2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive] Running Loop=1
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-22T05:12:33.513Z,1755839553.513 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-08-22T05:12:33.581Z,1755839553.581 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T05:12:34.013Z,1755839554.013 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T05:12:34.013Z,1755839554.013 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T05:12:41.476Z,1755839561.476 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:12:52.100Z,1755839572.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:12:52.236Z,1755839572.236 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:12:52.236Z,1755839572.236 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:12:52.491Z,1755839572.491 [DAT](INFO): DAT read: user:7354>

2025-08-22T05:12:52.492Z,1755839572.492 [DAT](INFO): DAT read: Tx time:05:12:51.6413

2025-08-22T05:12:52.492Z,1755839572.492 [DAT](INFO): Ping request sent.
2025-08-22T05:12:52.492Z,1755839572.492 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:12:52.492Z,1755839572.492 [DAT](INFO): publishing transmit ping time
2025-08-22T05:12:52.493Z,1755839572.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000855
2025-08-22T05:12:52.741Z,1755839572.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248633
2025-08-22T05:12:52.994Z,1755839572.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501582
2025-08-22T05:12:53.244Z,1755839573.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752319
2025-08-22T05:12:53.498Z,1755839573.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005688
2025-08-22T05:12:53.749Z,1755839573.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256651
2025-08-22T05:12:54.001Z,1755839574.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509101
2025-08-22T05:12:54.252Z,1755839574.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760362
2025-08-22T05:12:54.506Z,1755839574.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013974
2025-08-22T05:12:54.640Z,1755839574.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:12:54.756Z,1755839574.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264367
2025-08-22T05:12:55.009Z,1755839575.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517320
2025-08-22T05:12:55.260Z,1755839575.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768202
2025-08-22T05:12:55.513Z,1755839575.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020774
2025-08-22T05:12:55.765Z,1755839575.765 [DAT](INFO): DAT read: Rx Time:05:12:54.5801

2025-08-22T05:12:55.766Z,1755839575.766 [DAT](INFO): Rx dataTimestamp_ set to:1755839575.765327
2025-08-22T05:12:55.766Z,1755839575.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274259
2025-08-22T05:12:56.017Z,1755839576.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524872
2025-08-22T05:12:56.268Z,1755839576.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776181
2025-08-22T05:12:56.548Z,1755839576.548 [DAT](INFO): DAT read: 05:12:54.5801 LVL= 23376, 23857, 23458, 32755, AGC= 86, IDX=  15, 0.25,-2.236, 3.022,-1.427,-2.376, PHS= 0.242,-0.840, 0.905, RAW= 172.1,  -4.1, CAL= 172.2,  -6.1, ROT= 337.8,   6.1

2025-08-22T05:12:56.556Z,1755839576.556 [DAT](INFO): got valid direction response:
 05:12:54.5801 LVL= 23376, 23857, 23458, 32755, AGC= 86, IDX=  15, 0.25,-2.236, 3.022,-1.427,-2.376, PHS= 0.242,-0.840, 0.905, RAW= 172.1,  -4.1, CAL= 172.2,  -6.1, ROT= 337.8,   6.1

2025-08-22T05:12:56.558Z,1755839576.558 [DAT](INFO): DAT read: $Error in header

2025-08-22T05:12:56.564Z,1755839576.564 [DAT](INFO): Received a bad header
2025-08-22T05:12:56.575Z,1755839576.575 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:12:56.576Z,1755839576.576 [DAT](INFO): direction in FSK: [0.920628,-0.375702,-0.106264]
2025-08-22T05:13:02.576Z,1755839582.576 [DAT](INFO): Reached modem response timeout
2025-08-22T05:13:04.284Z,1755839584.284 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:13:04.324Z,1755839584.324 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T05:13:04.849Z,1755839584.849 [DAT](INFO): DAT read: Response Not Received

2025-08-22T05:13:04.849Z,1755839584.849 [DAT](INFO): response not received
2025-08-22T05:13:04.849Z,1755839584.849 [DAT](ERROR): No response from remote modem.
2025-08-22T05:13:13.765Z,1755839593.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:13:21.734Z,1755839601.734 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm (2 active estimators).
2025-08-22T05:13:30.677Z,1755839610.677 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709004989,35.0, +15.5,508.4,  0
2025-08-22T05:13:45.120Z,1755839625.120 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:13:52.466Z,1755839632.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:13:52.506Z,1755839632.506 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:13:52.508Z,1755839632.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:13:52.756Z,1755839632.756 [DAT](INFO): DAT read: 

2025-08-22T05:13:52.757Z,1755839632.757 [DAT](INFO): DAT read: Tx time:05:13:51.8927

2025-08-22T05:13:52.757Z,1755839632.757 [DAT](INFO): Ping request sent.
2025-08-22T05:13:52.757Z,1755839632.757 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:13:52.757Z,1755839632.757 [DAT](INFO): publishing transmit ping time
2025-08-22T05:13:52.758Z,1755839632.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-22T05:13:53.008Z,1755839633.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251203
2025-08-22T05:13:53.260Z,1755839633.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503196
2025-08-22T05:13:53.512Z,1755839633.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755122
2025-08-22T05:13:53.764Z,1755839633.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007157
2025-08-22T05:13:54.017Z,1755839634.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259672
2025-08-22T05:13:54.268Z,1755839634.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511113
2025-08-22T05:13:54.523Z,1755839634.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765358
2025-08-22T05:13:54.772Z,1755839634.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015165
2025-08-22T05:13:55.025Z,1755839635.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267483
2025-08-22T05:13:55.276Z,1755839635.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519420
2025-08-22T05:13:55.528Z,1755839635.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771197
2025-08-22T05:13:55.784Z,1755839635.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027023
2025-08-22T05:13:56.032Z,1755839636.032 [DAT](INFO): DAT read: Rx Time:05:13:54.7654

2025-08-22T05:13:56.033Z,1755839636.033 [DAT](INFO): Rx dataTimestamp_ set to:1755839636.032626
2025-08-22T05:13:56.033Z,1755839636.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276391
2025-08-22T05:13:56.284Z,1755839636.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527213
2025-08-22T05:13:56.571Z,1755839636.571 [DAT](INFO): DAT read: 05:13:54.7654 LVL= 27040, 29937, 24786, 31091, AGC= 70, IDX= 282, 0.20, 2.434, 1.227, 2.931, 2.071, PHS= 0.465,-0.799, 0.816, RAW= 161.9,  -6.6, CAL= 162.2,  -8.3, ROT= 347.8,   8.3

2025-08-22T05:13:56.572Z,1755839636.572 [DAT](INFO): got valid direction response:
 05:13:54.7654 LVL= 27040, 29937, 24786, 31091, AGC= 70, IDX= 282, 0.20, 2.434, 1.227, 2.931, 2.071, PHS= 0.465,-0.799, 0.816, RAW= 161.9,  -6.6, CAL= 162.2,  -8.3, ROT= 347.8,   8.3

2025-08-22T05:13:56.573Z,1755839636.573 [DAT](INFO): DAT read: Bearing 278.1,  26.9 (Local)

2025-08-22T05:13:56.574Z,1755839636.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.1,  26.9 (Local)

2025-08-22T05:13:56.579Z,1755839636.579 [DAT](INFO): DAT read: Range 11 to 50 : 351.3 m  (Round-trip  468.5 ms) speed  0.4 m/s

2025-08-22T05:13:56.580Z,1755839636.580 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:13:56.581Z,1755839636.581 [DAT](INFO): direction in FSK: [0.967178,-0.209112,-0.144356]
2025-08-22T05:13:56.581Z,1755839636.581 [DAT](INFO): publishing direction and range info
2025-08-22T05:14:13.236Z,1755839653.236 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.475418
2025-08-22T05:14:13.453Z,1755839653.453 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0.
2025-08-22T05:14:13.453Z,1755839653.453 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T05:14:13.454Z,1755839653.454 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T05:14:13.455Z,1755839653.455 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T05:14:13.456Z,1755839653.456 [BPC1](ERROR): Battery stick #37 (s/n: 00A3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T05:14:13.457Z,1755839653.457 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-22T05:14:13.458Z,1755839653.458 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-22T05:14:13.458Z,1755839653.458 [BPC1](INFO): Calculating totals. Valid battery stick count: 29. Valid reserve battery stick count: 3.
2025-08-22T05:14:13.464Z,1755839653.464 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 32, 33, 34, 35, 36, 37, 38, 39, 44, 58.
2025-08-22T05:14:13.480Z,1755839653.480 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T05:14:13.480Z,1755839653.480 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T05:14:13.480Z,1755839653.480 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T05:14:13.480Z,1755839653.480 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:14:13.481Z,1755839653.481 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T05:14:13.481Z,1755839653.481 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T05:14:13.482Z,1755839653.482 [lineCaptureHoming:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T05:14:14.240Z,1755839654.240 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:14:22.295Z,1755839662.295 [Radio_Surface](INFO): Powering down
2025-08-22T05:14:44.360Z,1755839684.360 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:14:45.085Z,1755839685.085 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T05:14:45.364Z,1755839685.364 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-22T05:14:45.364Z,1755839685.364 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:14:52.813Z,1755839692.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:14:53.048Z,1755839693.048 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:14:53.048Z,1755839693.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:14:53.300Z,1755839693.300 [DAT](INFO): DAT read: user:7356>

2025-08-22T05:14:53.301Z,1755839693.301 [DAT](INFO): DAT read: Tx time:05:14:52.4412

2025-08-22T05:14:53.301Z,1755839693.301 [DAT](INFO): Ping request sent.
2025-08-22T05:14:53.301Z,1755839693.301 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:14:53.301Z,1755839693.301 [DAT](INFO): publishing transmit ping time
2025-08-22T05:14:53.302Z,1755839693.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T05:14:53.552Z,1755839693.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152
2025-08-22T05:14:53.804Z,1755839693.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502961
2025-08-22T05:14:54.056Z,1755839694.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755095
2025-08-22T05:14:54.309Z,1755839694.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007449
2025-08-22T05:14:54.563Z,1755839694.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261526
2025-08-22T05:14:54.812Z,1755839694.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510982
2025-08-22T05:14:55.064Z,1755839695.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762968
2025-08-22T05:14:55.316Z,1755839695.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962
2025-08-22T05:14:55.568Z,1755839695.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-08-22T05:14:55.820Z,1755839695.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519139
2025-08-22T05:14:56.073Z,1755839696.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771475
2025-08-22T05:14:56.324Z,1755839696.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022903
2025-08-22T05:14:56.577Z,1755839696.577 [DAT](INFO): DAT read: Rx Time:05:14:55.2692

2025-08-22T05:14:56.577Z,1755839696.577 [DAT](INFO): Rx dataTimestamp_ set to:1755839696.576720
2025-08-22T05:14:56.578Z,1755839696.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276276
2025-08-22T05:14:56.813Z,1755839696.813 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709021589,35.0, +13.8, 0
2025-08-22T05:14:56.828Z,1755839696.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527096
2025-08-22T05:14:57.085Z,1755839697.085 [DAT](INFO): DAT read: 05:14:55.2692 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 498, 0.18,-1.984,-2.351,-0.571,-1.523, PHS=-0.359,-0.783, 0.908, RAW= 196.1,   3.1, CAL= 196.2,   0.7, ROT= 313.8,  -0.7

2025-08-22T05:14:57.086Z,1755839697.086 [DAT](INFO): got valid direction response:
 05:14:55.2692 LVL= 32752, 32753, 30034, 32755, AGC= 69, IDX= 498, 0.18,-1.984,-2.351,-0.571,-1.523, PHS=-0.359,-0.783, 0.908, RAW= 196.1,   3.1, CAL= 196.2,   0.7, ROT= 313.8,  -0.7

2025-08-22T05:14:57.088Z,1755839697.088 [DAT](INFO): DAT read: Bearing 308.7, -12.2 (Local)

2025-08-22T05:14:57.088Z,1755839697.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7, -12.2 (Local)

2025-08-22T05:14:57.089Z,1755839697.089 [DAT](INFO): DAT read: Range 11 to 50 : 318.0 m  (Round-trip  424.0 ms) speed  0.8 m/s

2025-08-22T05:14:57.090Z,1755839697.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:14:57.091Z,1755839697.091 [DAT](INFO): direction in FSK: [0.692091,-0.721707,0.012217]
2025-08-22T05:14:57.091Z,1755839697.091 [DAT](INFO): publishing direction and range info
2025-08-22T05:15:06.578Z,1755839706.578 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 56.53, 477.00,   0.00, 

2025-08-22T05:15:15.488Z,1755839715.488 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:15:16.492Z,1755839716.492 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:15:27.643Z,1755839727.643 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   +23,  +802,   +BE,   +23,  +802,   +22,A
2025-08-22T05:15:37.275Z,1755839737.275 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-22T05:15:37.276Z,1755839737.276 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-22T05:15:37.276Z,1755839737.276 [lineCaptureHoming:InitialDive] Stopped
2025-08-22T05:15:37.276Z,1755839737.276 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-22T05:15:37.277Z,1755839737.277 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-22T05:15:37.734Z,1755839737.734 [lineCaptureHoming:RepeatHack] Stopped
2025-08-22T05:15:37.734Z,1755839737.734 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-22T05:15:37.734Z,1755839737.734 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-22T05:15:37.734Z,1755839737.734 [lineCaptureHoming:Lap] Running Loop=1
2025-08-22T05:15:37.735Z,1755839737.735 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-22T05:15:37.735Z,1755839737.735 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-22T05:15:38.125Z,1755839738.125 [lineCaptureHoming:Lap:A] Stopped
2025-08-22T05:15:38.125Z,1755839738.125 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-22T05:15:38.126Z,1755839738.126 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-22T05:15:38.479Z,1755839738.479 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-22T05:15:38.479Z,1755839738.479 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-22T05:15:38.479Z,1755839738.479 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T05:15:38.479Z,1755839738.479 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T05:15:38.479Z,1755839738.479 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T05:15:38.480Z,1755839738.480 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-22T05:15:38.481Z,1755839738.481 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T05:15:38.482Z,1755839738.482 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T05:15:38.482Z,1755839738.482 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T05:15:38.482Z,1755839738.482 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T05:15:38.482Z,1755839738.482 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T05:15:38.482Z,1755839738.482 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T05:15:38.483Z,1755839738.483 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T05:15:38.483Z,1755839738.483 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T05:15:38.483Z,1755839738.483 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:15:38.483Z,1755839738.483 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:15:38.484Z,1755839738.484 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:15:38.484Z,1755839738.484 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-22T05:15:38.484Z,1755839738.484 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-22T05:15:38.905Z,1755839738.905 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T05:15:38.905Z,1755839738.905 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T05:15:38.905Z,1755839738.905 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T05:15:38.906Z,1755839738.906 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 318.000000 m (mode  0.000000 count ).
2025-08-22T05:15:38.906Z,1755839738.906 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T05:15:38.907Z,1755839738.907 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T05:15:38.910Z,1755839738.910 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-22T05:15:38.910Z,1755839738.910 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-22T05:15:39.289Z,1755839739.289 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T05:15:39.289Z,1755839739.289 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T05:15:39.289Z,1755839739.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:39.311Z,1755839739.311 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-22T05:15:39.312Z,1755839739.312 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-22T05:15:39.444Z,1755839739.444 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:39.444Z,1755839739.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:39.698Z,1755839739.698 [DAT](INFO): DAT read: user:7357>

2025-08-22T05:15:39.701Z,1755839739.701 [DAT](INFO): DAT read: Tx time:05:15:38.8411

2025-08-22T05:15:39.702Z,1755839739.702 [DAT](INFO): Ping request sent.
2025-08-22T05:15:39.702Z,1755839739.702 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:15:39.703Z,1755839739.703 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:39.705Z,1755839739.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002926
2025-08-22T05:15:39.786Z,1755839739.786 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T05:15:39.787Z,1755839739.787 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T05:15:39.789Z,1755839739.789 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-22T05:15:39.789Z,1755839739.789 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-22T05:15:39.948Z,1755839739.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246379
2025-08-22T05:15:40.148Z,1755839740.148 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T05:15:40.148Z,1755839740.148 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T05:15:40.148Z,1755839740.148 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T05:15:40.148Z,1755839740.148 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T05:15:40.151Z,1755839740.151 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-22T05:15:40.167Z,1755839740.167 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-22T05:15:40.168Z,1755839740.168 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T05:15:40.168Z,1755839740.168 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T05:15:40.168Z,1755839740.168 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T05:15:40.168Z,1755839740.168 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-22T05:15:40.168Z,1755839740.168 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T05:15:40.169Z,1755839740.169 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-22T05:15:40.169Z,1755839740.169 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T05:15:40.169Z,1755839740.169 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T05:15:40.169Z,1755839740.169 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T05:15:40.169Z,1755839740.169 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T05:15:40.170Z,1755839740.170 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T05:15:40.171Z,1755839740.171 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T05:15:40.171Z,1755839740.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T05:15:40.171Z,1755839740.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T05:15:40.176Z,1755839740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T05:15:40.176Z,1755839740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T05:15:40.176Z,1755839740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T05:15:40.176Z,1755839740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T05:15:40.176Z,1755839740.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T05:15:40.177Z,1755839740.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T05:15:40.178Z,1755839740.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T05:15:40.200Z,1755839740.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498472
2025-08-22T05:15:40.452Z,1755839740.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750666
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T05:15:40.524Z,1755839740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T05:15:40.525Z,1755839740.525 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T05:15:40.526Z,1755839740.526 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T05:15:40.526Z,1755839740.526 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T05:15:40.527Z,1755839740.527 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.455837 m.
2025-08-22T05:15:40.707Z,1755839740.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004380
2025-08-22T05:15:40.956Z,1755839740.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254468
2025-08-22T05:15:41.208Z,1755839741.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506653
2025-08-22T05:15:41.307Z,1755839741.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:41.319Z,1755839741.319 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T05:15:41.437Z,1755839741.437 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T05:15:41.460Z,1755839741.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758430
2025-08-22T05:15:41.712Z,1755839741.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010491
2025-08-22T05:15:41.965Z,1755839741.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263170
2025-08-22T05:15:42.216Z,1755839742.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514491
2025-08-22T05:15:42.468Z,1755839742.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766361
2025-08-22T05:15:42.724Z,1755839742.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022346
2025-08-22T05:15:42.978Z,1755839742.978 [DAT](INFO): DAT read: 05:15:41.6510 LVL= 31856, 22065, 20722, 26531, AGC= 69, IDX= 399,-0.12, 0.143, 0.937, 2.166, 0.989, PHS=-0.743,-0.007, 1.133, RAW= 232.9,  -4.7, CAL= 230.5,  -6.8, ROT= 279.5,   6.8

