVL= 22032, 32753, 30418, 32755, AGC= 40, IDX= 438, 0.24, 1.962, 0.129, 1.463, 1.637, PHS= 0.427,-1.463,-0.217, RAW= 130.4,  14.9, CAL= 129.5,  16.0, ROT=  20.5, -16.0

2025-08-21T20:13:48.618Z,1755807228.618 [DAT](INFO): DAT read: Bearing 297.8,  22.4 (Local)

2025-08-21T20:13:48.620Z,1755807228.620 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.8,  22.4 (Local)

2025-08-21T20:13:48.624Z,1755807228.624 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m  (Round-trip  5.6 ms) speed  0.0 m/s

2025-08-21T20:13:48.626Z,1755807228.626 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:48.629Z,1755807228.629 [DAT](INFO): direction in FSK: [0.900387,0.336641,0.275637]
2025-08-21T20:13:48.630Z,1755807228.630 [DAT](INFO): publishing direction and range info
2025-08-21T20:13:54.838Z,1755807234.838 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:13:54.892Z,1755807234.892 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:13:54.892Z,1755807234.892 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:13:54.893Z,1755807234.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:13:55.144Z,1755807235.144 [DAT](INFO): DAT read: user:4218>

2025-08-21T20:13:55.145Z,1755807235.145 [DAT](INFO): DAT read: Tx time:20:13:54.2979

2025-08-21T20:13:55.146Z,1755807235.146 [DAT](INFO): Ping request sent.
2025-08-21T20:13:55.146Z,1755807235.146 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:13:55.146Z,1755807235.146 [DAT](INFO): publishing transmit ping time
2025-08-21T20:13:55.147Z,1755807235.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001028
2025-08-21T20:13:55.396Z,1755807235.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250162
2025-08-21T20:13:55.648Z,1755807235.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502158
2025-08-21T20:13:55.900Z,1755807235.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754130
2025-08-21T20:13:56.153Z,1755807236.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006718
2025-08-21T20:13:56.404Z,1755807236.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258289
2025-08-21T20:13:56.656Z,1755807236.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510062
2025-08-21T20:13:56.909Z,1755807236.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762562
2025-08-21T20:13:57.161Z,1755807237.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014749
2025-08-21T20:13:57.412Z,1755807237.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266034
2025-08-21T20:13:57.665Z,1755807237.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518544
2025-08-21T20:13:57.916Z,1755807237.916 [DAT](INFO): DAT read: Rx Time:20:13:56.7085

2025-08-21T20:13:57.917Z,1755807237.917 [DAT](INFO): Rx dataTimestamp_ set to:1755807237.916473
2025-08-21T20:13:57.917Z,1755807237.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771238
2025-08-21T20:13:58.169Z,1755807238.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022486
2025-08-21T20:13:58.423Z,1755807238.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276420
2025-08-21T20:13:58.677Z,1755807238.677 [DAT](INFO): DAT read: 20:13:56.7085 LVL= 26320, 32753, 29810, 32755, AGC= 44, IDX= 447, 0.05,-1.958, 2.462,-2.230,-2.246, PHS= 0.390,-1.531,-0.028, RAW= 138.1,  13.3, CAL= 137.3,  14.3, ROT=  12.7, -14.3

2025-08-21T20:13:58.679Z,1755807238.679 [DAT](INFO): got valid direction response:
 20:13:56.7085 LVL= 26320, 32753, 29810, 32755, AGC= 44, IDX= 447, 0.05,-1.958, 2.462,-2.230,-2.246, PHS= 0.390,-1.531,-0.028, RAW= 138.1,  13.3, CAL= 137.3,  14.3, ROT=  12.7, -14.3

2025-08-21T20:13:58.680Z,1755807238.680 [DAT](INFO): DAT read: Bearing 297.3,  14.8 (Local)

2025-08-21T20:13:58.680Z,1755807238.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.3,  14.8 (Local)

2025-08-21T20:13:58.681Z,1755807238.681 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m  (Round-trip  6.5 ms) speed -0.1 m/s

2025-08-21T20:13:58.682Z,1755807238.682 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:13:58.683Z,1755807238.683 [DAT](INFO): direction in FSK: [0.945308,0.213034,0.246999]
2025-08-21T20:13:58.709Z,1755807238.709 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:04.930Z,1755807244.930 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:04.976Z,1755807244.976 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:04.977Z,1755807244.977 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:04.977Z,1755807244.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:05.228Z,1755807245.228 [DAT](INFO): DAT read: user:4219>

2025-08-21T20:14:05.229Z,1755807245.229 [DAT](INFO): DAT read: Tx time:20:14:04.3979

2025-08-21T20:14:05.229Z,1755807245.229 [DAT](INFO): Ping request sent.
2025-08-21T20:14:05.230Z,1755807245.230 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:05.230Z,1755807245.230 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:05.230Z,1755807245.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-21T20:14:05.480Z,1755807245.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250607
2025-08-21T20:14:05.733Z,1755807245.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949
2025-08-21T20:14:05.985Z,1755807245.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754926
2025-08-21T20:14:06.236Z,1755807246.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006667
2025-08-21T20:14:06.488Z,1755807246.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258871
2025-08-21T20:14:06.740Z,1755807246.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510643
2025-08-21T20:14:07.001Z,1755807247.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771730
2025-08-21T20:14:07.252Z,1755807247.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022515
2025-08-21T20:14:07.504Z,1755807247.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274613
2025-08-21T20:14:07.757Z,1755807247.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527094
2025-08-21T20:14:08.008Z,1755807248.008 [DAT](INFO): DAT read: Rx Time:20:14:06.8095

2025-08-21T20:14:08.009Z,1755807248.009 [DAT](INFO): Rx dataTimestamp_ set to:1755807248.008425
2025-08-21T20:14:08.009Z,1755807248.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779658
2025-08-21T20:14:08.260Z,1755807248.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030823
2025-08-21T20:14:08.515Z,1755807248.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284834
2025-08-21T20:14:08.769Z,1755807248.769 [DAT](INFO): DAT read: 20:14:06.8095 LVL= 30640, 32753, 32754, 32755, AGC= 46, IDX= 441, 0.21, 0.169,-1.691,-0.045,-0.105, PHS= 0.376,-1.541, 0.016, RAW= 139.8,  13.0, CAL= 139.1,  14.0, ROT=  10.9, -14.0

2025-08-21T20:14:08.771Z,1755807248.771 [DAT](INFO): got valid direction response:
 20:14:06.8095 LVL= 30640, 32753, 32754, 32755, AGC= 46, IDX= 441, 0.21, 0.169,-1.691,-0.045,-0.105, PHS= 0.376,-1.541, 0.016, RAW= 139.8,  13.0, CAL= 139.1,  14.0, ROT=  10.9, -14.0

2025-08-21T20:14:08.772Z,1755807248.772 [DAT](INFO): DAT read: Bearing 297.9,  13.0 (Local)

2025-08-21T20:14:08.772Z,1755807248.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9,  13.0 (Local)

2025-08-21T20:14:08.773Z,1755807248.773 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m  (Round-trip  7.5 ms) speed  0.0 m/s

2025-08-21T20:14:08.774Z,1755807248.774 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:08.775Z,1755807248.775 [DAT](INFO): direction in FSK: [0.952790,0.183478,0.241922]
2025-08-21T20:14:08.775Z,1755807248.775 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:14.177Z,1755807254.177 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-08-21T20:14:15.045Z,1755807255.045 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:15.089Z,1755807255.089 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:15.089Z,1755807255.089 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:15.089Z,1755807255.089 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:15.340Z,1755807255.340 [DAT](INFO): DAT read: user:4220>

2025-08-21T20:14:15.341Z,1755807255.341 [DAT](INFO): DAT read: Tx time:20:14:14.4979

2025-08-21T20:14:15.341Z,1755807255.341 [DAT](INFO): Ping request sent.
2025-08-21T20:14:15.341Z,1755807255.341 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:15.341Z,1755807255.341 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:15.342Z,1755807255.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T20:14:15.592Z,1755807255.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843
2025-08-21T20:14:15.848Z,1755807255.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507126
2025-08-21T20:14:16.100Z,1755807256.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758939
2025-08-21T20:14:16.352Z,1755807256.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010800
2025-08-21T20:14:16.605Z,1755807256.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263241
2025-08-21T20:14:16.856Z,1755807256.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514872
2025-08-21T20:14:17.109Z,1755807257.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767392
2025-08-21T20:14:17.360Z,1755807257.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019153
2025-08-21T20:14:17.612Z,1755807257.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270959
2025-08-21T20:14:17.865Z,1755807257.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523334
2025-08-21T20:14:18.116Z,1755807258.116 [DAT](INFO): DAT read: Rx Time:20:14:16.9107