2025-08-22T05:15:42.979Z,1755839742.979 [DAT](INFO): got valid direction response:
 05:15:41.6510 LVL= 31856, 22065, 20722, 26531, AGC= 69, IDX= 399,-0.12, 0.143, 0.937, 2.166, 0.989, PHS=-0.743,-0.007, 1.133, RAW= 232.9,  -4.7, CAL= 230.5,  -6.8, ROT= 279.5,   6.8

2025-08-22T05:15:42.991Z,1755839742.991 [DAT](INFO): DAT read: Rx Time:05:15:41.6510

2025-08-22T05:15:42.991Z,1755839742.991 [DAT](INFO): Rx dataTimestamp_ set to:1755839742.990736
2025-08-22T05:15:42.992Z,1755839742.992 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T05:15:42.992Z,1755839742.992 [DAT](INFO): Received low SNR in chirp
2025-08-22T05:15:43.003Z,1755839743.003 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:15:43.004Z,1755839743.004 [DAT](INFO): direction in FSK: [0.163887,-0.979348,-0.118404]
2025-08-22T05:15:43.008Z,1755839743.008 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:43.008Z,1755839743.008 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:43.008Z,1755839743.008 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:43.224Z,1755839743.224 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:43.224Z,1755839743.224 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:43.224Z,1755839743.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:43.337Z,1755839743.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:43.477Z,1755839743.477 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:43.477Z,1755839743.477 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:43.477Z,1755839743.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:43.728Z,1755839743.728 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:43.728Z,1755839743.728 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:43.728Z,1755839743.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:43.980Z,1755839743.980 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:43.980Z,1755839743.980 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:43.980Z,1755839743.980 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:44.233Z,1755839744.233 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:44.233Z,1755839744.233 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:44.234Z,1755839744.234 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:44.484Z,1755839744.484 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:44.484Z,1755839744.484 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:44.484Z,1755839744.484 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:44.738Z,1755839744.738 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:44.738Z,1755839744.738 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:44.739Z,1755839744.739 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:44.988Z,1755839744.988 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:44.988Z,1755839744.988 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:44.988Z,1755839744.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:45.024Z,1755839745.024 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T05:15:45.240Z,1755839745.240 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:45.240Z,1755839745.240 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:45.240Z,1755839745.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:45.350Z,1755839745.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:45.492Z,1755839745.492 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:45.492Z,1755839745.492 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:45.492Z,1755839745.492 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:45.744Z,1755839745.744 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:45.744Z,1755839745.744 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:45.744Z,1755839745.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:45.996Z,1755839745.996 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:45.996Z,1755839745.996 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:45.996Z,1755839745.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:46.248Z,1755839746.248 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:46.248Z,1755839746.248 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:46.249Z,1755839746.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:46.500Z,1755839746.500 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:46.500Z,1755839746.500 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:46.500Z,1755839746.500 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:46.618Z,1755839746.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:15:46.752Z,1755839746.752 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:46.752Z,1755839746.752 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:46.752Z,1755839746.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:47.022Z,1755839747.022 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:47.022Z,1755839747.022 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:47.022Z,1755839747.022 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:47.272Z,1755839747.272 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:47.272Z,1755839747.272 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:47.272Z,1755839747.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:47.366Z,1755839747.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:47.524Z,1755839747.524 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:47.524Z,1755839747.524 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:47.524Z,1755839747.524 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:47.620Z,1755839747.620 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:15:47.776Z,1755839747.776 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:47.776Z,1755839747.776 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:47.776Z,1755839747.776 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:48.028Z,1755839748.028 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:48.028Z,1755839748.028 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:48.028Z,1755839748.028 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:48.280Z,1755839748.280 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:48.280Z,1755839748.280 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:48.280Z,1755839748.280 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:48.532Z,1755839748.532 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:48.532Z,1755839748.532 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:48.532Z,1755839748.532 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:48.784Z,1755839748.784 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:48.784Z,1755839748.784 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:48.784Z,1755839748.784 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:49.036Z,1755839749.036 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:49.036Z,1755839749.036 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:49.036Z,1755839749.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:49.288Z,1755839749.288 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:49.288Z,1755839749.288 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:49.288Z,1755839749.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:49.393Z,1755839749.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:49.540Z,1755839749.540 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:49.540Z,1755839749.540 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:49.540Z,1755839749.540 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:15:49.792Z,1755839749.792 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:49.792Z,1755839749.792 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:49.792Z,1755839749.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:50.044Z,1755839750.044 [DAT](INFO): DAT read: 

2025-08-22T05:15:50.044Z,1755839750.044 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:50.044Z,1755839750.044 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:50.045Z,1755839750.045 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:50.296Z,1755839750.296 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:50.296Z,1755839750.296 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:50.296Z,1755839750.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:50.548Z,1755839750.548 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:50.548Z,1755839750.548 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:50.548Z,1755839750.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:50.800Z,1755839750.800 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:50.800Z,1755839750.800 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:50.800Z,1755839750.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:51.034Z,1755839751.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T05:15:51.052Z,1755839751.052 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:51.053Z,1755839751.053 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:51.053Z,1755839751.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:51.304Z,1755839751.304 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:51.304Z,1755839751.304 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:51.304Z,1755839751.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:51.425Z,1755839751.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:51.557Z,1755839751.557 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:51.557Z,1755839751.557 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:51.558Z,1755839751.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:51.808Z,1755839751.808 [DAT](INFO): Reached modem response timeout
2025-08-22T05:15:51.808Z,1755839751.808 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:15:51.808Z,1755839751.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:52.062Z,1755839752.062 [DAT](INFO): DAT read: Response Not Received

2025-08-22T05:15:52.062Z,1755839752.062 [DAT](INFO): response not received
2025-08-22T05:15:52.062Z,1755839752.062 [DAT](INFO): DAT read: user:7359>

2025-08-22T05:15:52.064Z,1755839752.064 [DAT](INFO): DAT read: Tx time:05:15:51.2911

2025-08-22T05:15:52.064Z,1755839752.064 [DAT](INFO): Ping request sent.
2025-08-22T05:15:52.064Z,1755839752.064 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:15:52.065Z,1755839752.065 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:52.065Z,1755839752.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-22T05:15:52.312Z,1755839752.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247768
2025-08-22T05:15:52.565Z,1755839752.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500098
2025-08-22T05:15:52.816Z,1755839752.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751733
2025-08-22T05:15:53.069Z,1755839753.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004556
2025-08-22T05:15:53.320Z,1755839753.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255702
2025-08-22T05:15:53.435Z,1755839753.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:53.573Z,1755839753.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508096
2025-08-22T05:15:53.827Z,1755839753.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762097
2025-08-22T05:15:54.078Z,1755839754.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012723
2025-08-22T05:15:54.330Z,1755839754.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265448
2025-08-22T05:15:54.580Z,1755839754.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515744
2025-08-22T05:15:54.832Z,1755839754.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767638
2025-08-22T05:15:55.084Z,1755839755.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019790
2025-08-22T05:15:55.336Z,1755839755.336 [DAT](INFO): DAT read: Rx Time:05:15:54.1007

2025-08-22T05:15:55.337Z,1755839755.337 [DAT](INFO): Rx dataTimestamp_ set to:1755839755.336367
2025-08-22T05:15:55.337Z,1755839755.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272703
2025-08-22T05:15:55.460Z,1755839755.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:55.588Z,1755839755.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523980
2025-08-22T05:15:55.843Z,1755839755.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777930
2025-08-22T05:15:56.098Z,1755839756.098 [DAT](INFO): DAT read: 05:15:54.1007 LVL= 32752, 24513, 20210, 32755, AGC= 69, IDX= 421,-0.22, 2.886,-2.332,-0.770,-1.864, PHS=-1.432,-0.424, 1.049, RAW= 233.8,   7.5, CAL= 233.4,   8.8, ROT= 276.6,  -8.8

2025-08-22T05:15:56.099Z,1755839756.099 [DAT](INFO): got valid direction response:
 05:15:54.1007 LVL= 32752, 24513, 20210, 32755, AGC= 69, IDX= 421,-0.22, 2.886,-2.332,-0.770,-1.864, PHS=-1.432,-0.424, 1.049, RAW= 233.8,   7.5, CAL= 233.4,   8.8, ROT= 276.6,  -8.8

2025-08-22T05:15:56.100Z,1755839756.100 [DAT](INFO): DAT read: Bearing  64.5, -74.3 (Local)

2025-08-22T05:15:56.101Z,1755839756.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing  64.5, -74.3 (Local)

2025-08-22T05:15:56.102Z,1755839756.102 [DAT](INFO): DAT read: Range 11 to 50 : 304.1 m  (Round-trip  405.5 ms) speed  0.0 m/s

2025-08-22T05:15:56.103Z,1755839756.103 [DAT](INFO): DAT read: user:7360>

2025-08-22T05:15:56.104Z,1755839756.104 [DAT](INFO): DAT read: Tx time:05:15:55.1911

2025-08-22T05:15:56.104Z,1755839756.104 [DAT](INFO): Ping request sent.
2025-08-22T05:15:56.104Z,1755839756.104 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:15:56.104Z,1755839756.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:15:56.105Z,1755839756.105 [DAT](INFO): direction in FSK: [0.113584,-0.981679,0.152986]
2025-08-22T05:15:56.106Z,1755839756.106 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:56.106Z,1755839756.106 [DAT](INFO): publishing direction and range info
2025-08-22T05:15:56.109Z,1755839756.109 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:56.109Z,1755839756.109 [DAT](INFO): publishing direction and range info
2025-08-22T05:15:57.467Z,1755839757.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:57.604Z,1755839757.604 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:15:57.604Z,1755839757.604 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:15:57.604Z,1755839757.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:15:57.857Z,1755839757.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752279
2025-08-22T05:15:58.108Z,1755839758.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004018
2025-08-22T05:15:58.360Z,1755839758.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256054
2025-08-22T05:15:58.612Z,1755839758.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507974
2025-08-22T05:15:58.864Z,1755839758.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759953
2025-08-22T05:15:59.116Z,1755839759.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012043
2025-08-22T05:15:59.368Z,1755839759.368 [DAT](INFO): DAT read: Rx Time:05:15:58.0010

2025-08-22T05:15:59.369Z,1755839759.369 [DAT](INFO): Rx dataTimestamp_ set to:1755839759.368410
2025-08-22T05:15:59.369Z,1755839759.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264998
2025-08-22T05:15:59.494Z,1755839759.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:15:59.620Z,1755839759.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515960
2025-08-22T05:15:59.878Z,1755839759.878 [DAT](INFO): DAT read: 05:15:58.0010 LVL= 28816, 26289, 16306, 29619, AGC= 65, IDX= 440,-0.27,-1.659,-0.396, 0.910,-0.050, PHS=-1.507,-0.301, 0.916, RAW= 239.8,   8.6, CAL= 239.5,   9.8, ROT= 270.5,  -9.8

2025-08-22T05:15:59.879Z,1755839759.879 [DAT](INFO): got valid direction response:
 05:15:58.0010 LVL= 28816, 26289, 16306, 29619, AGC= 65, IDX= 440,-0.27,-1.659,-0.396, 0.910,-0.050, PHS=-1.507,-0.301, 0.916, RAW= 239.8,   8.6, CAL= 239.5,   9.8, ROT= 270.5,  -9.8

2025-08-22T05:15:59.880Z,1755839759.880 [DAT](INFO): DAT read: Bearing  92.5, -72.4 (Local)

2025-08-22T05:15:59.881Z,1755839759.881 [DAT](INFO): Local bearing/azimuth received:
 Bearing  92.5, -72.4 (Local)

2025-08-22T05:15:59.882Z,1755839759.882 [DAT](INFO): DAT read: Range 11 to 50 : 304.3 m  (Round-trip  405.8 ms) speed  0.1 m/s

2025-08-22T05:15:59.883Z,1755839759.883 [DAT](INFO): DAT read: user:7361>

2025-08-22T05:15:59.884Z,1755839759.884 [DAT](INFO): DAT read: Tx time:05:15:59.0911

2025-08-22T05:15:59.884Z,1755839759.884 [DAT](INFO): Ping request sent.
2025-08-22T05:15:59.884Z,1755839759.884 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:15:59.884Z,1755839759.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:15:59.885Z,1755839759.885 [DAT](INFO): direction in FSK: [0.008599,-0.985370,0.170209]
2025-08-22T05:15:59.885Z,1755839759.885 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:59.886Z,1755839759.886 [DAT](INFO): publishing direction and range info
2025-08-22T05:15:59.905Z,1755839759.905 [DAT](INFO): publishing transmit ping time
2025-08-22T05:15:59.905Z,1755839759.905 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:01.516Z,1755839761.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:01.636Z,1755839761.636 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:01.636Z,1755839761.636 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:01.637Z,1755839761.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:01.889Z,1755839761.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004637
2025-08-22T05:16:02.140Z,1755839762.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256233
2025-08-22T05:16:02.393Z,1755839762.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508599
2025-08-22T05:16:02.644Z,1755839762.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760362
2025-08-22T05:16:02.896Z,1755839762.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012408
2025-08-22T05:16:03.149Z,1755839763.149 [DAT](INFO): DAT read: Rx Time:05:16:01.9013

2025-08-22T05:16:03.150Z,1755839763.150 [DAT](INFO): Rx dataTimestamp_ set to:1755839763.149084
2025-08-22T05:16:03.150Z,1755839763.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266235
2025-08-22T05:16:03.400Z,1755839763.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516447
2025-08-22T05:16:03.525Z,1755839763.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:03.664Z,1755839763.664 [DAT](INFO): DAT read: 05:16:01.9013 LVL= 29216, 20977, 16018, 30995, AGC= 66, IDX= 443, 0.27,-1.818,-0.461, 0.678,-0.273, PHS=-1.443,-0.142, 0.907, RAW= 243.5,   6.7, CAL= 242.2,   7.4, ROT= 267.8,  -7.4

2025-08-22T05:16:03.665Z,1755839763.665 [DAT](INFO): got valid direction response:
 05:16:01.9013 LVL= 29216, 20977, 16018, 30995, AGC= 66, IDX= 443, 0.27,-1.818,-0.461, 0.678,-0.273, PHS=-1.443,-0.142, 0.907, RAW= 243.5,   6.7, CAL= 242.2,   7.4, ROT= 267.8,  -7.4

2025-08-22T05:16:03.666Z,1755839763.666 [DAT](INFO): DAT read: Bearing 107.9, -72.6 (Local)

2025-08-22T05:16:03.666Z,1755839763.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 107.9, -72.6 (Local)

2025-08-22T05:16:03.667Z,1755839763.667 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:16:03.668Z,1755839763.668 [DAT](INFO): direction in FSK: [-0.038068,-0.990940,0.128796]
2025-08-22T05:16:03.671Z,1755839763.671 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:03.671Z,1755839763.671 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:03.671Z,1755839763.671 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:16:03.905Z,1755839763.905 [DAT](INFO): DAT read: Range 11 to 50 : 304.5s

2025-08-22T05:16:03.905Z,1755839763.905 [DAT](INFO): DAT read: user:7362>

2025-08-22T05:16:03.906Z,1755839763.906 [DAT](INFO): DAT read: Tx time:05:16:02.9911

2025-08-22T05:16:03.906Z,1755839763.906 [DAT](INFO): Ping request sent.
2025-08-22T05:16:03.906Z,1755839763.906 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:03.907Z,1755839763.907 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T05:16:03.907Z,1755839763.907 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:03.908Z,1755839763.908 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:05.560Z,1755839765.560 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:05.668Z,1755839765.668 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:05.668Z,1755839765.668 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:05.669Z,1755839765.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:05.920Z,1755839765.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013685
2025-08-22T05:16:06.173Z,1755839766.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266307
2025-08-22T05:16:06.424Z,1755839766.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914
2025-08-22T05:16:06.676Z,1755839766.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769726
2025-08-22T05:16:06.928Z,1755839766.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021761
2025-08-22T05:16:07.186Z,1755839767.186 [DAT](INFO): DAT read: Rx Time:05:16:05.8015

2025-08-22T05:16:07.187Z,1755839767.187 [DAT](INFO): Rx dataTimestamp_ set to:1755839767.186288
2025-08-22T05:16:07.187Z,1755839767.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280665
2025-08-22T05:16:07.440Z,1755839767.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532276
2025-08-22T05:16:07.592Z,1755839767.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:07.696Z,1755839767.696 [DAT](INFO): DAT read: 05:16:05.8015 LVL= 26288, 20977, 13730, 27251, AGC= 68, IDX= 445,-0.12, 1.214, 2.560,-2.528, 2.746, PHS=-1.429,-0.141, 0.966, RAW= 242.5,   5.9, CAL= 240.9,   6.6, ROT= 269.1,  -6.6

2025-08-22T05:16:07.698Z,1755839767.698 [DAT](INFO): got valid direction response:
 05:16:05.8015 LVL= 26288, 20977, 13730, 27251, AGC= 68, IDX= 445,-0.12, 1.214, 2.560,-2.528, 2.746, PHS=-1.429,-0.141, 0.966, RAW= 242.5,   5.9, CAL= 240.9,   6.6, ROT= 269.1,  -6.6

2025-08-22T05:16:07.704Z,1755839767.704 [DAT](INFO): DAT read: Bearing 108.6, -73.9 (Local)

2025-08-22T05:16:07.704Z,1755839767.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 108.6, -73.9 (Local)

2025-08-22T05:16:07.706Z,1755839767.706 [DAT](INFO): DAT read: Range 11 to 50 : 304.7 m  (Round-trip  406.3 ms) speed  0.0 m/s

2025-08-22T05:16:07.707Z,1755839767.707 [DAT](INFO): DAT read: user:7363>

2025-08-22T05:16:07.708Z,1755839767.708 [DAT](INFO): DAT read: Tx time:05:16:06.8911

2025-08-22T05:16:07.708Z,1755839767.708 [DAT](INFO): Ping request sent.
2025-08-22T05:16:07.708Z,1755839767.708 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:07.708Z,1755839767.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:07.710Z,1755839767.710 [DAT](INFO): direction in FSK: [-0.015603,-0.993250,0.114937]
2025-08-22T05:16:07.710Z,1755839767.710 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:07.710Z,1755839767.710 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:07.749Z,1755839767.749 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:07.750Z,1755839767.750 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:09.601Z,1755839769.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:09.704Z,1755839769.704 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:09.704Z,1755839769.704 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:09.704Z,1755839769.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:09.956Z,1755839769.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248242
2025-08-22T05:16:10.208Z,1755839770.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500078
2025-08-22T05:16:10.461Z,1755839770.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752605
2025-08-22T05:16:10.712Z,1755839770.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003917
2025-08-22T05:16:10.964Z,1755839770.964 [DAT](INFO): DAT read: Rx Time:05:16:09.7017

2025-08-22T05:16:10.965Z,1755839770.965 [DAT](INFO): Rx dataTimestamp_ set to:1755839770.964463
2025-08-22T05:16:10.965Z,1755839770.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257049
2025-08-22T05:16:11.216Z,1755839771.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508051
2025-08-22T05:16:11.248Z,1755839771.248 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 304.70 m. Transitioning docking module to standby.
2025-08-22T05:16:11.478Z,1755839771.478 [DAT](INFO): DAT read: 05:16:09.7017 LVL= 23712, 20561, 14322, 24051, AGC= 67, IDX= 447,-0.33,-0.762, 0.647, 1.710, 0.756, PHS=-1.416,-0.064, 0.910, RAW= 245.4,   5.7, CAL= 243.4,   6.1, ROT= 266.6,  -6.1

2025-08-22T05:16:11.479Z,1755839771.479 [DAT](INFO): got valid direction response:
 05:16:09.7017 LVL= 23712, 20561, 14322, 24051, AGC= 67, IDX= 447,-0.33,-0.762, 0.647, 1.710, 0.756, PHS=-1.416,-0.064, 0.910, RAW= 245.4,   5.7, CAL= 243.4,   6.1, ROT= 266.6,  -6.1

2025-08-22T05:16:11.480Z,1755839771.480 [DAT](INFO): DAT read: Bearing 117.3, -72.7 (Local)

2025-08-22T05:16:11.481Z,1755839771.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 117.3, -72.7 (Local)

2025-08-22T05:16:11.482Z,1755839771.482 [DAT](INFO): DAT read: Range 11 to 50 : 304.8 m  (Round-trip  406.5 ms) speed  0.0 m/s

2025-08-22T05:16:11.483Z,1755839771.483 [DAT](INFO): DAT read: user:7364>

2025-08-22T05:16:11.484Z,1755839771.484 [DAT](INFO): DAT read: Tx time:05:16:10.7911

2025-08-22T05:16:11.484Z,1755839771.484 [DAT](INFO): Ping request sent.
2025-08-22T05:16:11.484Z,1755839771.484 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:11.484Z,1755839771.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:11.485Z,1755839771.485 [DAT](INFO): direction in FSK: [-0.058970,-0.992588,0.106264]
2025-08-22T05:16:11.486Z,1755839771.486 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:11.486Z,1755839771.486 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:11.489Z,1755839771.489 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:11.489Z,1755839771.489 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:11.765Z,1755839771.765 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T05:16:12.017Z,1755839772.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:12.226Z,1755839772.226 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:12.226Z,1755839772.226 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:12.227Z,1755839772.227 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:12.477Z,1755839772.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992584
2025-08-22T05:16:12.728Z,1755839772.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244110
2025-08-22T05:16:12.984Z,1755839772.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499781
2025-08-22T05:16:13.237Z,1755839773.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752765
2025-08-22T05:16:13.488Z,1755839773.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004065
2025-08-22T05:16:13.741Z,1755839773.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256400
2025-08-22T05:16:13.992Z,1755839773.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508178
2025-08-22T05:16:14.049Z,1755839774.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:14.249Z,1755839774.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763811
2025-08-22T05:16:14.496Z,1755839774.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012013
2025-08-22T05:16:14.748Z,1755839774.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264124
2025-08-22T05:16:15.001Z,1755839775.001 [DAT](INFO): DAT read: Rx Time:05:16:13.6021

2025-08-22T05:16:15.002Z,1755839775.002 [DAT](INFO): Rx dataTimestamp_ set to:1755839775.001158
2025-08-22T05:16:15.003Z,1755839775.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518468
2025-08-22T05:16:15.255Z,1755839775.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769916
2025-08-22T05:16:15.514Z,1755839775.514 [DAT](INFO): DAT read: 05:16:13.6021 LVL= 31664, 32753, 28002, 32755, AGC= 65, IDX= 451,-0.07,-2.690,-1.291,-0.156,-1.211, PHS=-1.376,-0.034, 1.011, RAW= 244.1,   3.9, CAL= 241.5,   4.3, ROT= 268.5,  -4.3

2025-08-22T05:16:15.516Z,1755839775.516 [DAT](INFO): got valid direction response:
 05:16:13.6021 LVL= 31664, 32753, 28002, 32755, AGC= 65, IDX= 451,-0.07,-2.690,-1.291,-0.156,-1.211, PHS=-1.376,-0.034, 1.011, RAW= 244.1,   3.9, CAL= 241.5,   4.3, ROT= 268.5,  -4.3

2025-08-22T05:16:15.517Z,1755839775.517 [DAT](INFO): DAT read: Bearing 115.5, -75.6 (Local)

2025-08-22T05:16:15.517Z,1755839775.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 115.5, -75.6 (Local)

2025-08-22T05:16:15.520Z,1755839775.520 [DAT](INFO): DAT read: Range 11 to 50 : 305.1 m  (Round-trip  406.9 ms) speed  0.0 m/s

2025-08-22T05:16:15.521Z,1755839775.521 [DAT](INFO): DAT read: user:7365>

2025-08-22T05:16:15.522Z,1755839775.522 [DAT](INFO): DAT read: Tx time:05:16:14.6911

2025-08-22T05:16:15.523Z,1755839775.523 [DAT](INFO): Ping request sent.
2025-08-22T05:16:15.523Z,1755839775.523 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:15.524Z,1755839775.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:15.525Z,1755839775.525 [DAT](INFO): direction in FSK: [-0.026103,-0.996843,0.074979]
2025-08-22T05:16:15.526Z,1755839775.526 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:15.526Z,1755839775.526 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:15.532Z,1755839775.532 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:15.532Z,1755839775.532 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:16.055Z,1755839776.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:16.262Z,1755839776.262 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:16.262Z,1755839776.262 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:16.263Z,1755839776.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:16.513Z,1755839776.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990366
2025-08-22T05:16:16.764Z,1755839776.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241320
2025-08-22T05:16:17.018Z,1755839777.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494716
2025-08-22T05:16:17.271Z,1755839777.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747456
2025-08-22T05:16:17.521Z,1755839777.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998161
2025-08-22T05:16:17.667Z,1755839777.667 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-22T05:16:17.741Z,1755839777.741 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:16:17.772Z,1755839777.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249442
2025-08-22T05:16:18.025Z,1755839778.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501721
2025-08-22T05:16:18.084Z,1755839778.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:18.085Z,1755839778.085 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T05:16:18.085Z,1755839778.085 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-22T05:16:18.085Z,1755839778.085 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-22T05:16:18.280Z,1755839778.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756946
2025-08-22T05:16:18.512Z,1755839778.512 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-22T05:16:18.513Z,1755839778.513 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-22T05:16:18.513Z,1755839778.513 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-22T05:16:18.528Z,1755839778.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005353
2025-08-22T05:16:18.744Z,1755839778.744 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:16:18.780Z,1755839778.780 [DAT](INFO): DAT read: Rx Time:05:16:17.5026

2025-08-22T05:16:18.781Z,1755839778.781 [DAT](INFO): Rx dataTimestamp_ set to:1755839778.780374
2025-08-22T05:16:18.781Z,1755839778.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258351
2025-08-22T05:16:18.883Z,1755839778.883 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-22T05:16:18.883Z,1755839778.883 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T05:16:18.883Z,1755839778.883 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-22T05:16:18.884Z,1755839778.884 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T05:16:18.884Z,1755839778.884 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T05:16:19.032Z,1755839779.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509359
2025-08-22T05:16:19.313Z,1755839779.313 [DAT](INFO): DAT read: 05:16:17.5026 LVL= 25984, 22337, 19906, 29043, AGC= 67, IDX= 440,-0.20,-1.733,-0.365, 0.696,-0.226, PHS=-1.405,-0.094, 0.877, RAW= 244.9,   6.3, CAL= 243.3,   6.9, ROT= 266.7,  -6.9

2025-08-22T05:16:19.321Z,1755839779.321 [DAT](INFO): got valid direction response:
 05:16:17.5026 LVL= 25984, 22337, 19906, 29043, AGC= 67, IDX= 440,-0.20,-1.733,-0.365, 0.696,-0.226, PHS=-1.405,-0.094, 0.877, RAW= 244.9,   6.3, CAL= 243.3,   6.9, ROT= 266.7,  -6.9

2025-08-22T05:16:19.327Z,1755839779.327 [DAT](INFO): DAT read: Bearing 113.9, -72.9 (Local)

2025-08-22T05:16:19.328Z,1755839779.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 113.9, -72.9 (Local)

2025-08-22T05:16:19.329Z,1755839779.329 [DAT](INFO): DAT read: Range 11 to 50 : 305.5 m  (Round-trip  407.4 ms) speed  0.1 m/s

2025-08-22T05:16:19.330Z,1755839779.330 [DAT](INFO): DAT read: user:7366>

2025-08-22T05:16:19.331Z,1755839779.331 [DAT](INFO): DAT read: Tx time:05:16:18.5911

2025-08-22T05:16:19.331Z,1755839779.331 [DAT](INFO): Ping request sent.
2025-08-22T05:16:19.335Z,1755839779.335 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:19.336Z,1755839779.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:19.337Z,1755839779.337 [DAT](INFO): direction in FSK: [-0.057147,-0.991111,0.120137]
2025-08-22T05:16:19.337Z,1755839779.337 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:19.337Z,1755839779.337 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:19.344Z,1755839779.344 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:19.345Z,1755839779.345 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:19.525Z,1755839779.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T05:16:19.525Z,1755839779.525 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T05:16:19.526Z,1755839779.526 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T05:16:19.527Z,1755839779.527 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T05:16:19.531Z,1755839779.531 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T05:16:19.532Z,1755839779.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-22T05:16:19.532Z,1755839779.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T05:16:19.532Z,1755839779.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-22T05:16:19.532Z,1755839779.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 305.100006 m 
2025-08-22T05:16:19.532Z,1755839779.532 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-22T05:16:19.533Z,1755839779.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-22T05:16:19.533Z,1755839779.533 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-22T05:16:19.534Z,1755839779.534 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T05:16:19.534Z,1755839779.534 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-22T05:16:19.534Z,1755839779.534 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-22T05:16:19.535Z,1755839779.535 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T05:16:19.715Z,1755839779.715 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T05:16:19.717Z,1755839779.717 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-22T05:16:19.717Z,1755839779.717 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T05:16:19.717Z,1755839779.717 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-22T05:16:19.717Z,1755839779.717 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T05:16:19.744Z,1755839779.744 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-22T05:16:20.094Z,1755839780.094 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T05:16:20.094Z,1755839780.094 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T05:16:20.094Z,1755839780.094 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T05:16:20.095Z,1755839780.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:20.096Z,1755839780.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T05:16:20.096Z,1755839780.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T05:16:20.096Z,1755839780.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T05:16:20.097Z,1755839780.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T05:16:20.098Z,1755839780.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T05:16:20.099Z,1755839780.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T05:16:20.099Z,1755839780.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T05:16:20.099Z,1755839780.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T05:16:20.099Z,1755839780.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T05:16:20.099Z,1755839780.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T05:16:20.100Z,1755839780.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-22T05:16:20.100Z,1755839780.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T05:16:20.100Z,1755839780.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-22T05:16:20.100Z,1755839780.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-22T05:16:20.100Z,1755839780.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T05:16:20.101Z,1755839780.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T05:16:20.101Z,1755839780.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-22T05:16:20.102Z,1755839780.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-22T05:16:20.102Z,1755839780.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T05:16:20.102Z,1755839780.102 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T05:16:20.102Z,1755839780.102 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T05:16:20.102Z,1755839780.102 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-22T05:16:20.103Z,1755839780.103 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-22T05:16:20.294Z,1755839780.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:20.294Z,1755839780.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:20.295Z,1755839780.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:20.544Z,1755839780.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.213236
2025-08-22T05:16:20.553Z,1755839780.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.500000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-22T05:16:20.556Z,1755839780.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.750397 m,
      bearing: 109.898250 deg,
      lat: 36.779064 deg,
      lon: -121.859675 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-22T05:16:20.557Z,1755839780.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:20.559Z,1755839780.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.520172 m,
      bearing: 107.496800 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 203.445982 deg,
      new cmd heading: 107.496800 deg.

2025-08-22T05:16:20.560Z,1755839780.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.876173 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:20.572Z,1755839780.572 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T05:16:20.573Z,1755839780.573 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T05:16:20.796Z,1755839780.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465183
2025-08-22T05:16:20.899Z,1755839780.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:20.901Z,1755839780.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.534027 m,
      bearing: 107.474929 deg,
      approach rate: 0.040006 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.496802 deg,
      new cmd heading: 107.474929 deg.

2025-08-22T05:16:20.902Z,1755839780.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875791 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:21.049Z,1755839781.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.717667
2025-08-22T05:16:21.303Z,1755839781.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971657
2025-08-22T05:16:21.383Z,1755839781.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:21.386Z,1755839781.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.552612 m,
      bearing: 107.446368 deg,
      approach rate: 0.038381 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.474932 deg,
      new cmd heading: 107.446368 deg.

2025-08-22T05:16:21.386Z,1755839781.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875293 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:21.552Z,1755839781.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221192
2025-08-22T05:16:21.592Z,1755839781.592 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T05:16:21.718Z,1755839781.718 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T05:16:21.804Z,1755839781.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473214
2025-08-22T05:16:21.822Z,1755839781.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:21.825Z,1755839781.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.564117 m,
      bearing: 107.420359 deg,
      approach rate: 0.026204 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.446368 deg,
      new cmd heading: 107.420359 deg.

2025-08-22T05:16:21.826Z,1755839781.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874839 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:22.056Z,1755839782.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.725240
2025-08-22T05:16:22.233Z,1755839782.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:22.235Z,1755839782.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:22.238Z,1755839782.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.574677 m,
      bearing: 107.396623 deg,
      approach rate: 0.025560 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.420359 deg,
      new cmd heading: 107.396623 deg.

2025-08-22T05:16:22.239Z,1755839782.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874425 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:22.310Z,1755839782.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979053
2025-08-22T05:16:22.560Z,1755839782.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.229123
2025-08-22T05:16:22.642Z,1755839782.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:22.645Z,1755839782.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.581482 m,
      bearing: 107.373507 deg,
      approach rate: 0.016724 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.396624 deg,
      new cmd heading: 107.373507 deg.