2025-08-21T20:14:18.117Z,1755807258.117 [DAT](INFO): Rx dataTimestamp_ set to:1755807258.116655
2025-08-21T20:14:18.117Z,1755807258.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776147
2025-08-21T20:14:18.368Z,1755807258.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026934
2025-08-21T20:14:18.623Z,1755807258.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280920
2025-08-21T20:14:18.882Z,1755807258.882 [DAT](INFO): DAT read: 20:14:16.9107 LVL= 31104, 32753, 32754, 32755, AGC= 46, IDX= 453,-0.04, 0.432,-1.383, 0.253, 0.108, PHS= 0.426,-1.446, 0.101, RAW= 140.7,  10.6, CAL= 140.1,  11.6, ROT=   9.9, -11.6

2025-08-21T20:14:18.883Z,1755807258.883 [DAT](INFO): got valid direction response:
 20:14:16.9107 LVL= 31104, 32753, 32754, 32755, AGC= 46, IDX= 453,-0.04, 0.432,-1.383, 0.253, 0.108, PHS= 0.426,-1.446, 0.101, RAW= 140.7,  10.6, CAL= 140.1,  11.6, ROT=   9.9, -11.6

2025-08-21T20:14:18.884Z,1755807258.884 [DAT](INFO): DAT read: Bearing 296.4,  12.0 (Local)

2025-08-21T20:14:18.884Z,1755807258.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.4,  12.0 (Local)

2025-08-21T20:14:18.886Z,1755807258.886 [DAT](INFO): DAT read: Range 11 to 50 : 6.4 m  (Round-trip  8.6 ms) speed  0.0 m/s

2025-08-21T20:14:18.886Z,1755807258.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:18.888Z,1755807258.888 [DAT](INFO): direction in FSK: [0.964989,0.168417,0.201078]
2025-08-21T20:14:18.888Z,1755807258.888 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:22.653Z,1755807262.653 [DefaultWithUndock:LeaveDock:B.Undock](FAULT): Drifted too long without detachment, restarting undock sequence
2025-08-21T20:14:23.064Z,1755807263.064 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-21T20:14:25.084Z,1755807265.084 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:25.184Z,1755807265.184 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:25.184Z,1755807265.184 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:25.185Z,1755807265.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:25.436Z,1755807265.436 [DAT](INFO): DAT read: user:4221>

2025-08-21T20:14:25.437Z,1755807265.437 [DAT](INFO): DAT read: Tx time:20:14:24.5979

2025-08-21T20:14:25.437Z,1755807265.437 [DAT](INFO): Ping request sent.
2025-08-21T20:14:25.437Z,1755807265.437 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:25.437Z,1755807265.437 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:25.438Z,1755807265.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-21T20:14:25.689Z,1755807265.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251253
2025-08-21T20:14:25.941Z,1755807265.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503458
2025-08-21T20:14:26.194Z,1755807266.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756723
2025-08-21T20:14:26.444Z,1755807266.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007123
2025-08-21T20:14:26.696Z,1755807266.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258917
2025-08-21T20:14:26.948Z,1755807266.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891
2025-08-21T20:14:27.203Z,1755807267.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765312
2025-08-21T20:14:27.452Z,1755807267.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014905
2025-08-21T20:14:27.704Z,1755807267.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825
2025-08-21T20:14:27.957Z,1755807267.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519711
2025-08-21T20:14:28.211Z,1755807268.211 [DAT](INFO): DAT read: Rx Time:20:14:27.0117

2025-08-21T20:14:28.212Z,1755807268.212 [DAT](INFO): Rx dataTimestamp_ set to:1755807268.211340
2025-08-21T20:14:28.214Z,1755807268.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776361
2025-08-21T20:14:28.460Z,1755807268.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022947
2025-08-21T20:14:28.716Z,1755807268.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278501
2025-08-21T20:14:28.970Z,1755807268.970 [DAT](INFO): DAT read: 20:14:27.0117 LVL= 26608, 31921, 30290, 32755, AGC= 44, IDX= 448,-0.33, 1.531,-0.230, 1.450, 1.160, PHS= 0.474,-1.345, 0.247, RAW= 143.4,   7.3, CAL= 143.0,   8.0, ROT=   7.0,  -8.0

2025-08-21T20:14:28.971Z,1755807268.971 [DAT](INFO): got valid direction response:
 20:14:27.0117 LVL= 26608, 31921, 30290, 32755, AGC= 44, IDX= 448,-0.33, 1.531,-0.230, 1.450, 1.160, PHS= 0.474,-1.345, 0.247, RAW= 143.4,   7.3, CAL= 143.0,   8.0, ROT=   7.0,  -8.0

2025-08-21T20:14:28.972Z,1755807268.972 [DAT](INFO): DAT read: Bearing 293.9,   8.9 (Local)

2025-08-21T20:14:28.972Z,1755807268.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.9,   8.9 (Local)

2025-08-21T20:14:28.973Z,1755807268.973 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m  (Round-trip  9.6 ms) speed -0.1 m/s

2025-08-21T20:14:28.974Z,1755807268.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:28.975Z,1755807268.975 [DAT](INFO): direction in FSK: [0.982887,0.120683,0.139173]
2025-08-21T20:14:28.975Z,1755807268.975 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:29.126Z,1755807269.126 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-21T20:14:29.560Z,1755807269.560 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-21T20:14:35.208Z,1755807275.208 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:35.270Z,1755807275.270 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:35.270Z,1755807275.270 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:35.280Z,1755807275.280 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:35.520Z,1755807275.520 [DAT](INFO): DAT read: user:4222>

2025-08-21T20:14:35.521Z,1755807275.521 [DAT](INFO): DAT read: Tx time:20:14:34.6978

2025-08-21T20:14:35.521Z,1755807275.521 [DAT](INFO): Ping request sent.
2025-08-21T20:14:35.522Z,1755807275.522 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:35.522Z,1755807275.522 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:35.522Z,1755807275.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-21T20:14:35.772Z,1755807275.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250837
2025-08-21T20:14:36.024Z,1755807276.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502595
2025-08-21T20:14:36.276Z,1755807276.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895
2025-08-21T20:14:36.528Z,1755807276.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006703
2025-08-21T20:14:36.780Z,1755807276.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258702
2025-08-21T20:14:37.032Z,1755807277.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510667
2025-08-21T20:14:37.286Z,1755807277.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764119
2025-08-21T20:14:37.536Z,1755807277.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014640
2025-08-21T20:14:37.788Z,1755807277.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266925
2025-08-21T20:14:38.040Z,1755807278.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518823
2025-08-21T20:14:38.292Z,1755807278.292 [DAT](INFO): DAT read: Rx Time:20:14:37.1135

2025-08-21T20:14:38.293Z,1755807278.293 [DAT](INFO): Rx dataTimestamp_ set to:1755807278.292392
2025-08-21T20:14:38.293Z,1755807278.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771674
2025-08-21T20:14:38.544Z,1755807278.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022910
2025-08-21T20:14:38.796Z,1755807278.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274814
2025-08-21T20:14:39.054Z,1755807279.054 [DAT](INFO): DAT read: 20:14:37.1135 LVL= 22112, 28913, 24562, 32755, AGC= 47, IDX= 451,-0.09,-2.290, 2.244,-2.257,-2.663, PHS= 0.474,-1.331, 0.362, RAW= 146.8,   5.7, CAL= 146.3,   6.1, ROT=   3.7,  -6.1

2025-08-21T20:14:39.055Z,1755807279.055 [DAT](INFO): got valid direction response:
 20:14:37.1135 LVL= 22112, 28913, 24562, 32755, AGC= 47, IDX= 451,-0.09,-2.290, 2.244,-2.257,-2.663, PHS= 0.474,-1.331, 0.362, RAW= 146.8,   5.7, CAL= 146.3,   6.1, ROT=   3.7,  -6.1

2025-08-21T20:14:39.056Z,1755807279.056 [DAT](INFO): DAT read: Bearing 292.4,   5.9 (Local)

2025-08-21T20:14:39.056Z,1755807279.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.4,   5.9 (Local)

2025-08-21T20:14:39.057Z,1755807279.057 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m  (Round-trip  11.6 ms) speed -0.2 m/s

2025-08-21T20:14:39.058Z,1755807279.058 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:39.059Z,1755807279.059 [DAT](INFO): direction in FSK: [0.992265,0.064167,0.106264]
2025-08-21T20:14:39.059Z,1755807279.059 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:45.305Z,1755807285.305 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:45.360Z,1755807285.360 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:45.360Z,1755807285.360 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:45.361Z,1755807285.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:45.612Z,1755807285.612 [DAT](INFO): DAT read: user:4223>

2025-08-21T20:14:45.613Z,1755807285.613 [DAT](INFO): DAT read: Tx time:20:14:44.7978