2025-08-22T05:16:22.646Z,1755839782.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874021 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:22.812Z,1755839782.812 [DAT](INFO): DAT read: Rx Time:05:16:21.4029

2025-08-22T05:16:22.813Z,1755839782.813 [DAT](INFO): Rx dataTimestamp_ set to:1755839782.812373
2025-08-22T05:16:22.813Z,1755839782.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482145
2025-08-22T05:16:23.064Z,1755839783.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.733204
2025-08-22T05:16:23.080Z,1755839783.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.75 m.
2025-08-22T05:16:23.083Z,1755839783.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 303.750397 m,
      nav range: 303.588745 m,
      bearing: 107.350146 deg,
      approach rate: 0.016567 m/s,
      LOS rate: nan deg/s,
      cmd heading: 107.373511 deg,
      new cmd heading: 107.350146 deg.

2025-08-22T05:16:23.092Z,1755839783.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.873613 target range: 303.750397 and range: 305.50 m.
2025-08-22T05:16:23.338Z,1755839783.338 [DAT](INFO): DAT read: 05:16:21.4029 LVL= 32752, 27217, 21490, 32755, AGC= 67, IDX= 443,-0.47, 0.088, 1.546, 2.349, 1.606, PHS=-1.416,-0.015, 0.699, RAW= 250.6,   7.9, CAL= 249.2,   8.1, ROT= 260.8,  -8.1

2025-08-22T05:16:23.342Z,1755839783.342 [DAT](INFO): got valid direction response:
 05:16:21.4029 LVL= 32752, 27217, 21490, 32755, AGC= 67, IDX= 443,-0.47, 0.088, 1.546, 2.349, 1.606, PHS=-1.416,-0.015, 0.699, RAW= 250.6,   7.9, CAL= 249.2,   8.1, ROT= 260.8,  -8.1

2025-08-22T05:16:23.345Z,1755839783.345 [DAT](INFO): DAT read: Bearing 123.8, -68.7 (Local)

2025-08-22T05:16:23.346Z,1755839783.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 123.8, -68.7 (Local)

2025-08-22T05:16:23.363Z,1755839783.363 [DAT](INFO): DAT read: Range 11 to 50 : 305.7 m  (Round-trip  407.7 ms) speed -0.2 m/s

2025-08-22T05:16:23.386Z,1755839783.386 [DAT](INFO): DAT read: user:7367>

2025-08-22T05:16:23.386Z,1755839783.386 [DAT](INFO): DAT read: Tx time:05:16:22.4911

2025-08-22T05:16:23.387Z,1755839783.387 [DAT](INFO): Ping request sent.
2025-08-22T05:16:23.387Z,1755839783.387 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:23.407Z,1755839783.407 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:23.408Z,1755839783.408 [DAT](INFO): direction in FSK: [-0.158286,-0.977288,0.140901]
2025-08-22T05:16:23.409Z,1755839783.409 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:23.409Z,1755839783.409 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:23.421Z,1755839783.421 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:23.421Z,1755839783.421 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:23.560Z,1755839783.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.700012 m,
      deltaT: 4.031242 s,
      deltaX: 0.200012 m,
      approachRate: 0.049616 m/s,
      rangeRepo size: 2

2025-08-22T05:16:23.562Z,1755839783.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.949219 m,
      bearing: 105.590515 deg,
      lat: 36.779064 deg,
      lon: -121.859675 deg,
      deltaT: 4.031242 s,
      deltaX: 0.198822 m,
      approachRate: 0.049320 m/s,
      posRepo size: 2

2025-08-22T05:16:23.562Z,1755839783.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:23.569Z,1755839783.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 105.590515 deg.
2025-08-22T05:16:23.570Z,1755839783.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842902 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:23.816Z,1755839783.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:23.818Z,1755839783.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.605408 m,
      bearing: 107.308057 deg,
      approach rate: 0.023996 m/s,
      LOS rate: -0.059669 deg/s,
      cmd heading: 105.590517 deg,
      new cmd heading: 105.559404 deg.

2025-08-22T05:16:23.821Z,1755839783.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842359 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:24.245Z,1755839784.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:24.247Z,1755839784.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.614288 m,
      bearing: 107.286127 deg,
      approach rate: 0.020697 m/s,
      LOS rate: -0.051108 deg/s,
      cmd heading: 105.559406 deg,
      new cmd heading: 105.515548 deg.

2025-08-22T05:16:24.248Z,1755839784.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841594 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:24.680Z,1755839784.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:24.682Z,1755839784.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:24.693Z,1755839784.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.626648 m,
      bearing: 107.260841 deg,
      approach rate: 0.028235 m/s,
      LOS rate: -0.057761 deg/s,
      cmd heading: 105.515549 deg,
      new cmd heading: 105.464980 deg.

2025-08-22T05:16:24.694Z,1755839784.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840711 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:24.828Z,1755839784.828 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:24.828Z,1755839784.828 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:24.828Z,1755839784.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:25.073Z,1755839785.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:25.075Z,1755839785.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.637146 m,
      bearing: 107.238962 deg,
      approach rate: 0.026898 m/s,
      LOS rate: -0.056058 deg/s,
      cmd heading: 105.464978 deg,
      new cmd heading: 105.421221 deg.

2025-08-22T05:16:25.076Z,1755839785.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839947 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:25.080Z,1755839785.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.693537
2025-08-22T05:16:25.332Z,1755839785.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945423
2025-08-22T05:16:25.513Z,1755839785.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:25.532Z,1755839785.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.657043 m,
      bearing: 107.213424 deg,
      approach rate: 0.045348 m/s,
      LOS rate: -0.058199 deg/s,
      cmd heading: 105.421224 deg,
      new cmd heading: 105.370152 deg.

2025-08-22T05:16:25.533Z,1755839785.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839056 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:25.584Z,1755839785.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197497
2025-08-22T05:16:25.605Z,1755839785.605 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T05:16:25.838Z,1755839785.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450872
2025-08-22T05:16:25.918Z,1755839785.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:25.921Z,1755839785.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.675751 m,
      bearing: 107.188923 deg,
      approach rate: 0.045981 m/s,
      LOS rate: -0.060219 deg/s,
      cmd heading: 105.370155 deg,
      new cmd heading: 105.321155 deg.

2025-08-22T05:16:25.922Z,1755839785.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.838201 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:26.088Z,1755839786.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701412
2025-08-22T05:16:26.312Z,1755839786.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:26.314Z,1755839786.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.693329 m,
      bearing: 107.165602 deg,
      approach rate: 0.044696 m/s,
      LOS rate: -0.059294 deg/s,
      cmd heading: 105.321155 deg,
      new cmd heading: 105.274516 deg.

2025-08-22T05:16:26.315Z,1755839786.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837387 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:26.340Z,1755839786.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953483
2025-08-22T05:16:26.594Z,1755839786.594 [DAT](INFO): DAT read: Rx Time:05:16:25.3031

2025-08-22T05:16:26.595Z,1755839786.595 [DAT](INFO): Rx dataTimestamp_ set to:1755839786.594592
2025-08-22T05:16:26.595Z,1755839786.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208728
2025-08-22T05:16:26.750Z,1755839786.750 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:26.753Z,1755839786.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.95 m.
2025-08-22T05:16:26.756Z,1755839786.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.949219 m,
      nav range: 303.717194 m,
      bearing: 107.135347 deg,
      approach rate: 0.054102 m/s,
      LOS rate: -0.068583 deg/s,
      cmd heading: 105.274518 deg,
      new cmd heading: 105.214014 deg.

2025-08-22T05:16:26.757Z,1755839786.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836331 target range: 303.949219 and range: 305.70 m.
2025-08-22T05:16:26.845Z,1755839786.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.458314
2025-08-22T05:16:27.102Z,1755839787.102 [DAT](INFO): DAT read: 05:16:25.3031 LVL= 30448, 22561, 17570, 31267, AGC= 67, IDX= 429, 0.03, 1.633, 3.042,-2.422, 3.102, PHS=-1.367,-0.015, 0.715, RAW= 249.8,   7.4, CAL= 248.2,   7.5, ROT= 261.8,  -7.5

2025-08-22T05:16:27.104Z,1755839787.104 [DAT](INFO): got valid direction response:
 05:16:25.3031 LVL= 30448, 22561, 17570, 31267, AGC= 67, IDX= 429, 0.03, 1.633, 3.042,-2.422, 3.102, PHS=-1.367,-0.015, 0.715, RAW= 249.8,   7.4, CAL= 248.2,   7.5, ROT= 261.8,  -7.5

2025-08-22T05:16:27.105Z,1755839787.105 [DAT](INFO): DAT read: Bearing 123.0, -71.8 (Local)

2025-08-22T05:16:27.105Z,1755839787.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing 123.0, -71.8 (Local)

2025-08-22T05:16:27.107Z,1755839787.107 [DAT](INFO): DAT read: Range 11 to 50 : 305.9 m  (Round-trip  407.9 ms) speed -0.1 m/s

2025-08-22T05:16:27.108Z,1755839787.108 [DAT](INFO): DAT read: user:7368>

2025-08-22T05:16:27.109Z,1755839787.109 [DAT](INFO): DAT read: Tx time:05:16:26.3911

2025-08-22T05:16:27.109Z,1755839787.109 [DAT](INFO): Ping request sent.
2025-08-22T05:16:27.109Z,1755839787.109 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:27.110Z,1755839787.110 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:27.111Z,1755839787.111 [DAT](INFO): direction in FSK: [-0.141409,-0.981308,0.130526]
2025-08-22T05:16:27.111Z,1755839787.111 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:27.111Z,1755839787.111 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:27.114Z,1755839787.114 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:27.114Z,1755839787.114 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:27.212Z,1755839787.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.899994 m,
      deltaT: 3.779171 s,
      deltaX: 0.199982 m,
      approachRate: 0.052917 m/s,
      rangeRepo size: 3

2025-08-22T05:16:27.214Z,1755839787.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.149597 m,
      bearing: 106.030236 deg,
      lat: 36.779098 deg,
      lon: -121.859662 deg,
      deltaT: 3.779171 s,
      deltaX: 0.200378 m,
      approachRate: 0.053022 m/s,
      posRepo size: 3

2025-08-22T05:16:27.219Z,1755839787.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:27.222Z,1755839787.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.815063 m,
      bearing: 106.360943 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068583 deg/s,
      cmd heading: 105.214017 deg,
      new cmd heading: 105.151632 deg.

2025-08-22T05:16:27.223Z,1755839787.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.835242 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:27.625Z,1755839787.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:27.632Z,1755839787.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.844910 m,
      bearing: 106.326663 deg,
      approach rate: 0.071526 m/s,
      LOS rate: -0.082144 deg/s,
      cmd heading: 105.151630 deg,
      new cmd heading: 105.083076 deg.

2025-08-22T05:16:27.633Z,1755839787.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.834046 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:27.985Z,1755839787.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:27.992Z,1755839787.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.868073 m,
      bearing: 106.299292 deg,
      approach rate: 0.064252 m/s,
      LOS rate: -0.075919 deg/s,
      cmd heading: 105.083075 deg,
      new cmd heading: 105.028338 deg.

2025-08-22T05:16:27.994Z,1755839787.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833090 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:28.384Z,1755839788.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:28.386Z,1755839788.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.893494 m,
      bearing: 106.268426 deg,
      approach rate: 0.063828 m/s,
      LOS rate: -0.077492 deg/s,
      cmd heading: 105.028338 deg,
      new cmd heading: 104.966611 deg.

2025-08-22T05:16:28.387Z,1755839788.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832013 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:28.810Z,1755839788.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:28.812Z,1755839788.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:28.815Z,1755839788.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.923157 m,
      bearing: 106.232742 deg,
      approach rate: 0.069219 m/s,
      LOS rate: -0.083261 deg/s,
      cmd heading: 104.966614 deg,
      new cmd heading: 104.895252 deg.

2025-08-22T05:16:28.816Z,1755839788.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830768 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:28.860Z,1755839788.860 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:28.860Z,1755839788.860 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:28.860Z,1755839788.860 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:29.112Z,1755839789.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002908
2025-08-22T05:16:29.195Z,1755839789.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:29.198Z,1755839789.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.948944 m,
      bearing: 106.200689 deg,
      approach rate: 0.067289 m/s,
      LOS rate: -0.083633 deg/s,
      cmd heading: 104.895252 deg,
      new cmd heading: 104.831151 deg.

2025-08-22T05:16:29.199Z,1755839789.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829649 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:29.364Z,1755839789.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254828
2025-08-22T05:16:29.616Z,1755839789.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507111
2025-08-22T05:16:29.630Z,1755839789.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:29.633Z,1755839789.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 303.978058 m,
      bearing: 106.162181 deg,
      approach rate: 0.067007 m/s,
      LOS rate: -0.088619 deg/s,
      cmd heading: 104.831150 deg,
      new cmd heading: 104.754143 deg.

2025-08-22T05:16:29.634Z,1755839789.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828305 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:29.868Z,1755839789.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758918
2025-08-22T05:16:30.018Z,1755839790.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:30.023Z,1755839790.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 304.001923 m,
      bearing: 106.127769 deg,
      approach rate: 0.061534 m/s,
      LOS rate: -0.088723 deg/s,
      cmd heading: 104.754140 deg,
      new cmd heading: 104.685321 deg.

2025-08-22T05:16:30.024Z,1755839790.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827103 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:30.122Z,1755839790.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012258
2025-08-22T05:16:30.372Z,1755839790.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262748
2025-08-22T05:16:30.404Z,1755839790.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:30.406Z,1755839790.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 304.024384 m,
      bearing: 106.093734 deg,
      approach rate: 0.058136 m/s,
      LOS rate: -0.088086 deg/s,
      cmd heading: 104.685319 deg,
      new cmd heading: 104.617254 deg.

2025-08-22T05:16:30.408Z,1755839790.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825916 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:30.624Z,1755839790.624 [DAT](INFO): DAT read: Rx Time:05:16:29.2038

2025-08-22T05:16:30.625Z,1755839790.625 [DAT](INFO): Rx dataTimestamp_ set to:1755839790.624455
2025-08-22T05:16:30.625Z,1755839790.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515946
2025-08-22T05:16:30.831Z,1755839790.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:30.833Z,1755839790.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.15 m.
2025-08-22T05:16:30.836Z,1755839790.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.149597 m,
      nav range: 304.045807 m,
      bearing: 106.051811 deg,
      approach rate: 0.049939 m/s,
      LOS rate: -0.097719 deg/s,
      cmd heading: 104.617256 deg,
      new cmd heading: 104.533416 deg.

2025-08-22T05:16:30.837Z,1755839790.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.824452 target range: 304.149597 and range: 305.90 m.
2025-08-22T05:16:30.876Z,1755839790.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767089
2025-08-22T05:16:31.135Z,1755839791.135 [DAT](INFO): DAT read: 05:16:29.2038 LVL= 30928, 22449, 18066, 30435, AGC= 66, IDX= 435, 0.28, 1.763,-3.069,-2.042,-3.022, PHS=-1.396,-0.002, 0.936, RAW= 246.4,   4.6, CAL= 243.9,   4.7, ROT= 266.1,  -4.7

2025-08-22T05:16:31.137Z,1755839791.137 [DAT](INFO): got valid direction response:
 05:16:29.2038 LVL= 30928, 22449, 18066, 30435, AGC= 66, IDX= 435, 0.28, 1.763,-3.069,-2.042,-3.022, PHS=-1.396,-0.002, 0.936, RAW= 246.4,   4.6, CAL= 243.9,   4.7, ROT= 266.1,  -4.7

2025-08-22T05:16:31.138Z,1755839791.138 [DAT](INFO): DAT read: Bearing 115.7, -78.8 (Local)

2025-08-22T05:16:31.138Z,1755839791.138 [DAT](INFO): Local bearing/azimuth received:
 Bearing 115.7, -78.8 (Local)

2025-08-22T05:16:31.139Z,1755839791.139 [DAT](INFO): DAT read: Range 11 to 50 : 306.3 m  (Round-trip  408.5 ms) speed -0.2 m/s

2025-08-22T05:16:31.140Z,1755839791.140 [DAT](INFO): DAT read: user:7369>

2025-08-22T05:16:31.141Z,1755839791.141 [DAT](INFO): DAT read: Tx time:05:16:30.2911

2025-08-22T05:16:31.141Z,1755839791.141 [DAT](INFO): Ping request sent.
2025-08-22T05:16:31.141Z,1755839791.141 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:31.141Z,1755839791.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:31.142Z,1755839791.142 [DAT](INFO): direction in FSK: [-0.067786,-0.994329,0.081939]
2025-08-22T05:16:31.143Z,1755839791.143 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:31.148Z,1755839791.148 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:31.154Z,1755839791.154 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:31.154Z,1755839791.154 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:31.278Z,1755839791.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.299988 m,
      deltaT: 4.032073 s,
      deltaX: 0.399994 m,
      approachRate: 0.099203 m/s,
      rangeRepo size: 4

2025-08-22T05:16:31.285Z,1755839791.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.551300 m,
      bearing: 106.982927 deg,
      lat: 36.779053 deg,
      lon: -121.859675 deg,
      deltaT: 4.032073 s,
      deltaX: 0.401703 m,
      approachRate: 0.099627 m/s,
      posRepo size: 4

2025-08-22T05:16:31.285Z,1755839791.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:31.292Z,1755839791.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.395599 m,
      bearing: 106.981865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.097719 deg/s,
      cmd heading: 104.533416 deg,
      new cmd heading: 104.446467 deg.

2025-08-22T05:16:31.293Z,1755839791.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822935 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:31.695Z,1755839791.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:31.698Z,1755839791.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.411652 m,
      bearing: 106.940341 deg,
      approach rate: 0.038827 m/s,
      LOS rate: -0.100433 deg/s,
      cmd heading: 104.446467 deg,
      new cmd heading: 104.363424 deg.

2025-08-22T05:16:31.703Z,1755839791.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821485 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:32.084Z,1755839792.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:32.087Z,1755839792.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.425812 m,
      bearing: 106.899706 deg,
      approach rate: 0.036031 m/s,
      LOS rate: -0.103391 deg/s,
      cmd heading: 104.363426 deg,
      new cmd heading: 104.282160 deg.

2025-08-22T05:16:32.092Z,1755839792.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820067 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:32.510Z,1755839792.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:32.540Z,1755839792.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.437775 m,
      bearing: 106.860881 deg,
      approach rate: 0.028183 m/s,
      LOS rate: -0.091462 deg/s,
      cmd heading: 104.282160 deg,
      new cmd heading: 104.204514 deg.

2025-08-22T05:16:32.544Z,1755839792.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818712 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:32.913Z,1755839792.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:32.915Z,1755839792.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:32.917Z,1755839792.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.448517 m,
      bearing: 106.815120 deg,
      approach rate: 0.026460 m/s,
      LOS rate: -0.112712 deg/s,
      cmd heading: 104.204515 deg,
      new cmd heading: 104.112996 deg.

2025-08-22T05:16:32.918Z,1755839792.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817115 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:33.145Z,1755839793.145 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:33.145Z,1755839793.145 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:33.145Z,1755839793.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:33.301Z,1755839793.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:33.304Z,1755839793.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.456024 m,
      bearing: 106.775161 deg,
      approach rate: 0.019430 m/s,
      LOS rate: -0.103417 deg/s,
      cmd heading: 104.112997 deg,
      new cmd heading: 104.033081 deg.

2025-08-22T05:16:33.305Z,1755839793.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815720 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:33.397Z,1755839793.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256221
2025-08-22T05:16:33.648Z,1755839793.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507084
2025-08-22T05:16:33.735Z,1755839793.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:33.738Z,1755839793.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.465149 m,
      bearing: 106.729665 deg,
      approach rate: 0.021040 m/s,
      LOS rate: -0.104905 deg/s,
      cmd heading: 104.033084 deg,
      new cmd heading: 103.942094 deg.

2025-08-22T05:16:33.739Z,1755839793.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814132 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:33.900Z,1755839793.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759080
2025-08-22T05:16:34.112Z,1755839794.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:34.115Z,1755839794.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.468994 m,
      bearing: 106.690000 deg,
      approach rate: 0.010189 m/s,
      LOS rate: -0.105101 deg/s,
      cmd heading: 103.942092 deg,
      new cmd heading: 103.862763 deg.

2025-08-22T05:16:34.116Z,1755839794.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812747 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:34.153Z,1755839794.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011780
2025-08-22T05:16:34.404Z,1755839794.404 [DAT](INFO): DAT read: Rx Time:05:16:33.1042

2025-08-22T05:16:34.405Z,1755839794.405 [DAT](INFO): Rx dataTimestamp_ set to:1755839794.404477
2025-08-22T05:16:34.405Z,1755839794.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264115
2025-08-22T05:16:34.583Z,1755839794.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.55 m.
2025-08-22T05:16:34.590Z,1755839794.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.551300 m,
      nav range: 304.471130 m,
      bearing: 106.641365 deg,
      approach rate: 0.004539 m/s,
      LOS rate: -0.103336 deg/s,
      cmd heading: 103.862766 deg,
      new cmd heading: 103.765497 deg.

2025-08-22T05:16:34.591Z,1755839794.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811050 target range: 304.551300 and range: 306.30 m.
2025-08-22T05:16:34.656Z,1755839794.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515230
2025-08-22T05:16:34.921Z,1755839794.921 [DAT](INFO): DAT read: 05:16:33.1042 LVL= 32736, 26993, 19106, 32755, AGC= 67, IDX= 425, 0.10, 0.115, 1.588, 2.695, 1.636, PHS=-1.418,-0.002, 1.015, RAW= 245.4,   3.9, CAL= 242.7,   4.0, ROT= 267.3,  -4.0

2025-08-22T05:16:34.922Z,1755839794.922 [DAT](INFO): got valid direction response:
 05:16:33.1042 LVL= 32736, 26993, 19106, 32755, AGC= 67, IDX= 425, 0.10, 0.115, 1.588, 2.695, 1.636, PHS=-1.418,-0.002, 1.015, RAW= 245.4,   3.9, CAL= 242.7,   4.0, ROT= 267.3,  -4.0

2025-08-22T05:16:34.923Z,1755839794.923 [DAT](INFO): DAT read: Bearing 110.9, -82.4 (Local)

2025-08-22T05:16:34.923Z,1755839794.923 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.9, -82.4 (Local)

2025-08-22T05:16:34.925Z,1755839794.925 [DAT](INFO): DAT read: Range 11 to 50 : 306.7 m  (Round-trip  409.0 ms) speed -0.1 m/s

2025-08-22T05:16:34.925Z,1755839794.925 [DAT](INFO): DAT read: user:7370>

2025-08-22T05:16:34.926Z,1755839794.926 [DAT](INFO): DAT read: Tx time:05:16:34.1911

2025-08-22T05:16:34.926Z,1755839794.926 [DAT](INFO): Ping request sent.
2025-08-22T05:16:34.926Z,1755839794.926 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:34.927Z,1755839794.927 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:34.936Z,1755839794.936 [DAT](INFO): direction in FSK: [-0.046992,-0.996457,0.069756]
2025-08-22T05:16:34.936Z,1755839794.936 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:34.936Z,1755839794.936 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:34.944Z,1755839794.944 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:34.944Z,1755839794.944 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:35.010Z,1755839795.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.700012 m,
      deltaT: 3.779950 s,
      deltaX: 0.400024 m,
      approachRate: 0.105828 m/s,
      rangeRepo size: 4

2025-08-22T05:16:35.021Z,1755839795.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.947266 m,
      bearing: 103.454041 deg,
      lat: 36.779114 deg,
      lon: -121.859657 deg,
      deltaT: 3.779950 s,
      deltaX: 0.395966 m,
      approachRate: 0.104754 m/s,
      posRepo size: 4

2025-08-22T05:16:35.022Z,1755839795.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:35.033Z,1755839795.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.103271 m,
      bearing: 105.297111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.103336 deg/s,
      cmd heading: 103.765497 deg,
      new cmd heading: 103.677290 deg.

2025-08-22T05:16:35.034Z,1755839795.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.809510 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:35.390Z,1755839795.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:35.408Z,1755839795.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:35.412Z,1755839795.412 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:35.412Z,1755839795.412 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:35.412Z,1755839795.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:35.415Z,1755839795.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.103851 m,
      bearing: 105.250562 deg,
      approach rate: 0.001454 m/s,
      LOS rate: -0.116703 deg/s,
      cmd heading: 103.677292 deg,
      new cmd heading: 103.584195 deg.

2025-08-22T05:16:35.416Z,1755839795.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807885 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:35.665Z,1755839795.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.738864
2025-08-22T05:16:35.857Z,1755839795.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:35.860Z,1755839795.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.106873 m,
      bearing: 105.201364 deg,
      approach rate: 0.006729 m/s,
      LOS rate: -0.109581 deg/s,
      cmd heading: 103.584197 deg,
      new cmd heading: 103.485801 deg.

2025-08-22T05:16:35.861Z,1755839795.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806168 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:35.917Z,1755839795.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990244
2025-08-22T05:16:36.169Z,1755839796.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242369
2025-08-22T05:16:36.224Z,1755839796.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:36.227Z,1755839796.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.104675 m,
      bearing: 105.158687 deg,
      approach rate: -0.005993 m/s,
      LOS rate: -0.116400 deg/s,
      cmd heading: 103.485801 deg,
      new cmd heading: 103.400448 deg.

2025-08-22T05:16:36.228Z,1755839796.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804678 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:36.420Z,1755839796.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493869
2025-08-22T05:16:36.674Z,1755839796.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748101
2025-08-22T05:16:36.686Z,1755839796.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:36.693Z,1755839796.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.099915 m,
      bearing: 105.107859 deg,
      approach rate: -0.010296 m/s,
      LOS rate: -0.109924 deg/s,
      cmd heading: 103.400451 deg,
      new cmd heading: 103.298793 deg.

2025-08-22T05:16:36.694Z,1755839796.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802904 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:36.924Z,1755839796.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997858
2025-08-22T05:16:37.086Z,1755839797.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:37.090Z,1755839797.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.092529 m,
      bearing: 105.060662 deg,
      approach rate: -0.018472 m/s,
      LOS rate: -0.118055 deg/s,
      cmd heading: 103.298791 deg,
      new cmd heading: 103.204395 deg.

2025-08-22T05:16:37.091Z,1755839797.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801257 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:37.177Z,1755839797.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250877
2025-08-22T05:16:37.428Z,1755839797.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501983
2025-08-22T05:16:37.506Z,1755839797.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:37.509Z,1755839797.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:37.511Z,1755839797.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.079010 m,
      bearing: 105.012846 deg,
      approach rate: -0.032014 m/s,
      LOS rate: -0.113234 deg/s,
      cmd heading: 103.204397 deg,
      new cmd heading: 103.108761 deg.

2025-08-22T05:16:37.513Z,1755839797.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799587 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:37.682Z,1755839797.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754857
2025-08-22T05:16:37.932Z,1755839797.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005956
2025-08-22T05:16:38.021Z,1755839798.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:38.025Z,1755839798.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.053070 m,
      bearing: 104.953579 deg,
      approach rate: -0.050578 m/s,
      LOS rate: -0.115569 deg/s,
      cmd heading: 103.108761 deg,
      new cmd heading: 102.990217 deg.

2025-08-22T05:16:38.026Z,1755839798.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797518 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:38.184Z,1755839798.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257975
2025-08-22T05:16:38.361Z,1755839798.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:38.364Z,1755839798.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.033539 m,
      bearing: 104.914469 deg,
      approach rate: -0.057449 m/s,
      LOS rate: -0.115046 deg/s,
      cmd heading: 102.990216 deg,
      new cmd heading: 102.911991 deg.

2025-08-22T05:16:38.365Z,1755839798.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796153 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:38.436Z,1755839798.436 [DAT](INFO): DAT read: Rx Time:05:16:37.0044

2025-08-22T05:16:38.437Z,1755839798.437 [DAT](INFO): Rx dataTimestamp_ set to:1755839798.436617
2025-08-22T05:16:38.437Z,1755839798.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511117
2025-08-22T05:16:38.688Z,1755839798.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761870
2025-08-22T05:16:38.877Z,1755839798.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.95 m.
2025-08-22T05:16:38.879Z,1755839798.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.947266 m,
      nav range: 304.001221 m,
      bearing: 104.853584 deg,
      approach rate: -0.062739 m/s,
      LOS rate: -0.118207 deg/s,
      cmd heading: 102.911990 deg,
      new cmd heading: 102.790208 deg.

2025-08-22T05:16:38.880Z,1755839798.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794028 target range: 304.947266 and range: 306.70 m.
2025-08-22T05:16:38.949Z,1755839798.949 [DAT](INFO): DAT read: 05:16:37.0044 LVL= 25424, 23473, 17330, 27443, AGC= 66, IDX= 428, 0.12, 0.364, 1.569, 2.852, 1.735, PHS=-1.269,-0.121, 1.073, RAW= 239.3,   3.2, CAL= 236.8,   3.8, ROT= 273.2,  -3.8

2025-08-22T05:16:38.950Z,1755839798.950 [DAT](INFO): got valid direction response:
 05:16:37.0044 LVL= 25424, 23473, 17330, 27443, AGC= 66, IDX= 428, 0.12, 0.364, 1.569, 2.852, 1.735, PHS=-1.269,-0.121, 1.073, RAW= 239.3,   3.2, CAL= 236.8,   3.8, ROT= 273.2,  -3.8

2025-08-22T05:16:38.952Z,1755839798.952 [DAT](INFO): DAT read: Bearing  35.0, -85.9 (Local)

2025-08-22T05:16:38.952Z,1755839798.952 [DAT](INFO): Local bearing/azimuth received:
 Bearing  35.0, -85.9 (Local)

2025-08-22T05:16:38.955Z,1755839798.955 [DAT](INFO): DAT read: Range 11 to 50 : 306.9 m  (Round-trip  409.3 ms) speed  0.0 m/s

2025-08-22T05:16:38.957Z,1755839798.957 [DAT](INFO): DAT read: user:7371>

2025-08-22T05:16:38.958Z,1755839798.958 [DAT](INFO): DAT read: Tx time:05:16:38.0910

2025-08-22T05:16:38.961Z,1755839798.961 [DAT](INFO): Ping request sent.
2025-08-22T05:16:38.961Z,1755839798.961 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:38.962Z,1755839798.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:38.966Z,1755839798.966 [DAT](INFO): direction in FSK: [0.055699,-0.996246,0.066274]
2025-08-22T05:16:38.966Z,1755839798.966 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:38.969Z,1755839798.969 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:38.989Z,1755839798.989 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:38.989Z,1755839798.989 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:39.228Z,1755839799.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.899994 m,
      deltaT: 4.032035 s,
      deltaX: 0.199982 m,
      approachRate: 0.049598 m/s,
      rangeRepo size: 4

2025-08-22T05:16:39.230Z,1755839799.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.146118 m,
      bearing: 101.712469 deg,
      lat: 36.779143 deg,
      lon: -121.859644 deg,
      deltaT: 4.032035 s,
      deltaX: 0.198853 m,
      approachRate: 0.049318 m/s,
      posRepo size: 4

2025-08-22T05:16:39.231Z,1755839799.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:39.237Z,1755839799.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.293335 m,
      bearing: 104.161623 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.118207 deg/s,
      cmd heading: 102.790208 deg,
      new cmd heading: 102.708282 deg.

2025-08-22T05:16:39.238Z,1755839799.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792598 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:39.637Z,1755839799.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:39.643Z,1755839799.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:39.646Z,1755839799.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.265991 m,
      bearing: 104.116146 deg,
      approach rate: -0.065718 m/s,
      LOS rate: -0.109309 deg/s,
      cmd heading: 102.708280 deg,
      new cmd heading: 102.617319 deg.

2025-08-22T05:16:39.647Z,1755839799.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791010 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:39.697Z,1755839799.697 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:39.697Z,1755839799.697 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:39.698Z,1755839799.698 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:39.948Z,1755839799.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989178
2025-08-22T05:16:40.026Z,1755839800.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:40.041Z,1755839800.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.230133 m,
      bearing: 104.063966 deg,
      approach rate: -0.092787 m/s,
      LOS rate: -0.135038 deg/s,
      cmd heading: 102.617322 deg,
      new cmd heading: 102.512949 deg.

2025-08-22T05:16:40.042Z,1755839800.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789189 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:40.200Z,1755839800.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241108
2025-08-22T05:16:40.392Z,1755839800.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:40.395Z,1755839800.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.197327 m,
      bearing: 104.020626 deg,
      approach rate: -0.089469 m/s,
      LOS rate: -0.118209 deg/s,
      cmd heading: 102.512950 deg,
      new cmd heading: 102.426261 deg.

2025-08-22T05:16:40.401Z,1755839800.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787675 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:40.454Z,1755839800.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494860
2025-08-22T05:16:40.704Z,1755839800.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745175
2025-08-22T05:16:40.836Z,1755839800.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:40.838Z,1755839800.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.164124 m,
      bearing: 103.968281 deg,
      approach rate: -0.074863 m/s,
      LOS rate: -0.118034 deg/s,
      cmd heading: 102.426261 deg,
      new cmd heading: 102.321560 deg.

2025-08-22T05:16:40.844Z,1755839800.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785848 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:40.958Z,1755839800.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998793
2025-08-22T05:16:41.208Z,1755839801.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249262
2025-08-22T05:16:41.212Z,1755839801.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:41.215Z,1755839801.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.129791 m,
      bearing: 103.919993 deg,
      approach rate: -0.091228 m/s,
      LOS rate: -0.128325 deg/s,
      cmd heading: 102.321561 deg,
      new cmd heading: 102.224975 deg.

2025-08-22T05:16:41.216Z,1755839801.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784162 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:41.462Z,1755839801.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502927
2025-08-22T05:16:41.682Z,1755839801.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:41.692Z,1755839801.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:41.694Z,1755839801.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.084259 m,
      bearing: 103.862228 deg,
      approach rate: -0.095501 m/s,
      LOS rate: -0.121176 deg/s,
      cmd heading: 102.224976 deg,
      new cmd heading: 102.109429 deg.

2025-08-22T05:16:41.696Z,1755839801.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782146 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:41.712Z,1755839801.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753244
2025-08-22T05:16:41.965Z,1755839801.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006310
2025-08-22T05:16:42.060Z,1755839802.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:42.062Z,1755839802.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 304.043213 m,
      bearing: 103.815096 deg,
      approach rate: -0.110797 m/s,
      LOS rate: -0.127242 deg/s,
      cmd heading: 102.109429 deg,
      new cmd heading: 102.015153 deg.