2025-08-21T20:14:45.613Z,1755807285.613 [DAT](INFO): Ping request sent.
2025-08-21T20:14:45.613Z,1755807285.613 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:45.613Z,1755807285.613 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:45.614Z,1755807285.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T20:14:45.864Z,1755807285.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250861
2025-08-21T20:14:46.130Z,1755807286.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.516237
2025-08-21T20:14:46.380Z,1755807286.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766802
2025-08-21T20:14:46.632Z,1755807286.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.018853
2025-08-21T20:14:46.884Z,1755807286.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271064
2025-08-21T20:14:47.136Z,1755807287.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522900
2025-08-21T20:14:47.388Z,1755807287.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774852
2025-08-21T20:14:47.640Z,1755807287.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026851
2025-08-21T20:14:47.752Z,1755807287.752 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-21T20:14:47.894Z,1755807287.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.280219
2025-08-21T20:14:48.147Z,1755807288.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533776
2025-08-21T20:14:48.397Z,1755807288.397 [DAT](INFO): DAT read: Rx Time:20:14:47.2155

2025-08-21T20:14:48.397Z,1755807288.397 [DAT](INFO): Rx dataTimestamp_ set to:1755807288.396722
2025-08-21T20:14:48.398Z,1755807288.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.784197
2025-08-21T20:14:48.654Z,1755807288.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040318
2025-08-21T20:14:48.909Z,1755807288.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294458
2025-08-21T20:14:49.164Z,1755807289.164 [DAT](INFO): DAT read: 20:14:47.2155 LVL= 22496, 26465, 22354, 32755, AGC= 48, IDX= 439,-0.03, 0.981,-0.771, 1.047, 0.596, PHS= 0.487,-1.321, 0.407, RAW= 147.8,   4.9, CAL= 147.1,   5.2, ROT=   2.9,  -5.2

2025-08-21T20:14:49.166Z,1755807289.166 [DAT](INFO): got valid direction response:
 20:14:47.2155 LVL= 22496, 26465, 22354, 32755, AGC= 48, IDX= 439,-0.03, 0.981,-0.771, 1.047, 0.596, PHS= 0.487,-1.321, 0.407, RAW= 147.8,   4.9, CAL= 147.1,   5.2, ROT=   2.9,  -5.2

2025-08-21T20:14:49.167Z,1755807289.167 [DAT](INFO): DAT read: Bearing 291.0,   5.6 (Local)

2025-08-21T20:14:49.167Z,1755807289.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,   5.6 (Local)

2025-08-21T20:14:49.169Z,1755807289.169 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m  (Round-trip  13.5 ms) speed -0.2 m/s

2025-08-21T20:14:49.170Z,1755807289.170 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:49.171Z,1755807289.171 [DAT](INFO): direction in FSK: [0.994609,0.050385,0.090633]
2025-08-21T20:14:49.172Z,1755807289.172 [DAT](INFO): publishing direction and range info
2025-08-21T20:14:49.747Z,1755807289.747 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 10.10 m. Transitioning docking module to standby.
2025-08-21T20:14:50.154Z,1755807290.154 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T20:14:55.384Z,1755807295.384 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-21T20:14:55.464Z,1755807295.464 [DAT](INFO): ****** received valid address query ******
2025-08-21T20:14:55.464Z,1755807295.464 [DAT](INFO): ****** received valid ping request ******
2025-08-21T20:14:55.464Z,1755807295.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:14:55.716Z,1755807295.716 [DAT](INFO): DAT read: user:4224>

2025-08-21T20:14:55.717Z,1755807295.717 [DAT](INFO): DAT read: Tx time:20:14:54.8978

2025-08-21T20:14:55.717Z,1755807295.717 [DAT](INFO): Ping request sent.
2025-08-21T20:14:55.717Z,1755807295.717 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:14:55.718Z,1755807295.718 [DAT](INFO): publishing transmit ping time
2025-08-21T20:14:55.718Z,1755807295.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T20:14:55.968Z,1755807295.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-08-21T20:14:56.202Z,1755807296.202 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-08-21T20:14:56.220Z,1755807296.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502853
2025-08-21T20:14:56.472Z,1755807296.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787
2025-08-21T20:14:56.599Z,1755807296.599 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-21T20:14:56.600Z,1755807296.600 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-08-21T20:14:56.602Z,1755807296.602 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-08-21T20:14:56.602Z,1755807296.602 [DefaultWithUndock:LeaveDock] Stopped
2025-08-21T20:14:56.602Z,1755807296.602 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-08-21T20:14:56.602Z,1755807296.602 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-08-21T20:14:56.603Z,1755807296.603 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-21T20:14:56.620Z,1755807296.620 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-08-21T20:14:56.620Z,1755807296.620 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-08-21T20:14:56.621Z,1755807296.621 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-08-21T20:14:56.621Z,1755807296.621 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-21T20:14:56.622Z,1755807296.622 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-21T20:14:56.628Z,1755807296.628 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-21T20:14:56.629Z,1755807296.629 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-21T20:14:56.630Z,1755807296.630 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-21T20:14:56.635Z,1755807296.635 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-21T20:14:56.637Z,1755807296.637 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-21T20:14:56.724Z,1755807296.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959
2025-08-21T20:14:56.976Z,1755807296.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258954
2025-08-21T20:14:57.228Z,1755807297.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510938
2025-08-21T20:14:57.480Z,1755807297.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823
2025-08-21T20:14:57.732Z,1755807297.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014976
2025-08-21T20:14:57.779Z,1755807297.779 [Radio_Surface](INFO): Powering up
2025-08-21T20:14:57.984Z,1755807297.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790
2025-08-21T20:14:58.236Z,1755807298.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519023
2025-08-21T20:14:58.489Z,1755807298.489 [DAT](INFO): DAT read: Rx Time:20:14:57.3174

2025-08-21T20:14:58.490Z,1755807298.490 [DAT](INFO): Rx dataTimestamp_ set to:1755807298.489369
2025-08-21T20:14:58.490Z,1755807298.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772807
2025-08-21T20:14:58.741Z,1755807298.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023239
2025-08-21T20:14:58.992Z,1755807298.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275017
2025-08-21T20:14:59.250Z,1755807299.250 [DAT](INFO): DAT read: 20:14:57.3174 LVL= 23136, 29377, 24866, 32755, AGC= 49, IDX= 443,-0.24, 0.689,-1.029, 0.760, 0.328, PHS= 0.463,-1.312, 0.387, RAW= 147.8,   5.4, CAL= 147.2,   5.7, ROT=   2.8,  -5.7

2025-08-21T20:14:59.251Z,1755807299.251 [DAT](INFO): got valid direction response:
 20:14:57.3174 LVL= 23136, 29377, 24866, 32755, AGC= 49, IDX= 443,-0.24, 0.689,-1.029, 0.760, 0.328, PHS= 0.463,-1.312, 0.387, RAW= 147.8,   5.4, CAL= 147.2,   5.7, ROT=   2.8,  -5.7

2025-08-21T20:14:59.252Z,1755807299.252 [DAT](INFO): DAT read: Bearing 291.7,   4.4 (Local)

2025-08-21T20:14:59.252Z,1755807299.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.7,   4.4 (Local)

2025-08-21T20:14:59.253Z,1755807299.253 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m  (Round-trip  15.5 ms) speed -0.1 m/s

2025-08-21T20:14:59.254Z,1755807299.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T20:14:59.255Z,1755807299.255 [DAT](INFO): direction in FSK: [0.993868,0.048608,0.099320]
2025-08-21T20:14:59.255Z,1755807299.255 [DAT](INFO): publishing direction and range info
2025-08-21T20:15:03.032Z,1755807303.032 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-08-21T20:15:03.032Z,1755807303.032 [Radio_Surface](INFO): No local IP found
2025-08-21T20:17:09.312Z,1755807429.312 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T20:17:10.316Z,1755807430.316 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-21T20:17:10.316Z,1755807430.316 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:17:30.970Z,1755807450.970 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position 18.81 mm.
2025-08-21T20:17:30.996Z,1755807450.996 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-08-21T20:17:30.996Z,1755807450.996 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T20:17:30.996Z,1755807450.996 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-21T20:17:40.444Z,1755807460.444 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T20:17:41.448Z,1755807461.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:17:56.001Z,1755807476.001 [NAL9602](INFO): SBD MO Status=0, MOMSN=949, MT Status=0, MTMSN=0
2025-08-21T20:17:56.002Z,1755807476.002 [NAL9602](INFO): No messages in MT queue
2025-08-21T20:17:57.218Z,1755807477.218 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,201756.00,A,3646.72112,N,12151.59418,W,0.544,193.08,210825,,,A*76
2025-08-21T20:17:57.220Z,1755807477.220 [NAL9602](INFO): GPS fix at 20250821T201756: (36.778685, -121.859903)
2025-08-21T20:17:57.252Z,1755807477.252 [UniversalFixResidualReporter](INFO): Fix residual: 2.5 %DT, over the last 621.8 m. Residual distance 15.7 m at bearing -88.8 degrees. Fix at (36.7787, -121.8599) with 309.1 m made good.
2025-08-21T20:17:57.252Z,1755807477.252 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-21T20:17:57.253Z,1755807477.253 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-21T20:18:11.568Z,1755807491.568 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T20:18:12.572Z,1755807492.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:18:15.914Z,1755807495.914 [NAL9602](INFO): SBD MO Status=1, MOMSN=950, MT Status=0, MTMSN=0
2025-08-21T20:18:15.964Z,1755807495.964 [NAL9602](INFO): Sent 73 bytes from file Logs/20250821T185907/Courier0012.lzma
2025-08-21T20:18:15.964Z,1755807495.964 [NAL9602](INFO): Packets left to send: 0
2025-08-21T20:18:19.210Z,1755807499.210 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS00
2025-08-21T20:18:27.486Z,1755807507.486 [NAL9602](INFO): SBD MO Status=1, MOMSN=951, MT Status=0, MTMSN=0
2025-08-21T20:18:27.537Z,1755807507.537 [NAL9602](INFO): Sent 151 bytes from file Logs/20250821T192858/Courier0000.lzma
2025-08-21T20:18:27.537Z,1755807507.537 [NAL9602](INFO): Packets left to send: 0
2025-08-21T20:18:39.687Z,1755807519.687 [NAL9602](INFO): SBD MO Status=1, MOMSN=952, MT Status=0, MTMSN=0
2025-08-21T20:18:39.736Z,1755807519.736 [NAL9602](INFO): Sent 39 bytes from file Logs/20250821T192858/Courier0003.lzma
2025-08-21T20:18:39.736Z,1755807519.736 [NAL9602](INFO): Packets left to send: 0
2025-08-21T20:18:42.692Z,1755807522.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T20:18:43.696Z,1755807523.696 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:18:51.327Z,1755807531.327 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.002846
2025-08-21T20:18:57.541Z,1755807537.541 [NAL9602](INFO): SBD MO Status=1, MOMSN=953, MT Status=0, MTMSN=0
2025-08-21T20:18:57.608Z,1755807537.608 [NAL9602](INFO): Sent 39 bytes from file Logs/20250821T192858/Courier0006.lzma
2025-08-21T20:18:57.609Z,1755807537.609 [NAL9602](INFO): Packets left to send: 0
2025-08-21T20:18:59.079Z,1755807539.079 [DataOverHttps](INFO): Sending 168 bytes from file Logs/20250821T192858/Courier0009.lzma
2025-08-21T20:19:00.081Z,1755807540.081 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Courier0009.lzma.bak
2025-08-21T20:19:00.081Z,1755807540.081 [DataOverHttps](INFO): SBD MOMSN=25877536
2025-08-21T20:19:16.467Z,1755807556.467 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20250821T192858/Courier0012.lzma
2025-08-21T20:19:17.469Z,1755807557.469 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Courier0012.lzma.bak
2025-08-21T20:19:17.469Z,1755807557.469 [DataOverHttps](INFO): SBD MOMSN=25877539
2025-08-21T20:19:28.239Z,1755807568.239 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T20:19:34.455Z,1755807574.455 [DataOverHttps](INFO): Sending 212 bytes from file Logs/20250821T185907/Express0013.lzma
2025-08-21T20:19:35.457Z,1755807575.457 [DataOverHttps](INFO): Moved sent file to Logs/20250821T185907/Express0013.lzma.bak
2025-08-21T20:19:35.457Z,1755807575.457 [DataOverHttps](INFO): SBD MOMSN=25877546
2025-08-21T20:19:51.820Z,1755807591.820 [DataOverHttps](INFO): Sending 455 bytes from file Logs/20250821T192858/Express0001.lzma
2025-08-21T20:19:52.821Z,1755807592.821 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0001.lzma.bak
2025-08-21T20:19:52.821Z,1755807592.821 [DataOverHttps](INFO): SBD MOMSN=25877552
2025-08-21T20:20:09.436Z,1755807609.436 [DataOverHttps](INFO): Sending 255 bytes from file Logs/20250821T192858/Express0004.lzma
2025-08-21T20:20:10.437Z,1755807610.437 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0004.lzma.bak
2025-08-21T20:20:10.437Z,1755807610.437 [DataOverHttps](INFO): SBD MOMSN=25877557
2025-08-21T20:20:26.789Z,1755807626.789 [DataOverHttps](INFO): Sending 678 bytes from file Logs/20250821T192858/Express0007.lzma
2025-08-21T20:20:28.793Z,1755807628.793 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0007.lzma.bak
2025-08-21T20:20:28.793Z,1755807628.793 [DataOverHttps](INFO): SBD MOMSN=25877562
2025-08-21T20:20:47.405Z,1755807647.405 [DataOverHttps](INFO): Sending 615 bytes from file Logs/20250821T192858/Express0010.lzma
2025-08-21T20:20:48.406Z,1755807648.406 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0010.lzma.bak
2025-08-21T20:20:48.406Z,1755807648.406 [DataOverHttps](INFO): SBD MOMSN=25877572
2025-08-21T20:21:15.069Z,1755807675.069 [DataOverHttps](INFO): Sending 821 bytes from file Logs/20250821T192858/Express0013.lzma
2025-08-21T20:21:16.069Z,1755807676.069 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0013.lzma.bak
2025-08-21T20:21:16.069Z,1755807676.069 [DataOverHttps](INFO): SBD MOMSN=25877599
2025-08-21T20:21:17.357Z,1755807677.357 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-21T20:21:17.358Z,1755807677.358 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-21T20:21:17.358Z,1755807677.358 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-21T20:21:26.504Z,1755807686.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:21:36.056Z,1755807696.056 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:21:45.640Z,1755807705.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:21:59.984Z,1755807719.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:22:01.870Z,1755807721.870 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2025-08-21T20:22:15.741Z,1755807735.741 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:22:30.428Z,1755807750.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:22:46.012Z,1755807766.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:22:58.776Z,1755807778.776 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:07.396Z,1755807787.396 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:16.240Z,1755807796.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:24.952Z,1755807804.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:33.592Z,1755807813.592 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:38.472Z,1755807818.472 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size.
2025-08-21T20:23:42.303Z,1755807822.303 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:23:49.906Z,1755807829.906 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T202349
2025-08-21T20:23:57.691Z,1755807837.691 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14gnn 1 3
2025-08-21T20:23:57.792Z,1755807837.792 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 14gnn 1 3.000000
2025-08-21T20:23:57.792Z,1755807837.792 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=14gnn
2025-08-21T20:23:57.793Z,1755807837.793 [CommandExec](IMPORTANT): Scheduled #21 (#1 of 3 with id='14gnn'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 1 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP
2025-08-21T20:23:58.693Z,1755807838.693 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T202357
2025-08-21T20:24:08.767Z,1755807848.767 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.0 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 14gnn 2 3
2025-08-21T20:24:08.773Z,1755807848.773 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.0 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 14gnn 2 3.000000
2025-08-21T20:24:08.773Z,1755807848.773 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=14gnn
2025-08-21T20:24:08.774Z,1755807848.774 [CommandExec](IMPORTANT): Scheduled #22 (#2 of 3 with id='14gnn'): "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.0 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", ASAP
2025-08-21T20:24:09.769Z,1755807849.769 [DataOverHttps](IMPORTANT): SBD MTMSN=20250821T202408
2025-08-21T20:24:17.279Z,1755807857.279 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14gnn 3 3
2025-08-21T20:24:17.302Z,1755807857.302 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 14gnn 3 3.000000
2025-08-21T20:24:17.303Z,1755807857.303 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=14gnn
2025-08-21T20:24:17.304Z,1755807857.304 [CommandExec](IMPORTANT): Scheduled #23 (#3 of 3 with id='14gnn'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-08-21T20:24:17.448Z,1755807857.448 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T20:24:17.449Z,1755807857.449 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T20:24:17.450Z,1755807857.450 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T20:24:17.465Z,1755807857.465 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-21T20:24:19.284Z,1755807859.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:24:28.191Z,1755807868.191 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <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>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-08-21T20:24:28.236Z,1755807868.236 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-08-21T20:24:28.238Z,1755807868.238 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-08-21T20:24:28.245Z,1755807868.245 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-08-21T20:24:28.251Z,1755807868.251 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-08-21T20:24:28.253Z,1755807868.253 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-08-21T20:24:28.260Z,1755807868.260 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-08-21T20:24:28.262Z,1755807868.262 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-08-21T20:24:28.304Z,1755807868.304 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-08-21T20:24:28.306Z,1755807868.306 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-08-21T20:24:28.318Z,1755807868.318 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-08-21T20:24:28.336Z,1755807868.336 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-08-21T20:24:28.339Z,1755807868.339 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-08-21T20:24:28.349Z,1755807868.349 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-08-21T20:24:28.360Z,1755807868.360 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-08-21T20:24:28.362Z,1755807868.362 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-08-21T20:24:28.369Z,1755807868.369 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-08-21T20:24:28.391Z,1755807868.391 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-08-21T20:24:28.394Z,1755807868.394 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-08-21T20:24:28.404Z,1755807868.404 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-08-21T20:24:28.406Z,1755807868.406 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-08-21T20:24:28.425Z,1755807868.425 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-08-21T20:24:28.435Z,1755807868.435 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-08-21T20:24:28.438Z,1755807868.438 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-08-21T20:24:28.488Z,1755807868.488 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-08-21T20:24:28.490Z,1755807868.490 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-08-21T20:24:28.501Z,1755807868.501 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-08-21T20:24:28.515Z,1755807868.515 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-08-21T20:24:28.518Z,1755807868.518 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-08-21T20:24:28.532Z,1755807868.532 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-08-21T20:24:28.534Z,1755807868.534 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-08-21T20:24:28.549Z,1755807868.549 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-08-21T20:24:28.551Z,1755807868.551 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-08-21T20:24:28.562Z,1755807868.562 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-08-21T20:24:28.574Z,1755807868.574 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-08-21T20:24:28.601Z,1755807868.601 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-08-21T20:24:28.615Z,1755807868.615 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-08-21T20:24:28.618Z,1755807868.618 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-08-21T20:24:28.628Z,1755807868.628 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-08-21T20:24:28.631Z,1755807868.631 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-08-21T20:24:28.641Z,1755807868.641 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-08-21T20:24:28.651Z,1755807868.651 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-08-21T20:24:28.654Z,1755807868.654 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-08-21T20:24:28.685Z,1755807868.685 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-08-21T20:24:28.685Z,1755807868.685 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-21T20:24:28.685Z,1755807868.685 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-21T20:24:28.699Z,1755807868.699 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-21T20:24:32.160Z,1755807872.160 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:24:32.766Z,1755807872.766 [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>