2025-08-22T05:16:42.063Z,1755839802.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780500 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:42.216Z,1755839802.216 [DAT](INFO): DAT read: Rx Time:05:16:40.9044

2025-08-22T05:16:42.217Z,1755839802.217 [DAT](INFO): Rx dataTimestamp_ set to:1755839802.216388
2025-08-22T05:16:42.217Z,1755839802.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258123
2025-08-22T05:16:42.449Z,1755839802.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.15 m.
2025-08-22T05:16:42.455Z,1755839802.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.146118 m,
      nav range: 303.997955 m,
      bearing: 103.767626 deg,
      approach rate: -0.116223 m/s,
      LOS rate: -0.121923 deg/s,
      cmd heading: 102.015152 deg,
      new cmd heading: 101.920198 deg.

2025-08-22T05:16:42.457Z,1755839802.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778843 target range: 305.146118 and range: 306.90 m.
2025-08-22T05:16:42.469Z,1755839802.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509094
2025-08-22T05:16:42.726Z,1755839802.726 [DAT](INFO): DAT read: 05:16:40.9044 LVL= 26576, 27121, 16882, 27955, AGC= 63, IDX= 444, 0.31,-1.555,-0.740, 0.915,-0.298, PHS=-1.155,-0.397, 1.169, RAW= 228.7,   3.8, CAL= 227.1,   4.6, ROT= 282.9,  -4.6

2025-08-22T05:16:42.727Z,1755839802.727 [DAT](INFO): got valid direction response:
 05:16:40.9044 LVL= 26576, 27121, 16882, 27955, AGC= 63, IDX= 444, 0.31,-1.555,-0.740, 0.915,-0.298, PHS=-1.155,-0.397, 1.169, RAW= 228.7,   3.8, CAL= 227.1,   4.6, ROT= 282.9,  -4.6

2025-08-22T05:16:42.728Z,1755839802.728 [DAT](INFO): DAT read: Bearing 347.0, -76.8 (Local)

2025-08-22T05:16:42.728Z,1755839802.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.0, -76.8 (Local)

2025-08-22T05:16:42.730Z,1755839802.730 [DAT](INFO): DAT read: Range 11 to 50 : 306.9 m  (Round-trip  409.3 ms) speed -0.2 m/s

2025-08-22T05:16:42.731Z,1755839802.731 [DAT](INFO): DAT read: user:7372>

2025-08-22T05:16:42.731Z,1755839802.731 [DAT](INFO): DAT read: Tx time:05:16:41.9910

2025-08-22T05:16:42.732Z,1755839802.732 [DAT](INFO): Ping request sent.
2025-08-22T05:16:42.732Z,1755839802.732 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:42.732Z,1755839802.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:42.733Z,1755839802.733 [DAT](INFO): direction in FSK: [0.222531,-0.971621,0.080199]
2025-08-22T05:16:42.733Z,1755839802.733 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:42.734Z,1755839802.734 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:42.774Z,1755839802.774 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:42.774Z,1755839802.774 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:42.925Z,1755839802.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.899994 m,
      deltaT: 3.779907 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:16:42.932Z,1755839802.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.166107 m,
      bearing: 104.647482 deg,
      lat: 36.779114 deg,
      lon: -121.859656 deg,
      deltaT: 3.779907 s,
      deltaX: 0.019989 m,
      approachRate: 0.005288 m/s,
      posRepo size: 4

2025-08-22T05:16:42.932Z,1755839802.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:42.939Z,1755839802.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.741516 m,
      bearing: 104.357313 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.121923 deg/s,
      cmd heading: 101.920199 deg,
      new cmd heading: 101.804109 deg.

2025-08-22T05:16:42.940Z,1755839802.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776817 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:43.258Z,1755839803.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:43.261Z,1755839803.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.706940 m,
      bearing: 104.313161 deg,
      approach rate: -0.103701 m/s,
      LOS rate: -0.132435 deg/s,
      cmd heading: 101.804106 deg,
      new cmd heading: 101.715792 deg.

2025-08-22T05:16:43.262Z,1755839803.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775275 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:43.729Z,1755839803.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:43.732Z,1755839803.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:43.734Z,1755839803.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.659454 m,
      bearing: 104.253232 deg,
      approach rate: -0.100349 m/s,
      LOS rate: -0.126665 deg/s,
      cmd heading: 101.715792 deg,
      new cmd heading: 101.595916 deg.

2025-08-22T05:16:43.735Z,1755839803.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773183 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:43.981Z,1755839803.981 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:43.981Z,1755839803.981 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:43.981Z,1755839803.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:44.100Z,1755839804.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:44.103Z,1755839804.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.618103 m,
      bearing: 104.206381 deg,
      approach rate: -0.112179 m/s,
      LOS rate: -0.127117 deg/s,
      cmd heading: 101.595915 deg,
      new cmd heading: 101.502200 deg.

2025-08-22T05:16:44.104Z,1755839804.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771548 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:44.232Z,1755839804.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500562
2025-08-22T05:16:44.484Z,1755839804.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752376
2025-08-22T05:16:44.503Z,1755839804.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:44.529Z,1755839804.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.568420 m,
      bearing: 104.155532 deg,
      approach rate: -0.123320 m/s,
      LOS rate: -0.126235 deg/s,
      cmd heading: 101.502198 deg,
      new cmd heading: 101.400484 deg.

2025-08-22T05:16:44.530Z,1755839804.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769772 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:44.737Z,1755839804.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004793
2025-08-22T05:16:44.945Z,1755839804.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:44.950Z,1755839804.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.521912 m,
      bearing: 104.100505 deg,
      approach rate: -0.105400 m/s,
      LOS rate: -0.124723 deg/s,
      cmd heading: 101.400483 deg,
      new cmd heading: 101.290412 deg.

2025-08-22T05:16:44.952Z,1755839804.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767851 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:44.988Z,1755839804.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256375
2025-08-22T05:16:45.240Z,1755839805.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508439
2025-08-22T05:16:45.328Z,1755839805.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:45.331Z,1755839805.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.471588 m,
      bearing: 104.051846 deg,
      approach rate: -0.130950 m/s,
      LOS rate: -0.126640 deg/s,
      cmd heading: 101.290414 deg,
      new cmd heading: 101.193080 deg.

2025-08-22T05:16:45.332Z,1755839805.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.766152 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:45.492Z,1755839805.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760414
2025-08-22T05:16:45.744Z,1755839805.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012523
2025-08-22T05:16:45.762Z,1755839805.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:45.765Z,1755839805.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:45.788Z,1755839805.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.411469 m,
      bearing: 103.997149 deg,
      approach rate: -0.137838 m/s,
      LOS rate: -0.125431 deg/s,
      cmd heading: 101.193077 deg,
      new cmd heading: 101.083661 deg.

2025-08-22T05:16:45.789Z,1755839805.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764243 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:45.996Z,1755839805.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264325
2025-08-22T05:16:46.164Z,1755839806.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:46.173Z,1755839806.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.355743 m,
      bearing: 103.950399 deg,
      approach rate: -0.139605 m/s,
      LOS rate: -0.117142 deg/s,
      cmd heading: 101.083658 deg,
      new cmd heading: 100.990141 deg.

2025-08-22T05:16:46.174Z,1755839806.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762610 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:46.249Z,1755839806.249 [DAT](INFO): DAT read: Rx Time:05:16:44.8043

2025-08-22T05:16:46.249Z,1755839806.249 [DAT](INFO): Rx dataTimestamp_ set to:1755839806.248827
2025-08-22T05:16:46.250Z,1755839806.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517863
2025-08-22T05:16:46.500Z,1755839806.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768646
2025-08-22T05:16:46.597Z,1755839806.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:46.615Z,1755839806.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.166107 m,
      nav range: 303.287415 m,
      bearing: 103.892812 deg,
      approach rate: -0.157819 m/s,
      LOS rate: -0.133037 deg/s,
      cmd heading: 100.990139 deg,
      new cmd heading: 100.874940 deg.

2025-08-22T05:16:46.632Z,1755839806.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760600 target range: 305.166107 and range: 306.90 m.
2025-08-22T05:16:46.758Z,1755839806.758 [DAT](INFO): DAT read: 05:16:44.8043 LVL= 32752, 32753, 21906, 32755, AGC= 67, IDX= 427, 0.09, 1.202, 1.523,-2.718, 2.268, PHS=-0.963,-0.699, 1.254, RAW= 216.3,   3.9, CAL= 215.5,   4.0, ROT= 294.5,  -4.0

2025-08-22T05:16:46.760Z,1755839806.760 [DAT](INFO): got valid direction response:
 05:16:44.8043 LVL= 32752, 32753, 21906, 32755, AGC= 67, IDX= 427, 0.09, 1.202, 1.523,-2.718, 2.268, PHS=-0.963,-0.699, 1.254, RAW= 216.3,   3.9, CAL= 215.5,   4.0, ROT= 294.5,  -4.0

2025-08-22T05:16:46.762Z,1755839806.762 [DAT](INFO): DAT read: Bearing 322.0, -65.3 (Local)

2025-08-22T05:16:46.762Z,1755839806.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.0, -65.3 (Local)

2025-08-22T05:16:46.764Z,1755839806.764 [DAT](INFO): DAT read: Range 11 to 50 : 306.9 m  (Round-trip  409.2 ms) speed  0.1 m/s

2025-08-22T05:16:46.765Z,1755839806.765 [DAT](INFO): DAT read: user:7373>

2025-08-22T05:16:46.766Z,1755839806.766 [DAT](INFO): DAT read: Tx time:05:16:45.8910

2025-08-22T05:16:46.768Z,1755839806.768 [DAT](INFO): Ping request sent.
2025-08-22T05:16:46.768Z,1755839806.768 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:46.769Z,1755839806.769 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:46.770Z,1755839806.770 [DAT](INFO): direction in FSK: [0.413683,-0.907745,0.069756]
2025-08-22T05:16:46.771Z,1755839806.771 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:46.771Z,1755839806.771 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:46.778Z,1755839806.778 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:46.778Z,1755839806.778 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:47.043Z,1755839807.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.899994 m,
      deltaT: 4.032054 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:16:47.049Z,1755839807.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 305.174042 m,
      bearing: 107.177314 deg,
      lat: 36.779099 deg,
      lon: -121.859656 deg,
      deltaT: 4.032054 s,
      deltaX: 0.007935 m,
      approachRate: 0.001968 m/s,
      posRepo size: 4

2025-08-22T05:16:47.050Z,1755839807.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:47.057Z,1755839807.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.602722 m,
      bearing: 104.128192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.133037 deg/s,
      cmd heading: 100.874941 deg,
      new cmd heading: 100.756509 deg.

2025-08-22T05:16:47.058Z,1755839807.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758533 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:47.374Z,1755839807.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:47.377Z,1755839807.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.534607 m,
      bearing: 104.084346 deg,
      approach rate: -0.205126 m/s,
      LOS rate: -0.132068 deg/s,
      cmd heading: 100.756512 deg,
      new cmd heading: 100.668801 deg.

2025-08-22T05:16:47.378Z,1755839807.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757002 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:47.815Z,1755839807.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:47.821Z,1755839807.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:47.840Z,1755839807.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.436035 m,
      bearing: 104.028338 deg,
      approach rate: -0.220260 m/s,
      LOS rate: -0.125192 deg/s,
      cmd heading: 100.668799 deg,
      new cmd heading: 100.556746 deg.

2025-08-22T05:16:47.845Z,1755839807.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755046 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:48.012Z,1755839808.012 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:48.012Z,1755839808.012 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:48.012Z,1755839808.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:48.213Z,1755839808.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:48.216Z,1755839808.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.347534 m,
      bearing: 103.980725 deg,
      approach rate: -0.225974 m/s,
      LOS rate: -0.121609 deg/s,
      cmd heading: 100.556743 deg,
      new cmd heading: 100.461489 deg.

2025-08-22T05:16:48.217Z,1755839808.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753384 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:48.267Z,1755839808.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499519
2025-08-22T05:16:48.520Z,1755839808.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753122
2025-08-22T05:16:48.591Z,1755839808.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:48.593Z,1755839808.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.250610 m,
      bearing: 103.931235 deg,
      approach rate: -0.256736 m/s,
      LOS rate: -0.131134 deg/s,
      cmd heading: 100.461489 deg,
      new cmd heading: 100.362477 deg.

2025-08-22T05:16:48.594Z,1755839808.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751656 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:48.775Z,1755839808.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007523
2025-08-22T05:16:48.880Z,1755839808.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:16:49.024Z,1755839809.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257266
2025-08-22T05:16:49.025Z,1755839809.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:49.028Z,1755839809.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.138428 m,
      bearing: 103.878261 deg,
      approach rate: -0.259366 m/s,
      LOS rate: -0.122521 deg/s,
      cmd heading: 100.362479 deg,
      new cmd heading: 100.256492 deg.

2025-08-22T05:16:49.029Z,1755839809.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749806 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:49.276Z,1755839809.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509352
2025-08-22T05:16:49.412Z,1755839809.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:49.414Z,1755839809.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 303.037811 m,
      bearing: 103.830607 deg,
      approach rate: -0.259442 m/s,
      LOS rate: -0.122916 deg/s,
      cmd heading: 100.256495 deg,
      new cmd heading: 100.161156 deg.

2025-08-22T05:16:49.416Z,1755839809.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748142 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:49.529Z,1755839809.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761991
2025-08-22T05:16:49.780Z,1755839809.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013133
2025-08-22T05:16:49.852Z,1755839809.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:49.854Z,1755839809.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:49.857Z,1755839809.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 302.907196 m,
      bearing: 103.778063 deg,
      approach rate: -0.294970 m/s,
      LOS rate: -0.118713 deg/s,
      cmd heading: 100.161159 deg,
      new cmd heading: 100.056025 deg.

2025-08-22T05:16:49.858Z,1755839809.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746307 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:49.884Z,1755839809.884 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:16:50.032Z,1755839810.032 [DAT](INFO): DAT read: Rx Time:05:16:48.7037

2025-08-22T05:16:50.033Z,1755839810.033 [DAT](INFO): Rx dataTimestamp_ set to:1755839810.032557
2025-08-22T05:16:50.033Z,1755839810.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266268
2025-08-22T05:16:50.234Z,1755839810.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 305.17 m.
2025-08-22T05:16:50.237Z,1755839810.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 305.174042 m,
      nav range: 302.794922 m,
      bearing: 103.732778 deg,
      approach rate: -0.295219 m/s,
      LOS rate: -0.119119 deg/s,
      cmd heading: 100.056022 deg,
      new cmd heading: 99.965418 deg.

2025-08-22T05:16:50.238Z,1755839810.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.744726 target range: 305.174042 and range: 306.90 m.
2025-08-22T05:16:50.289Z,1755839810.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521191
2025-08-22T05:16:50.542Z,1755839810.542 [DAT](INFO): DAT read: 05:16:48.7037 LVL= 27600, 29537, 21106, 31683, AGC= 68, IDX= 436, 0.30,-2.746,-2.834,-0.528,-1.872, PHS=-0.772,-0.917, 1.299, RAW= 206.6,   3.7, CAL= 206.4,   2.6, ROT= 303.6,  -2.6

2025-08-22T05:16:50.543Z,1755839810.543 [DAT](INFO): got valid direction response:
 05:16:48.7037 LVL= 27600, 29537, 21106, 31683, AGC= 68, IDX= 436, 0.30,-2.746,-2.834,-0.528,-1.872, PHS=-0.772,-0.917, 1.299, RAW= 206.6,   3.7, CAL= 206.4,   2.6, ROT= 303.6,  -2.6

2025-08-22T05:16:50.544Z,1755839810.544 [DAT](INFO): DAT read: Bearing 307.5, -55.3 (Local)

2025-08-22T05:16:50.544Z,1755839810.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.5, -55.3 (Local)

2025-08-22T05:16:50.546Z,1755839810.546 [DAT](INFO): DAT read: Range 11 to 50 : 306.3 m  (Round-trip  408.5 ms) speed  0.0 m/s

2025-08-22T05:16:50.547Z,1755839810.547 [DAT](INFO): DAT read: user:7374>

2025-08-22T05:16:50.548Z,1755839810.548 [DAT](INFO): DAT read: Tx time:05:16:49.7910

2025-08-22T05:16:50.548Z,1755839810.548 [DAT](INFO): Ping request sent.
2025-08-22T05:16:50.548Z,1755839810.548 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:50.548Z,1755839810.548 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:50.549Z,1755839810.549 [DAT](INFO): direction in FSK: [0.552822,-0.832064,0.045363]
2025-08-22T05:16:50.550Z,1755839810.550 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:50.550Z,1755839810.550 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:50.553Z,1755839810.553 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:50.553Z,1755839810.553 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:50.659Z,1755839810.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 306.299988 m,
      deltaT: 3.783941 s,
      deltaX: -0.600006 m,
      approachRate: -0.158566 m/s,
      rangeRepo size: 4

2025-08-22T05:16:50.665Z,1755839810.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 304.581848 m,
      bearing: 105.247803 deg,
      lat: 36.779099 deg,
      lon: -121.859656 deg,
      deltaT: 3.783941 s,
      deltaX: -0.592194 m,
      approachRate: -0.156502 m/s,
      posRepo size: 4

2025-08-22T05:16:50.666Z,1755839810.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:50.673Z,1755839810.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 302.667847 m,
      bearing: 103.685655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119119 deg/s,
      cmd heading: 99.965419 deg,
      new cmd heading: 99.864369 deg.

2025-08-22T05:16:50.674Z,1755839810.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742962 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:51.066Z,1755839811.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:51.073Z,1755839811.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 302.529541 m,
      bearing: 103.636403 deg,
      approach rate: -0.339237 m/s,
      LOS rate: -0.120860 deg/s,
      cmd heading: 99.864367 deg,
      new cmd heading: 99.765819 deg.