2025-08-21T20:24:32.795Z,1755807872.795 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-08-21T20:24:32.797Z,1755807872.797 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-08-21T20:24:32.800Z,1755807872.800 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-08-21T20:24:32.801Z,1755807872.801 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-08-21T20:24:32.804Z,1755807872.804 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-08-21T20:24:32.805Z,1755807872.805 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-08-21T20:24:32.808Z,1755807872.808 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-08-21T20:24:32.810Z,1755807872.810 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-08-21T20:24:32.832Z,1755807872.832 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-21T20:24:32.835Z,1755807872.835 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-21T20:24:32.849Z,1755807872.849 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-08-21T20:24:32.873Z,1755807872.873 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-08-21T20:24:32.889Z,1755807872.889 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-08-21T20:24:32.904Z,1755807872.904 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-08-21T20:24:32.910Z,1755807872.910 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T20:24:32.956Z,1755807872.956 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T20:24:32.958Z,1755807872.958 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T20:24:32.969Z,1755807872.969 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T20:24:32.971Z,1755807872.971 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T20:24:32.981Z,1755807872.981 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T20:24:32.991Z,1755807872.991 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T20:24:32.993Z,1755807872.993 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T20:24:33.004Z,1755807873.004 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-21T20:24:33.006Z,1755807873.006 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-08-21T20:24:33.013Z,1755807873.013 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-08-21T20:24:33.032Z,1755807873.032 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-08-21T20:24:33.034Z,1755807873.034 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-08-21T20:24:33.046Z,1755807873.046 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-21T20:24:33.065Z,1755807873.065 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-21T20:24:33.074Z,1755807873.074 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-08-21T20:24:33.081Z,1755807873.081 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-08-21T20:24:33.088Z,1755807873.088 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-08-21T20:24:33.090Z,1755807873.090 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-08-21T20:24:33.097Z,1755807873.097 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-08-21T20:24:33.105Z,1755807873.105 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-21T20:24:33.120Z,1755807873.120 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-08-21T20:24:33.122Z,1755807873.122 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-08-21T20:24:33.129Z,1755807873.129 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-21T20:24:33.135Z,1755807873.135 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-08-21T20:24:33.137Z,1755807873.137 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-08-21T20:24:33.144Z,1755807873.144 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-08-21T20:24:33.146Z,1755807873.146 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-08-21T20:24:33.152Z,1755807873.152 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-08-21T20:24:33.155Z,1755807873.155 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-21T20:24:33.161Z,1755807873.161 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-21T20:24:33.168Z,1755807873.168 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-21T20:24:33.170Z,1755807873.170 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-21T20:24:33.176Z,1755807873.176 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-08-21T20:24:33.179Z,1755807873.179 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-08-21T20:24:33.187Z,1755807873.187 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-08-21T20:24:33.190Z,1755807873.190 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-08-21T20:24:33.192Z,1755807873.192 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-08-21T20:24:33.194Z,1755807873.194 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-08-21T20:24:33.201Z,1755807873.201 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-08-21T20:24:33.212Z,1755807873.212 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-08-21T20:24:33.214Z,1755807873.214 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-08-21T20:24:33.221Z,1755807873.221 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-08-21T20:24:33.227Z,1755807873.227 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-08-21T20:24:33.230Z,1755807873.230 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-08-21T20:24:33.235Z,1755807873.235 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-08-21T20:24:33.245Z,1755807873.245 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-08-21T20:24:33.248Z,1755807873.248 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-08-21T20:24:33.251Z,1755807873.251 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-08-21T20:24:33.273Z,1755807873.273 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-08-21T20:24:33.292Z,1755807873.292 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-08-21T20:24:33.295Z,1755807873.295 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-08-21T20:24:33.306Z,1755807873.306 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-08-21T20:24:33.313Z,1755807873.313 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-08-21T20:24:33.356Z,1755807873.356 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-08-21T20:24:33.358Z,1755807873.358 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-08-21T20:24:33.372Z,1755807873.372 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-08-21T20:24:33.374Z,1755807873.374 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-08-21T20:24:33.396Z,1755807873.396 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-08-21T20:24:33.398Z,1755807873.398 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-08-21T20:24:33.405Z,1755807873.405 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-08-21T20:24:33.411Z,1755807873.411 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-08-21T20:24:33.421Z,1755807873.421 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-21T20:24:33.428Z,1755807873.428 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-21T20:24:33.430Z,1755807873.430 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-21T20:24:33.437Z,1755807873.437 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T20:24:33.443Z,1755807873.443 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T20:24:33.446Z,1755807873.446 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-21T20:24:33.456Z,1755807873.456 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-21T20:24:33.459Z,1755807873.459 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-21T20:24:33.466Z,1755807873.466 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T20:24:33.468Z,1755807873.468 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T20:24:33.470Z,1755807873.470 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-21T20:24:33.493Z,1755807873.493 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-21T20:24:33.500Z,1755807873.500 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-21T20:24:33.502Z,1755807873.502 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T20:24:33.521Z,1755807873.521 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T20:24:33.528Z,1755807873.528 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-21T20:24:33.530Z,1755807873.530 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-21T20:24:33.541Z,1755807873.541 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-21T20:24:33.548Z,1755807873.548 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T20:24:33.551Z,1755807873.551 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T20:24:33.557Z,1755807873.557 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-21T20:24:33.576Z,1755807873.576 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-21T20:24:33.578Z,1755807873.578 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-21T20:24:33.593Z,1755807873.593 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T20:24:33.599Z,1755807873.599 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T20:24:33.602Z,1755807873.602 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-21T20:24:33.609Z,1755807873.609 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-21T20:24:33.611Z,1755807873.611 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-21T20:24:33.622Z,1755807873.622 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T20:24:33.628Z,1755807873.628 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T20:24:33.631Z,1755807873.631 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-21T20:24:33.637Z,1755807873.637 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-21T20:24:33.641Z,1755807873.641 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T20:24:33.652Z,1755807873.652 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T20:24:33.654Z,1755807873.654 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T20:24:33.661Z,1755807873.661 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-21T20:24:33.668Z,1755807873.668 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-21T20:24:33.670Z,1755807873.670 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T20:24:33.681Z,1755807873.681 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T20:24:33.688Z,1755807873.688 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T20:24:33.693Z,1755807873.693 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-08-21T20:24:33.695Z,1755807873.695 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-08-21T20:24:33.698Z,1755807873.698 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-08-21T20:24:33.704Z,1755807873.704 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-08-21T20:24:33.706Z,1755807873.706 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-08-21T20:24:33.713Z,1755807873.713 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-08-21T20:24:33.756Z,1755807873.756 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-08-21T20:24:33.758Z,1755807873.758 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-08-21T20:24:33.769Z,1755807873.769 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-08-21T20:24:33.779Z,1755807873.779 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-08-21T20:24:33.782Z,1755807873.782 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-08-21T20:24:33.801Z,1755807873.801 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-08-21T20:24:33.804Z,1755807873.804 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-08-21T20:24:33.807Z,1755807873.807 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-08-21T20:24:33.817Z,1755807873.817 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-08-21T20:24:33.824Z,1755807873.824 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-08-21T20:24:33.826Z,1755807873.826 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-08-21T20:24:33.881Z,1755807873.881 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:33.914Z,1755807873.914 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T20:24:33.969Z,1755807873.969 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T20:24:34.021Z,1755807874.021 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.043Z,1755807874.043 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.070Z,1755807874.070 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T20:24:34.104Z,1755807874.104 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.208Z,1755807874.208 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.255Z,1755807874.255 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T20:24:34.398Z,1755807874.398 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.611Z,1755807874.611 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T20:24:34.748Z,1755807874.748 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:34.794Z,1755807874.794 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T20:24:34.960Z,1755807874.960 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:35.001Z,1755807875.001 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T20:24:35.128Z,1755807875.128 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T20:24:35.177Z,1755807875.177 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T20:24:35.243Z,1755807875.243 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-21T20:24:35.266Z,1755807875.266 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:35.266Z,1755807875.266 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:35.275Z,1755807875.275 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:35.536Z,1755807875.536 [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>