2025-08-22T05:16:51.074Z,1755839811.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741242 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:51.478Z,1755839811.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:51.481Z,1755839811.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 302.393219 m,
      bearing: 103.589789 deg,
      approach rate: -0.330574 m/s,
      LOS rate: -0.113087 deg/s,
      cmd heading: 99.765821 deg,
      new cmd heading: 99.672551 deg.

2025-08-22T05:16:51.482Z,1755839811.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739614 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:51.865Z,1755839811.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:51.867Z,1755839811.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:51.870Z,1755839811.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 302.254700 m,
      bearing: 103.544253 deg,
      approach rate: -0.356557 m/s,
      LOS rate: -0.117269 deg/s,
      cmd heading: 99.672554 deg,
      new cmd heading: 99.581439 deg.

2025-08-22T05:16:51.871Z,1755839811.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738024 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:52.048Z,1755839812.048 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:52.048Z,1755839812.048 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:52.048Z,1755839812.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:52.268Z,1755839812.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:52.271Z,1755839812.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 302.111267 m,
      bearing: 103.498912 deg,
      approach rate: -0.357402 m/s,
      LOS rate: -0.113033 deg/s,
      cmd heading: 99.581440 deg,
      new cmd heading: 99.490715 deg.

2025-08-22T05:16:52.272Z,1755839812.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736441 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:52.300Z,1755839812.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752120
2025-08-22T05:16:52.552Z,1755839812.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004225
2025-08-22T05:16:52.695Z,1755839812.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:52.698Z,1755839812.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 301.964844 m,
      bearing: 103.452514 deg,
      approach rate: -0.347050 m/s,
      LOS rate: -0.110025 deg/s,
      cmd heading: 99.490714 deg,
      new cmd heading: 99.397873 deg.

2025-08-22T05:16:52.699Z,1755839812.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734820 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:52.808Z,1755839812.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259255
2025-08-22T05:16:53.057Z,1755839813.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508544
2025-08-22T05:16:53.105Z,1755839813.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:53.108Z,1755839813.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 301.811493 m,
      bearing: 103.406352 deg,
      approach rate: -0.369646 m/s,
      LOS rate: -0.111327 deg/s,
      cmd heading: 99.397872 deg,
      new cmd heading: 99.305502 deg.

2025-08-22T05:16:53.109Z,1755839813.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733208 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:53.309Z,1755839813.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760836
2025-08-22T05:16:53.489Z,1755839813.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:53.495Z,1755839813.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 301.670441 m,
      bearing: 103.365422 deg,
      approach rate: -0.369303 m/s,
      LOS rate: -0.107214 deg/s,
      cmd heading: 99.305500 deg,
      new cmd heading: 99.223601 deg.

2025-08-22T05:16:53.496Z,1755839813.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731779 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:53.560Z,1755839813.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012299
2025-08-22T05:16:53.815Z,1755839813.815 [DAT](INFO): DAT read: Rx Time:05:16:52.6025

2025-08-22T05:16:53.816Z,1755839813.816 [DAT](INFO): Rx dataTimestamp_ set to:1755839813.815510
2025-08-22T05:16:53.818Z,1755839813.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269670
2025-08-22T05:16:53.922Z,1755839813.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:53.927Z,1755839813.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:53.932Z,1755839813.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 301.514740 m,
      bearing: 103.320131 deg,
      approach rate: -0.353898 m/s,
      LOS rate: -0.102995 deg/s,
      cmd heading: 99.223599 deg,
      new cmd heading: 99.132972 deg.

2025-08-22T05:16:53.934Z,1755839813.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730197 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:54.064Z,1755839814.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516238
2025-08-22T05:16:54.295Z,1755839814.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 304.58 m.
2025-08-22T05:16:54.297Z,1755839814.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 304.581848 m,
      nav range: 301.379150 m,
      bearing: 103.282098 deg,
      approach rate: -0.368758 m/s,
      LOS rate: -0.103483 deg/s,
      cmd heading: 99.132969 deg,
      new cmd heading: 99.056870 deg.

2025-08-22T05:16:54.298Z,1755839814.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728868 target range: 304.581848 and range: 306.30 m.
2025-08-22T05:16:54.320Z,1755839814.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770861
2025-08-22T05:16:54.576Z,1755839814.576 [DAT](INFO): DAT read: 05:16:52.6025 LVL= 32048, 31009, 21746, 32755, AGC= 67, IDX= 424, 0.20, 3.095, 2.678,-1.336,-2.488, PHS=-0.597,-1.072, 1.108, RAW= 198.1,   5.7, CAL= 198.3,   5.0, ROT= 311.7,  -5.0

2025-08-22T05:16:54.578Z,1755839814.578 [DAT](INFO): got valid direction response:
 05:16:52.6025 LVL= 32048, 31009, 21746, 32755, AGC= 67, IDX= 424, 0.20, 3.095, 2.678,-1.336,-2.488, PHS=-0.597,-1.072, 1.108, RAW= 198.1,   5.7, CAL= 198.3,   5.0, ROT= 311.7,  -5.0

2025-08-22T05:16:54.579Z,1755839814.579 [DAT](INFO): DAT read: Bearing 299.3, -46.1 (Local)

2025-08-22T05:16:54.579Z,1755839814.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.3, -46.1 (Local)

2025-08-22T05:16:54.581Z,1755839814.581 [DAT](INFO): DAT read: Range 11 to 50 : 305.5 m  (Round-trip  407.4 ms) speed  0.3 m/s

2025-08-22T05:16:54.581Z,1755839814.581 [DAT](INFO): DAT read: user:7375>

2025-08-22T05:16:54.582Z,1755839814.582 [DAT](INFO): DAT read: Tx time:05:16:53.6910

2025-08-22T05:16:54.582Z,1755839814.582 [DAT](INFO): Ping request sent.
2025-08-22T05:16:54.582Z,1755839814.582 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:54.583Z,1755839814.583 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:54.584Z,1755839814.584 [DAT](INFO): direction in FSK: [0.662699,-0.743797,0.087156]
2025-08-22T05:16:54.584Z,1755839814.584 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:54.585Z,1755839814.585 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:54.597Z,1755839814.597 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:54.597Z,1755839814.597 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:54.724Z,1755839814.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 305.500000 m,
      deltaT: 4.032285 s,
      deltaX: -0.799988 m,
      approachRate: -0.198396 m/s,
      rangeRepo size: 4

2025-08-22T05:16:54.726Z,1755839814.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 303.777771 m,
      bearing: 103.034065 deg,
      lat: 36.779099 deg,
      lon: -121.859657 deg,
      deltaT: 4.032285 s,
      deltaX: -0.804077 m,
      approachRate: -0.199410 m/s,
      posRepo size: 4

2025-08-22T05:16:54.727Z,1755839814.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:54.733Z,1755839814.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 301.130432 m,
      bearing: 103.245790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.103483 deg/s,
      cmd heading: 99.056867 deg,
      new cmd heading: 98.969041 deg.

2025-08-22T05:16:54.734Z,1755839814.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727336 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:55.119Z,1755839815.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:55.122Z,1755839815.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.967773 m,
      bearing: 103.201014 deg,
      approach rate: -0.406654 m/s,
      LOS rate: -0.112003 deg/s,
      cmd heading: 98.969038 deg,
      new cmd heading: 98.879438 deg.

2025-08-22T05:16:55.123Z,1755839815.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725772 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:55.503Z,1755839815.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:55.506Z,1755839815.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.819580 m,
      bearing: 103.161686 deg,
      approach rate: -0.385782 m/s,
      LOS rate: -0.102432 deg/s,
      cmd heading: 98.879440 deg,
      new cmd heading: 98.800743 deg.

2025-08-22T05:16:55.507Z,1755839815.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724398 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:55.955Z,1755839815.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:55.961Z,1755839815.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:55.968Z,1755839815.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.647522 m,
      bearing: 103.115602 deg,
      approach rate: -0.375639 m/s,
      LOS rate: -0.100668 deg/s,
      cmd heading: 98.800742 deg,
      new cmd heading: 98.708523 deg.

2025-08-22T05:16:55.969Z,1755839815.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722789 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:56.080Z,1755839816.080 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:16:56.081Z,1755839816.081 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:16:56.081Z,1755839816.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:16:56.313Z,1755839816.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:56.320Z,1755839816.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.515839 m,
      bearing: 103.081568 deg,
      approach rate: -0.373804 m/s,
      LOS rate: -0.096652 deg/s,
      cmd heading: 98.708521 deg,
      new cmd heading: 98.640424 deg.

2025-08-22T05:16:56.321Z,1755839816.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721600 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:56.332Z,1755839816.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749832
2025-08-22T05:16:56.585Z,1755839816.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001987
2025-08-22T05:16:56.708Z,1755839816.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:56.710Z,1755839816.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.352631 m,
      bearing: 103.040899 deg,
      approach rate: -0.413627 m/s,
      LOS rate: -0.103127 deg/s,
      cmd heading: 98.640424 deg,
      new cmd heading: 98.559041 deg.

2025-08-22T05:16:56.732Z,1755839816.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720180 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:56.841Z,1755839816.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258496
2025-08-22T05:16:57.088Z,1755839817.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505677
2025-08-22T05:16:57.138Z,1755839817.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:57.141Z,1755839817.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.183228 m,
      bearing: 102.998032 deg,
      approach rate: -0.394100 m/s,
      LOS rate: -0.099781 deg/s,
      cmd heading: 98.559042 deg,
      new cmd heading: 98.473261 deg.

2025-08-22T05:16:57.142Z,1755839817.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718683 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:57.340Z,1755839817.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757603
2025-08-22T05:16:57.519Z,1755839817.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:57.522Z,1755839817.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 300.029236 m,
      bearing: 102.960440 deg,
      approach rate: -0.404146 m/s,
      LOS rate: -0.098710 deg/s,
      cmd heading: 98.473262 deg,
      new cmd heading: 98.398039 deg.

2025-08-22T05:16:57.523Z,1755839817.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717370 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:57.594Z,1755839817.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011493
2025-08-22T05:16:57.847Z,1755839817.847 [DAT](INFO): DAT read: Rx Time:05:16:56.5008

2025-08-22T05:16:57.849Z,1755839817.849 [DAT](INFO): Rx dataTimestamp_ set to:1755839817.847636
2025-08-22T05:16:57.850Z,1755839817.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267369
2025-08-22T05:16:57.992Z,1755839817.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:16:57.994Z,1755839817.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:58.001Z,1755839818.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 299.842773 m,
      bearing: 102.915851 deg,
      approach rate: -0.392280 m/s,
      LOS rate: -0.093865 deg/s,
      cmd heading: 98.398041 deg,
      new cmd heading: 98.308808 deg.

2025-08-22T05:16:58.002Z,1755839818.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715812 target range: 303.777771 and range: 305.50 m.
2025-08-22T05:16:58.097Z,1755839818.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514331
2025-08-22T05:16:58.354Z,1755839818.354 [DAT](INFO): DAT read: 05:16:56.5008 LVL= 32752, 32753, 21490, 32755, AGC= 67, IDX= 423, 0.41,-1.870,-2.614,-0.165,-1.354, PHS=-0.414,-1.215, 1.145, RAW= 190.5,   4.7, CAL= 190.7,   2.9, ROT= 319.3,  -2.9

2025-08-22T05:16:58.355Z,1755839818.355 [DAT](INFO): got valid direction response:
 05:16:56.5008 LVL= 32752, 32753, 21490, 32755, AGC= 67, IDX= 423, 0.41,-1.870,-2.614,-0.165,-1.354, PHS=-0.414,-1.215, 1.145, RAW= 190.5,   4.7, CAL= 190.7,   2.9, ROT= 319.3,  -2.9

2025-08-22T05:16:58.356Z,1755839818.356 [DAT](INFO): DAT read: Bearing 286.5, -37.7 (Local)

2025-08-22T05:16:58.356Z,1755839818.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.5, -37.7 (Local)

2025-08-22T05:16:58.358Z,1755839818.358 [DAT](INFO): DAT read: Range 11 to 50 : 304.2 m  (Round-trip  405.7 ms) speed  0.3 m/s

2025-08-22T05:16:58.359Z,1755839818.359 [DAT](INFO): DAT read: user:7376>

2025-08-22T05:16:58.360Z,1755839818.360 [DAT](INFO): DAT read: Tx time:05:16:57.5910

2025-08-22T05:16:58.360Z,1755839818.360 [DAT](INFO): Ping request sent.
2025-08-22T05:16:58.360Z,1755839818.360 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:16:58.360Z,1755839818.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:16:58.361Z,1755839818.361 [DAT](INFO): direction in FSK: [0.757163,-0.651264,0.050593]
2025-08-22T05:16:58.361Z,1755839818.361 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:58.362Z,1755839818.362 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:58.365Z,1755839818.365 [DAT](INFO): publishing transmit ping time
2025-08-22T05:16:58.365Z,1755839818.365 [DAT](INFO): publishing direction and range info
2025-08-22T05:16:58.373Z,1755839818.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 304.200012 m,
      deltaT: 3.779703 s,
      deltaX: -1.299988 m,
      approachRate: -0.343939 m/s,
      rangeRepo size: 4

2025-08-22T05:16:58.374Z,1755839818.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:58.381Z,1755839818.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 299.694794 m,
      bearing: 102.881644 deg,
      approach rate: -0.390799 m/s,
      LOS rate: -0.090382 deg/s,
      cmd heading: 98.308805 deg,
      new cmd heading: 98.240356 deg.

2025-08-22T05:16:58.382Z,1755839818.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714618 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:16:58.758Z,1755839818.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:58.761Z,1755839818.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 299.521118 m,
      bearing: 102.842872 deg,
      approach rate: -0.450731 m/s,
      LOS rate: -0.100681 deg/s,
      cmd heading: 98.240359 deg,
      new cmd heading: 98.162770 deg.

2025-08-22T05:16:58.762Z,1755839818.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713264 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:16:59.198Z,1755839819.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:59.201Z,1755839819.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 299.333191 m,
      bearing: 102.801352 deg,
      approach rate: -0.427334 m/s,
      LOS rate: -0.094473 deg/s,
      cmd heading: 98.162768 deg,
      new cmd heading: 98.079676 deg.

2025-08-22T05:16:59.202Z,1755839819.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711813 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:16:59.564Z,1755839819.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:16:59.567Z,1755839819.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 299.175079 m,
      bearing: 102.767556 deg,
      approach rate: -0.431764 m/s,
      LOS rate: -0.092336 deg/s,
      cmd heading: 98.079679 deg,
      new cmd heading: 98.012053 deg.

2025-08-22T05:16:59.568Z,1755839819.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710633 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:16:59.998Z,1755839819.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:00.000Z,1755839820.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:00.003Z,1755839820.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.985107 m,
      bearing: 102.727354 deg,
      approach rate: -0.435601 m/s,
      LOS rate: -0.092242 deg/s,
      cmd heading: 98.012053 deg,
      new cmd heading: 97.931597 deg.

2025-08-22T05:17:00.004Z,1755839820.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709229 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:00.112Z,1755839820.112 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:00.112Z,1755839820.112 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:00.113Z,1755839820.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:00.364Z,1755839820.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004325
2025-08-22T05:17:00.372Z,1755839820.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:00.374Z,1755839820.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.817322 m,
      bearing: 102.694241 deg,
      approach rate: -0.452011 m/s,
      LOS rate: -0.089257 deg/s,
      cmd heading: 97.931601 deg,
      new cmd heading: 97.865337 deg.

2025-08-22T05:17:00.375Z,1755839820.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708072 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:00.616Z,1755839820.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256509
2025-08-22T05:17:00.768Z,1755839820.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:00.770Z,1755839820.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.634064 m,
      bearing: 102.659301 deg,
      approach rate: -0.462700 m/s,
      LOS rate: -0.088272 deg/s,
      cmd heading: 97.865334 deg,
      new cmd heading: 97.795412 deg.

2025-08-22T05:17:00.771Z,1755839820.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706852 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:00.869Z,1755839820.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508800
2025-08-22T05:17:01.120Z,1755839821.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238
2025-08-22T05:17:01.207Z,1755839821.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:01.210Z,1755839821.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.433655 m,
      bearing: 102.621348 deg,
      approach rate: -0.456259 m/s,
      LOS rate: -0.086464 deg/s,
      cmd heading: 97.795414 deg,
      new cmd heading: 97.719456 deg.

2025-08-22T05:17:01.210Z,1755839821.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705526 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:01.372Z,1755839821.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012488
2025-08-22T05:17:01.580Z,1755839821.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:01.582Z,1755839821.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.260773 m,
      bearing: 102.589639 deg,
      approach rate: -0.463864 m/s,
      LOS rate: -0.085128 deg/s,
      cmd heading: 97.719455 deg,
      new cmd heading: 97.656000 deg.

2025-08-22T05:17:01.583Z,1755839821.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704419 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:01.625Z,1755839821.625 [DAT](INFO): DAT read: Rx Time:05:17:00.3991

2025-08-22T05:17:01.626Z,1755839821.626 [DAT](INFO): Rx dataTimestamp_ set to:1755839821.625636
2025-08-22T05:17:01.626Z,1755839821.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266480
2025-08-22T05:17:01.878Z,1755839821.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518332
2025-08-22T05:17:02.046Z,1755839822.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:02.048Z,1755839822.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 303.78 m.
2025-08-22T05:17:02.051Z,1755839822.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 303.777771 m,
      nav range: 298.058807 m,
      bearing: 102.551865 deg,
      approach rate: -0.430964 m/s,
      LOS rate: -0.080658 deg/s,
      cmd heading: 97.656003 deg,
      new cmd heading: 97.580404 deg.

2025-08-22T05:17:02.052Z,1755839822.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703099 target range: 303.777771 and range: 304.20 m.
2025-08-22T05:17:02.132Z,1755839822.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771039
2025-08-22T05:17:02.386Z,1755839822.386 [DAT](INFO): DAT read: 05:17:00.3991 LVL= 32752, 32753, 22338, 32755, AGC= 70, IDX= 421, 0.01, 2.761, 1.932,-1.889, 3.141, PHS=-0.278,-1.164, 1.209, RAW= 188.3,   2.3, CAL= 188.5,  -0.6, ROT= 321.5,   0.6

2025-08-22T05:17:02.387Z,1755839822.387 [DAT](INFO): got valid direction response:
 05:17:00.3991 LVL= 32752, 32753, 22338, 32755, AGC= 70, IDX= 421, 0.01, 2.761, 1.932,-1.889, 3.141, PHS=-0.278,-1.164, 1.209, RAW= 188.3,   2.3, CAL= 188.5,  -0.6, ROT= 321.5,   0.6

2025-08-22T05:17:02.388Z,1755839822.388 [DAT](INFO): DAT read: Bearing 271.9, -34.9 (Local)

2025-08-22T05:17:02.388Z,1755839822.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.9, -34.9 (Local)

2025-08-22T05:17:02.390Z,1755839822.390 [DAT](INFO): DAT read: Range 11 to 50 : 303.0 m  (Round-trip  404.0 ms) speed  0.3 m/s

2025-08-22T05:17:02.390Z,1755839822.390 [DAT](INFO): DAT read: user:7377>

2025-08-22T05:17:02.391Z,1755839822.391 [DAT](INFO): DAT read: Tx time:05:17:01.4910

2025-08-22T05:17:02.391Z,1755839822.391 [DAT](INFO): Ping request sent.
2025-08-22T05:17:02.391Z,1755839822.391 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:02.392Z,1755839822.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:02.393Z,1755839822.393 [DAT](INFO): direction in FSK: [0.782565,-0.622480,-0.010472]
2025-08-22T05:17:02.393Z,1755839822.393 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:02.393Z,1755839822.393 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:02.396Z,1755839822.396 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:02.397Z,1755839822.397 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:02.492Z,1755839822.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 303.000000 m,
      deltaT: 4.031882 s,
      deltaX: -1.200012 m,
      approachRate: -0.297631 m/s,
      rangeRepo size: 4

2025-08-22T05:17:02.494Z,1755839822.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 301.287048 m,
      bearing: 94.317316 deg,
      lat: 36.779110 deg,
      lon: -121.859657 deg,
      deltaT: 7.811585 s,
      deltaX: -2.490723 m,
      approachRate: -0.318850 m/s,
      posRepo size: 4

2025-08-22T05:17:02.499Z,1755839822.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:02.502Z,1755839822.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 297.615936 m,
      bearing: 102.299373 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.080658 deg/s,
      cmd heading: 97.580406 deg,
      new cmd heading: 97.509543 deg.

2025-08-22T05:17:02.503Z,1755839822.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701863 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:02.816Z,1755839822.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:02.819Z,1755839822.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 297.452240 m,
      bearing: 102.271489 deg,
      approach rate: -0.497861 m/s,
      LOS rate: -0.084851 deg/s,
      cmd heading: 97.509543 deg,
      new cmd heading: 97.453745 deg.

2025-08-22T05:17:02.820Z,1755839822.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700889 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:03.257Z,1755839823.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:03.264Z,1755839823.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 297.253479 m,
      bearing: 102.239780 deg,
      approach rate: -0.450791 m/s,
      LOS rate: -0.071966 deg/s,
      cmd heading: 97.453747 deg,
      new cmd heading: 97.390285 deg.

2025-08-22T05:17:03.265Z,1755839823.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699781 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:03.649Z,1755839823.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:03.651Z,1755839823.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 297.064575 m,
      bearing: 102.210727 deg,
      approach rate: -0.482440 m/s,
      LOS rate: -0.074244 deg/s,
      cmd heading: 97.390288 deg,
      new cmd heading: 97.332146 deg.

2025-08-22T05:17:03.652Z,1755839823.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698766 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:04.068Z,1755839824.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:04.071Z,1755839824.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:04.073Z,1755839824.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 296.856476 m,
      bearing: 102.178882 deg,
      approach rate: -0.493080 m/s,
      LOS rate: -0.075508 deg/s,
      cmd heading: 97.332149 deg,
      new cmd heading: 97.268414 deg.

2025-08-22T05:17:04.074Z,1755839824.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697654 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:04.145Z,1755839824.145 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:04.145Z,1755839824.145 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:04.145Z,1755839824.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:04.398Z,1755839824.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006660
2025-08-22T05:17:04.454Z,1755839824.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:04.457Z,1755839824.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 296.669037 m,
      bearing: 102.152330 deg,
      approach rate: -0.488879 m/s,
      LOS rate: -0.069296 deg/s,
      cmd heading: 97.268417 deg,
      new cmd heading: 97.215279 deg.

2025-08-22T05:17:04.458Z,1755839824.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696727 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:04.648Z,1755839824.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256744
2025-08-22T05:17:04.835Z,1755839824.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:04.838Z,1755839824.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 296.480713 m,
      bearing: 102.126671 deg,
      approach rate: -0.494582 m/s,
      LOS rate: -0.067430 deg/s,
      cmd heading: 97.215278 deg,
      new cmd heading: 97.163926 deg.

2025-08-22T05:17:04.839Z,1755839824.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695830 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:04.901Z,1755839824.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509562
2025-08-22T05:17:05.153Z,1755839825.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761757
2025-08-22T05:17:05.260Z,1755839825.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:05.262Z,1755839825.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 296.266846 m,
      bearing: 102.099204 deg,
      approach rate: -0.503142 m/s,
      LOS rate: -0.064666 deg/s,
      cmd heading: 97.163928 deg,
      new cmd heading: 97.108954 deg.

2025-08-22T05:17:05.264Z,1755839825.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694871 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:05.405Z,1755839825.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013643
2025-08-22T05:17:05.645Z,1755839825.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:05.648Z,1755839825.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 296.070374 m,
      bearing: 102.074977 deg,
      approach rate: -0.510193 m/s,
      LOS rate: -0.062951 deg/s,
      cmd heading: 97.108952 deg,
      new cmd heading: 97.060468 deg.

2025-08-22T05:17:05.649Z,1755839825.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694025 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:05.656Z,1755839825.656 [DAT](INFO): DAT read: Rx Time:05:17:04.2969

2025-08-22T05:17:05.657Z,1755839825.657 [DAT](INFO): Rx dataTimestamp_ set to:1755839825.656524
2025-08-22T05:17:05.657Z,1755839825.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265845
2025-08-22T05:17:05.909Z,1755839825.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517198
2025-08-22T05:17:06.121Z,1755839826.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:06.123Z,1755839826.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 301.29 m.
2025-08-22T05:17:06.125Z,1755839826.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 301.287048 m,
      nav range: 295.824890 m,
      bearing: 102.048053 deg,
      approach rate: -0.513893 m/s,
      LOS rate: -0.056410 deg/s,
      cmd heading: 97.060465 deg,
      new cmd heading: 97.006571 deg.

2025-08-22T05:17:06.126Z,1755839826.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693084 target range: 301.287048 and range: 303.00 m.
2025-08-22T05:17:06.169Z,1755839826.169 [DAT](INFO): DAT read: 05:17:04.2969 LVL= 29584, 32753, 25250, 32755, AGC= 67, IDX= 415, 0.17, 1.629, 0.468, 2.703, 1.781, PHS=-0.049,-1.267, 0.878, RAW= 175.5,   4.8, CAL= 175.0,   3.2, ROT= 335.0,  -3.2

2025-08-22T05:17:06.171Z,1755839826.171 [DAT](INFO): got valid direction response:
 05:17:04.2969 LVL= 29584, 32753, 25250, 32755, AGC= 67, IDX= 415, 0.17, 1.629, 0.468, 2.703, 1.781, PHS=-0.049,-1.267, 0.878, RAW= 175.5,   4.8, CAL= 175.0,   3.2, ROT= 335.0,  -3.2

2025-08-22T05:17:06.172Z,1755839826.172 [DAT](INFO): DAT read: Bearing 266.4, -21.1 (Local)

2025-08-22T05:17:06.173Z,1755839826.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.4, -21.1 (Local)

2025-08-22T05:17:06.175Z,1755839826.175 [DAT](INFO): DAT read: Range 11 to 50 : 301.3 m  (Round-trip  401.8 ms) speed  0.4 m/s

2025-08-22T05:17:06.177Z,1755839826.177 [DAT](INFO): DAT read: user:7378>

2025-08-22T05:17:06.178Z,1755839826.178 [DAT](INFO): DAT read: Tx time:05:17:05.3910

2025-08-22T05:17:06.178Z,1755839826.178 [DAT](INFO): Ping request sent.
2025-08-22T05:17:06.178Z,1755839826.178 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:06.179Z,1755839826.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:06.180Z,1755839826.180 [DAT](INFO): direction in FSK: [0.904895,-0.421959,0.055822]
2025-08-22T05:17:06.181Z,1755839826.181 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:06.181Z,1755839826.181 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:06.189Z,1755839826.189 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:06.189Z,1755839826.189 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:06.497Z,1755839826.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 301.299988 m,
      deltaT: 3.780212 s,
      deltaX: -1.700012 m,
      approachRate: -0.449713 m/s,
      rangeRepo size: 4

2025-08-22T05:17:06.499Z,1755839826.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 299.596405 m,
      bearing: 95.099156 deg,
      lat: 36.779264 deg,
      lon: -121.859604 deg,
      deltaT: 3.780212 s,
      deltaX: -1.690643 m,
      approachRate: -0.447235 m/s,
      posRepo size: 4

2025-08-22T05:17:06.504Z,1755839826.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:06.506Z,1755839826.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 297.179535 m,
      bearing: 98.602566 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056410 deg/s,
      cmd heading: 97.006568 deg,
      new cmd heading: 96.964446 deg.

2025-08-22T05:17:06.511Z,1755839826.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692349 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:06.856Z,1755839826.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:06.858Z,1755839826.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 296.982574 m,
      bearing: 98.579827 deg,
      approach rate: -0.547884 m/s,
      LOS rate: -0.063295 deg/s,
      cmd heading: 96.964446 deg,
      new cmd heading: 96.918938 deg.

2025-08-22T05:17:06.875Z,1755839826.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691555 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:07.404Z,1755839827.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:07.409Z,1755839827.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 296.694672 m,
      bearing: 98.547127 deg,
      approach rate: -0.525984 m/s,
      LOS rate: -0.059799 deg/s,
      cmd heading: 96.918936 deg,
      new cmd heading: 96.853473 deg.

2025-08-22T05:17:07.431Z,1755839827.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690412 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:07.961Z,1755839827.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:07.972Z,1755839827.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 296.389404 m,
      bearing: 98.515126 deg,
      approach rate: -0.547261 m/s,
      LOS rate: -0.057429 deg/s,
      cmd heading: 96.853476 deg,
      new cmd heading: 96.789407 deg.

2025-08-22T05:17:07.973Z,1755839827.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689294 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:08.494Z,1755839828.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:08.513Z,1755839828.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:08.516Z,1755839828.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 296.088135 m,
      bearing: 98.486278 deg,
      approach rate: -0.545303 m/s,
      LOS rate: -0.052268 deg/s,
      cmd heading: 96.789409 deg,
      new cmd heading: 96.731654 deg.

2025-08-22T05:17:08.517Z,1755839828.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688286 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:08.680Z,1755839828.680 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:08.680Z,1755839828.680 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:08.681Z,1755839828.681 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:08.879Z,1755839828.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:08.882Z,1755839828.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 295.874207 m,
      bearing: 98.466658 deg,
      approach rate: -0.584826 m/s,
      LOS rate: -0.053676 deg/s,
      cmd heading: 96.731653 deg,
      new cmd heading: 96.692383 deg.

2025-08-22T05:17:08.885Z,1755839828.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687600 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:08.932Z,1755839828.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754146
2025-08-22T05:17:09.185Z,1755839829.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006495
2025-08-22T05:17:09.303Z,1755839829.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:09.306Z,1755839829.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 295.639984 m,
      bearing: 98.445639 deg,
      approach rate: -0.552557 m/s,
      LOS rate: -0.049625 deg/s,
      cmd heading: 96.692386 deg,
      new cmd heading: 96.650315 deg.

2025-08-22T05:17:09.307Z,1755839829.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686866 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:09.436Z,1755839829.436 [DAT](INFO): DAT read: Rx Time:05:17:08.1943

2025-08-22T05:17:09.437Z,1755839829.437 [DAT](INFO): Rx dataTimestamp_ set to:1755839829.436500
2025-08-22T05:17:09.437Z,1755839829.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259159
2025-08-22T05:17:09.689Z,1755839829.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510416
2025-08-22T05:17:09.693Z,1755839829.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:09.696Z,1755839829.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 295.423767 m,
      bearing: 98.427059 deg,
      approach rate: -0.554494 m/s,
      LOS rate: -0.047684 deg/s,
      cmd heading: 96.650312 deg,
      new cmd heading: 96.613125 deg.

2025-08-22T05:17:09.697Z,1755839829.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686217 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:09.943Z,1755839829.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764343
2025-08-22T05:17:10.133Z,1755839830.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 299.60 m.
2025-08-22T05:17:10.136Z,1755839830.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 299.596405 m,
      nav range: 295.185181 m,
      bearing: 98.406252 deg,
      approach rate: -0.541781 m/s,
      LOS rate: -0.047287 deg/s,
      cmd heading: 96.613121 deg,
      new cmd heading: 96.571473 deg.

2025-08-22T05:17:10.137Z,1755839830.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.685490 target range: 299.596405 and range: 301.30 m.
2025-08-22T05:17:10.198Z,1755839830.198 [DAT](INFO): DAT read: 05:17:08.1943 LVL= 32752, 32753, 28946, 32755, AGC= 67, IDX= 420, 0.09,-2.824, 2.109,-2.225,-2.840, PHS= 0.118,-1.289, 0.572, RAW= 163.5,   7.2, CAL= 163.0,   7.1, ROT= 347.0,  -7.1

2025-08-22T05:17:10.200Z,1755839830.200 [DAT](INFO): got valid direction response:
 05:17:08.1943 LVL= 32752, 32753, 28946, 32755, AGC= 67, IDX= 420, 0.09,-2.824, 2.109,-2.225,-2.840, PHS= 0.118,-1.289, 0.572, RAW= 163.5,   7.2, CAL= 163.0,   7.1, ROT= 347.0,  -7.1

2025-08-22T05:17:10.202Z,1755839830.202 [DAT](INFO): DAT read: Bearing 260.6,  -8.5 (Local)

2025-08-22T05:17:10.202Z,1755839830.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.6,  -8.5 (Local)

2025-08-22T05:17:10.204Z,1755839830.204 [DAT](INFO): DAT read: Range 11 to 50 : 299.4 m  (Round-trip  399.2 ms) speed  0.2 m/s

2025-08-22T05:17:10.205Z,1755839830.205 [DAT](INFO): DAT read: user:7379>

2025-08-22T05:17:10.206Z,1755839830.206 [DAT](INFO): DAT read: Tx time:05:17:09.2910

2025-08-22T05:17:10.207Z,1755839830.207 [DAT](INFO): Ping request sent.
2025-08-22T05:17:10.224Z,1755839830.224 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:10.224Z,1755839830.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:10.226Z,1755839830.226 [DAT](INFO): direction in FSK: [0.966899,-0.223226,0.123601]
2025-08-22T05:17:10.226Z,1755839830.226 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:10.226Z,1755839830.226 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:10.242Z,1755839830.242 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:10.242Z,1755839830.242 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:10.509Z,1755839830.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 299.399994 m,
      deltaT: 4.031995 s,
      deltaX: -1.899994 m,
      approachRate: -0.471229 m/s,
      rangeRepo size: 4

2025-08-22T05:17:10.511Z,1755839830.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 297.705231 m,
      bearing: 97.048517 deg,
      lat: 36.779330 deg,
      lon: -121.859604 deg,
      deltaT: 4.031995 s,
      deltaX: -1.891174 m,
      approachRate: -0.469042 m/s,
      posRepo size: 4

2025-08-22T05:17:10.512Z,1755839830.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:10.514Z,1755839830.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 294.003021 m,
      bearing: 96.978986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047287 deg/s,
      cmd heading: 96.571471 deg,
      new cmd heading: 96.535989 deg.

2025-08-22T05:17:10.516Z,1755839830.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684871 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:10.927Z,1755839830.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:10.929Z,1755839830.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:10.936Z,1755839830.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 293.775452 m,
      bearing: 96.960527 deg,
      approach rate: -0.540223 m/s,
      LOS rate: -0.043853 deg/s,
      cmd heading: 96.535988 deg,
      new cmd heading: 96.499042 deg.

2025-08-22T05:17:10.937Z,1