2025-08-21T20:24:35.544Z,1755807875.544 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-21T20:24:35.546Z,1755807875.546 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-21T20:24:35.553Z,1755807875.553 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-21T20:24:35.559Z,1755807875.559 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-21T20:24:35.560Z,1755807875.560 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-21T20:24:35.570Z,1755807875.570 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-21T20:24:35.609Z,1755807875.609 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-21T20:24:35.631Z,1755807875.631 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-21T20:24:35.631Z,1755807875.631 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-21T20:24:35.633Z,1755807875.633 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-21T20:24:36.267Z,1755807876.267 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-08-21T20:24:36.284Z,1755807876.284 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-08-21T20:24:36.286Z,1755807876.286 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-21T20:24:36.292Z,1755807876.292 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-21T20:24:36.294Z,1755807876.294 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-08-21T20:24:36.301Z,1755807876.301 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-21T20:24:36.303Z,1755807876.303 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-21T20:24:36.345Z,1755807876.345 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-08-21T20:24:36.356Z,1755807876.356 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-08-21T20:24:36.370Z,1755807876.370 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-21T20:24:36.425Z,1755807876.425 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-08-21T20:24:36.425Z,1755807876.425 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-08-21T20:24:36.426Z,1755807876.426 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-08-21T20:24:36.517Z,1755807876.517 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-08-21T20:24:36.525Z,1755807876.525 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-08-21T20:24:36.532Z,1755807876.532 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-08-21T20:24:36.540Z,1755807876.540 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-08-21T20:24:36.543Z,1755807876.543 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-08-21T20:24:36.607Z,1755807876.607 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-08-21T20:24:36.609Z,1755807876.609 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-08-21T20:24:38.838Z,1755807878.838 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <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>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-08-21T20:24:38.914Z,1755807878.914 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-08-21T20:24:38.921Z,1755807878.921 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg
2025-08-21T20:24:38.923Z,1755807878.923 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-08-21T20:24:38.930Z,1755807878.930 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-08-21T20:24:38.936Z,1755807878.936 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-08-21T20:24:38.939Z,1755807878.939 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-08-21T20:24:38.946Z,1755807878.946 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-08-21T20:24:38.952Z,1755807878.952 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-08-21T20:24:38.955Z,1755807878.955 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-08-21T20:24:38.961Z,1755807878.961 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-08-21T20:24:39.032Z,1755807879.032 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-08-21T20:24:39.034Z,1755807879.034 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-08-21T20:24:39.045Z,1755807879.045 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-08-21T20:24:39.067Z,1755807879.067 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-08-21T20:24:39.084Z,1755807879.084 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-08-21T20:24:39.086Z,1755807879.086 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-08-21T20:24:39.101Z,1755807879.101 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-08-21T20:24:39.103Z,1755807879.103 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-08-21T20:24:39.133Z,1755807879.133 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-08-21T20:24:39.135Z,1755807879.135 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-08-21T20:24:39.137Z,1755807879.137 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-08-21T20:24:39.150Z,1755807879.150 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-08-21T20:24:39.185Z,1755807879.185 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-08-21T20:24:39.199Z,1755807879.199 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-08-21T20:24:39.202Z,1755807879.202 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-08-21T20:24:39.211Z,1755807879.211 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-08-21T20:24:39.225Z,1755807879.225 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-08-21T20:24:39.236Z,1755807879.236 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-08-21T20:24:39.238Z,1755807879.238 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-08-21T20:24:39.249Z,1755807879.249 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-08-21T20:24:39.264Z,1755807879.264 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-08-21T20:24:39.266Z,1755807879.266 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-08-21T20:24:39.288Z,1755807879.288 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:39.288Z,1755807879.288 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:39.289Z,1755807879.289 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-21T20:24:39.581Z,1755807879.581 [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>

2025-08-21T20:24:39.593Z,1755807879.593 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-21T20:24:39.603Z,1755807879.603 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-21T20:24:39.609Z,1755807879.609 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-21T20:24:39.619Z,1755807879.619 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-21T20:24:39.620Z,1755807879.620 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-21T20:24:39.630Z,1755807879.630 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-21T20:24:39.661Z,1755807879.661 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-21T20:24:39.694Z,1755807879.694 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-08-21T20:24:39.703Z,1755807879.703 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-21T20:24:39.721Z,1755807879.721 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-08-21T20:24:39.721Z,1755807879.721 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T20:24:39.759Z,1755807879.759 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-08-21T20:24:39.762Z,1755807879.762 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-08-21T20:24:39.771Z,1755807879.771 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-08-21T20:24:39.857Z,1755807879.857 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-08-21T20:24:39.894Z,1755807879.894 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-08-21T20:24:39.918Z,1755807879.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-08-21T20:24:39.932Z,1755807879.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-08-21T20:24:39.948Z,1755807879.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-08-21T20:24:39.977Z,1755807879.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-21T20:24:39.977Z,1755807879.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T20:24:39.985Z,1755807879.985 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-08-21T20:24:40.161Z,1755807880.161 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-08-21T20:24:40.168Z,1755807880.168 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-08-21T20:24:40.170Z,1755807880.170 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-08-21T20:24:40.216Z,1755807880.216 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-08-21T20:24:40.235Z,1755807880.235 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-08-21T20:24:40.249Z,1755807880.249 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-08-21T20:24:40.306Z,1755807880.306 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-08-21T20:24:40.306Z,1755807880.306 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-08-21T20:24:40.312Z,1755807880.312 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-08-21T20:24:40.510Z,1755807880.510 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-08-21T20:24:40.519Z,1755807880.519 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-08-21T20:24:40.526Z,1755807880.526 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdeg
2025-08-21T20:24:40.533Z,1755807880.533 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-08-21T20:24:40.555Z,1755807880.555 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-08-21T20:24:40.565Z,1755807880.565 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-08-21T20:24:40.579Z,1755807880.579 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-08-21T20:24:40.580Z,1755807880.580 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T20:24:40.702Z,1755807880.702 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-08-21T20:24:40.702Z,1755807880.702 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T20:24:40.737Z,1755807880.737 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-08-21T20:24:40.745Z,1755807880.745 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-08-21T20:24:40.752Z,1755807880.752 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-08-21T20:24:40.780Z,1755807880.780 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-21T20:24:40.782Z,1755807880.782 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-08-21T20:24:40.792Z,1755807880.792 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-08-21T20:24:40.797Z,1755807880.797 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-08-21T20:24:40.817Z,1755807880.817 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-08-21T20:24:41.121Z,1755807881.121 [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 lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through the homing
      sequence.
      """

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

  call id="StartingMission" priorityHere=false refId="NeedComms"

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-08-21T20:24:41.122Z,1755807881.122 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-08-21T20:24:45.584Z,1755807885.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:24:58.080Z,1755807898.080 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:25:10.556Z,1755807910.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:25:17.587Z,1755807917.587 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 1 hour
2025-08-21T20:25:17.588Z,1755807917.588 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-08-21T20:25:17.589Z,1755807917.589 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-08-21T20:25:17.590Z,1755807917.590 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-08-21T20:25:23.236Z,1755807923.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:25:35.596Z,1755807935.596 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:25:48.107Z,1755807948.107 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:26:00.584Z,1755807960.584 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:26:08.028Z,1755807968.028 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 5 count
2025-08-21T20:26:08.029Z,1755807968.029 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1 minute
2025-08-21T20:26:08.029Z,1755807968.029 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.0 meter
2025-08-21T20:26:08.030Z,1755807968.030 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-08-21T20:26:08.031Z,1755807968.031 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-08-21T20:26:15.021Z,1755807975.021 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:26:18.036Z,1755807978.036 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-21T20:26:18.036Z,1755807978.036 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-21T20:26:18.036Z,1755807978.036 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T20:26:18.036Z,1755807978.036 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-21T20:26:18.590Z,1755807978.590 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-21T20:26:18.590Z,1755807978.590 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-21T20:26:18.917Z,1755807978.917 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  31.587286 min 
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T20:26:18.918Z,1755807978.918 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-21T20:26:19.310Z,1755807979.310 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-08-21T20:26:19.311Z,1755807979.311 [CommandExec](IMPORTANT): got command run
2025-08-21T20:26:19.317Z,1755807979.317 [CommandExec](IMPORTANT): Running 
2025-08-21T20:26:19.371Z,1755807979.371 [DefaultWithUndock] Stopped
2025-08-21T20:26:19.379Z,1755807979.379 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-21T20:26:19.379Z,1755807979.379 [DefaultWithUndock:SurfaceDefault] Stopped
2025-08-21T20:26:19.379Z,1755807979.379 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-08-21T20:26:19.380Z,1755807979.380 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-08-21T20:26:19.380Z,1755807979.380 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-21T20:26:19.380Z,1755807979.380 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-21T20:26:19.380Z,1755807979.380 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-21T20:26:19.380Z,1755807979.380 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-21T20:26:19.380Z,1755807979.380 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-08-21T20:26:19.380Z,1755807979.380 [lineCaptureHoming] Running Loop=1
2025-08-21T20:26:19.380Z,1755807979.380 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:A] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:D] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:F] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-08-21T20:26:19.381Z,1755807979.381 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T20:26:19.382Z,1755807979.382 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T20:26:19.383Z,1755807979.383 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-08-21T20:26:19.383Z,1755807979.383 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-21T20:26:19.383Z,1755807979.383 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-08-21T20:26:19.383Z,1755807979.383 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-08-21T20:26:19.383Z,1755807979.383 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T20:26:19.384Z,1755807979.384 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T20:26:19.385Z,1755807979.385 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T20:26:19.386Z,1755807979.386 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T20:26:19.387Z,1755807979.387 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T20:26:19.387Z,1755807979.387 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T20:26:19.387Z,1755807979.387 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T20:26:19.387Z,1755807979.387 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T20:26:19.395Z,1755807979.395 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T20:26:19.395Z,1755807979.395 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T20:26:19.396Z,1755807979.396 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-21T20:26:19.397Z,1755807979.397 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-21T20:26:19.398Z,1755807979.398 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T20:26:19.399Z,1755807979.399 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-21T20:26:19.399Z,1755807979.399 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T20:26:19.399Z,1755807979.399 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T20:26:19.399Z,1755807979.399 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T20:26:19.407Z,1755807979.407 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T20:26:19.407Z,1755807979.407 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T20:26:19.408Z,1755807979.408 [lineCaptureHoming:J] Running Loop=1
2025-08-21T20:26:19.408Z,1755807979.408 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-21T20:26:19.408Z,1755807979.408 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-08-21T20:26:19.408Z,1755807979.408 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-21T20:26:19.408Z,1755807979.408 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T20:26:19.409Z,1755807979.409 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-21T20:26:19.409Z,1755807979.409 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T20:26:19.409Z,1755807979.409 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T20:26:19.409Z,1755807979.409 [lineCaptureHoming:C] Running Loop=1
2025-08-21T20:26:19.411Z,1755807979.411 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-21T20:26:19.411Z,1755807979.411 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T20:26:19.420Z,1755807979.420 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-21T20:26:19.420Z,1755807979.420 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-21T20:26:19.420Z,1755807979.420 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-21T20:26:19.420Z,1755807979.420 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-21T20:26:19.421Z,1755807979.421 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-08-21T20:26:19.421Z,1755807979.421 [lineCaptureHoming:J] Stopped
2025-08-21T20:26:19.421Z,1755807979.421 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T20:26:19.422Z,1755807979.422 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-21T20:26:19.422Z,1755807979.422 [lineCaptureHoming:C] Stopped
2025-08-21T20:26:19.422Z,1755807979.422 [lineCaptureHoming:D] Running Loop=1
2025-08-21T20:26:19.422Z,1755807979.422 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-21T20:26:19.423Z,1755807979.423 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T20:26:19.423Z,1755807979.423 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T20:26:19.431Z,1755807979.431 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T20:26:19.432Z,1755807979.432 [lineCaptureHoming:Science] Running Loop=1
2025-08-21T20:26:19.433Z,1755807979.433 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-08-21T20:26:19.433Z,1755807979.433 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-21T20:26:19.433Z,1755807979.433 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T20:26:19.434Z,1755807979.434 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T20:26:19.435Z,1755807979.435 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-21T20:26:19.435Z,1755807979.435 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T20:26:19.435Z,1755807979.435 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T20:26:19.435Z,1755807979.435 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-21T20:26:19.435Z,1755807979.435 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T20:26:19.443Z,1755807979.443 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T20:26:19.443Z,1755807979.443 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-21T20:26:19.443Z,1755807979.443 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T20:26:19.443Z,1755807979.443 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-08-21T20:26:19.444Z,1755807979.444 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-08-21T20:26:19.445Z,1755807979.445 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-08-21T20:26:19.446Z,1755807979.446 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:F] Stopped
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:D] Stopped
2025-08-21T20:26:19.456Z,1755807979.456 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-21T20:26:19.457Z,1755807979.457 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-08-21T20:26:19.457Z,1755807979.457 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-08-21T20:26:19.457Z,1755807979.457 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-21T20:26:19.458Z,1755807979.458 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-08-21T20:26:19.458Z,1755807979.458 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-08-21T20:26:19.458Z,1755807979.458 [lineCaptureHoming:Science:A] Stopped
2025-08-21T20:26:20.208Z,1755807980.208 [WetLabsBB2FL](INFO): Powering up
2025-08-21T20:26:20.325Z,1755807980.325 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-21T20:26:20.325Z,1755807980.325 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-21T20:26:20.325Z,1755807980.325 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T20:26:20.325Z,1755807980.325 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T20:26:20.325Z,1755807980.325 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T20:26:20.326Z,1755807980.326 [lineCaptureHoming:D] Stopped
2025-08-21T20:26:20.326Z,1755807980.326 [lineCaptureHoming:E] Running Loop=1
2025-08-21T20:26:20.639Z,1755807980.639 [lineCaptureHoming:E] Stopped
2025-08-21T20:26:20.643Z,1755807980.643 [lineCaptureHoming:G] Running Loop=1
2025-08-21T20:26:21.075Z,1755807981.075 [lineCaptureHoming:G] Stopped
2025-08-21T20:26:21.076Z,1755807981.076 [lineCaptureHoming:H] Running Loop=1
2025-08-21T20:26:21.440Z,1755807981.440 [lineCaptureHoming:H] Stopped
2025-08-21T20:26:21.440Z,1755807981.440 [lineCaptureHoming:L] Running Loop=1
2025-08-21T20:26:21.850Z,1755807981.850 [lineCaptureHoming:L] Stopped
2025-08-21T20:26:21.850Z,1755807981.850 [lineCaptureHoming:M] Running Loop=1
2025-08-21T20:26:22.254Z,1755807982.254 [lineCaptureHoming:M] Stopped
2025-08-21T20:26:22.254Z,1755807982.254 [lineCaptureHoming:N] Running Loop=1
2025-08-21T20:26:22.638Z,1755807982.638 [lineCaptureHoming:N] Stopped
2025-08-21T20:26:22.638Z,1755807982.638 [lineCaptureHoming:O] Running Loop=1
2025-08-21T20:26:23.058Z,1755807983.058 [lineCaptureHoming:O] Stopped
2025-08-21T20:26:23.058Z,1755807983.058 [lineCaptureHoming:P] Running Loop=1
2025-08-21T20:26:23.300Z,1755807983.300 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-21T20:26:23.450Z,1755807983.450 [lineCaptureHoming:P] Stopped
2025-08-21T20:26:23.450Z,1755807983.450 [lineCaptureHoming:Q] Running Loop=1
2025-08-21T20:26:23.845Z,1755807983.845 [lineCaptureHoming:Q] Stopped
2025-08-21T20:26:23.846Z,1755807983.846 [lineCaptureHoming:U] Running Loop=1
2025-08-21T20:26:24.285Z,1755807984.285 [lineCaptureHoming:U] Stopped
2025-08-21T20:26:24.285Z,1755807984.285 [lineCaptureHoming:StartingMission] Running Loop=1
2025-08-21T20:26:24.285Z,1755807984.285 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-08-21T20:26:24.679Z,1755807984.679 [lineCaptureHoming:NeedComms] Running Loop=1
2025-08-21T20:26:24.679Z,1755807984.679 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-08-21T20:26:24.679Z,1755807984.679 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-08-21T20:26:24.679Z,1755807984.679 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-21T20:26:24.680Z,1755807984.680 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-21T20:26:24.681Z,1755807984.681 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-21T20:26:24.681Z,1755807984.681 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-21T20:26:24.682Z,1755807984.682 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-21T20:26:24.682Z,1755807984.682 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-21T20:26:24.683Z,1755807984.683 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-21T20:26:24.683Z,1755807984.683 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-08-21T20:26:24.685Z,1755807984.685 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1755807476.000000 second since 1970/01/01T00:00:00Z 
2025-08-21T20:26:24.686Z,1755807984.686 [lineCaptureHoming:NeedComms:A] Stopped
2025-08-21T20:26:25.084Z,1755807985.084 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-08-21T20:26:25.466Z,1755807985.466 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-21T20:26:25.540Z,1755807985.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T20:26:27.067Z,1755807987.067 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202626.00,A,3646.71388,N,12151.49786,W,1.011,73.79,210825,,,A*49
2025-08-21T20:26:27.069Z,1755807987.069 [NAL9602](INFO): GPS fix at 20250821T202626: (36.778565, -121.858298)
2025-08-21T20:26:27.125Z,1755807987.125 [lineCaptureHoming:NeedComms:C] Stopped
2025-08-21T20:26:27.126Z,1755807987.126 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-08-21T20:26:27.523Z,1755807987.523 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-21T20:26:33.259Z,1755807993.259 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20250821T192858/Courier0015.lzma
2025-08-21T20:26:34.261Z,1755807994.261 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Courier0015.lzma.bak
2025-08-21T20:26:34.261Z,1755807994.261 [DataOverHttps](INFO): SBD MOMSN=25877647
2025-08-21T20:26:51.267Z,1755808011.267 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250821T192858/Courier0018.lzma
2025-08-21T20:26:52.269Z,1755808012.269 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Courier0018.lzma.bak
2025-08-21T20:26:52.269Z,1755808012.269 [DataOverHttps](INFO): SBD MOMSN=25877652
2025-08-21T20:26:52.526Z,1755808012.526 [NAL9602](INFO): SBD MO Status=0, MOMSN=954, MT Status=0, MTMSN=0
2025-08-21T20:26:52.527Z,1755808012.527 [NAL9602](INFO): No messages in MT queue
2025-08-21T20:27:09.301Z,1755808029.301 [DataOverHttps](INFO): Sending 780 bytes from file Logs/20250821T192858/Express0016.lzma
2025-08-21T20:27:10.301Z,1755808030.301 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0016.lzma.bak
2025-08-21T20:27:10.301Z,1755808030.301 [DataOverHttps](INFO): SBD MOMSN=25877655
2025-08-21T20:27:19.623Z,1755808039.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T20:27:19.652Z,1755808039.652 [DAT](DEBUG): Acoustic response timeout
2025-08-21T20:27:19.653Z,1755808039.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T20:27:19.904Z,1755808039.904 [DAT](INFO): DAT read: user:4225>

2025-08-21T20:27:19.905Z,1755808039.905 [DAT](INFO): DAT read: Tx time:20:27:19.0964

2025-08-21T20:27:19.905Z,1755808039.905 [DAT](INFO): Ping request sent.
2025-08-21T20:27:19.905Z,1755808039.905 [DAT](INFO): transmitted an acoustic signal
2025-08-21T20:27:19.906Z,1755808039.906 [DAT](INFO): publishing transmit ping time
2025-08-21T20:27:19.906Z,1755808039.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T20:27:20.157Z,1755808040.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251311
2025-08-21T20:27:20.408Z,1755808040.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503024
2025-08-21T20:27:20.660Z,1755808040.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825
2025-08-21T20:27:20.912Z,1755808040.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006910
2025-08-21T20:27:21.165Z,1755808041.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259649
2025-08-21T20:27:21.416Z,1755808041.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510866
2025-08-21T20:27:21.680Z,1755808041.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774886
2025-08-21T20:27:21.932Z,1755808041.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026852
2025-08-21T20:27:22.184Z,1755808042.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278879
2025-08-21T20:27:22.436Z,1755808042.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530901
2025-08-21T20:27:22.688Z,1755808042.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782868
2025-08-21T20:27:22.942Z,1755808042.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036487
2025-08-21T20:27:23.198Z,1755808043.198 [DAT](INFO): DAT read: 20:27:21.7304 LVL= 21808, 21457, 23954, 28403, AGC= 70, IDX=  62,-0.06, 0.664,-0.759, 0.697, 0.251, PHS= 0.516,-0.964, 0.402, RAW= 146.0,   0.7, CAL= 145.4,   0.6, ROT=   4.6,  -0.6

2025-08-21T20:27:23.199Z,1755808043.199 [DAT](INFO): got valid direction response:
 20:27:21.7304 LVL= 21808, 21457, 23954, 28403, AGC= 70, IDX=  62,-0.06, 0.664,-0.759, 0.697, 0.251, PHS= 0.516,-0.964, 0.402, RAW= 146.0,   0.7, CAL= 145.4,   0.6, ROT=   4.6,  -0.6

2025-08-21T20:27:23.200Z,1755808043.200 [DAT](INFO): DAT read: Rx Time:20:27:21.7304

2025-08-21T20:27:23.200Z,1755808043.200 [DAT](INFO): Rx dataTimestamp_ set to:1755808043.199918
2025-08-21T20:27:23.201Z,1755808043.201 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-21T20:27:23.201Z,1755808043.201 [DAT](INFO): Received low SNR in chirp
2025-08-21T20:27:23.231Z,1755808043.231 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T20:27:23.232Z,1755808043.232 [DAT](INFO): direction in FSK: [0.996724,0.080195,0.010472]
2025-08-21T20:27:23.236Z,1755808043.236 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T20:27:27.699Z,1755808047.699 [DataOverHttps](INFO): Sending 122 bytes from file Logs/20250821T192858/Express0019.lzma
2025-08-21T20:27:28.701Z,1755808048.701 [DataOverHttps](INFO): Moved sent file to Logs/20250821T192858/Express0019.lzma.bak
2025-08-21T20:27:28.701Z,1755808048.701 [DataOverHttps](INFO): SBD MOMSN=25877690
2025-08-21T20:27:29.996Z,1755808049.996 [DAT](INFO): Reached modem response timeout
2025-08-21T20:27:30.121Z,1755808050.121 [lineCaptureHoming:NeedComms:D] Stopped
2025-08-21T20:27:30.122Z,1755808050.122 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-08-21T20:27:30.532Z,1755808050.532 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-21T20:27:32.122Z,1755808052.122 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,202731.00,A,3646.71280,N,12151.48548,W,0.661,58.12,210825,,,D*47
2025-08-21T20:27:32.124Z,1755808052.124 [NAL9602](INFO): GPS fix at 20250821T202731: (36.778547, -121.858091)
2025-08-21T20:27:32.182Z,1755808052.182 [lineCaptureHoming:NeedComms:E] Stopped
2025-08-21T20:27:32.182Z,1755808052.182 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-08-21T20:27:32.183Z,1755808052.183 [lineCaptureHoming:NeedComms] Stopped
2025-08-21T20:27:32.183Z,1755808052.183 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-08-21T20:27:32.183Z,1755808052.183 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-08-21T20:27:32.183Z,1755808052.183 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-21T20:27:32.264Z,1755808052.264 [DAT](INFO): DAT read: Response Not Received

2025-08-21T20:27:32.265Z,1755808052.265 [DAT](INFO): response not received
2025-08-21T20:27:32.265Z,1755808052.265 [DAT](ERROR): No response from remote modem.
2025-08-21T20:27:32.583Z,1755808052.583 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-08-21T20:27:32.592Z,1755808052.592 [lineCaptureHoming:StartingMission] Stopped
2025-08-21T20:27:32.592Z,1755808052.592 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-08-21T20:27:32.592Z,1755808052.592 [lineCaptureHoming:Z] Running Loop=1
2025-08-21T20:27:33.014Z,1755808053.014 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-08-21T20:27:33.015Z,1755808053.015 [lineCaptureHoming:Z] Stopped
2025-08-21T20:27:33.015Z,1755808053.015 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-08-21T20:27:33.378Z,1755808053.378 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs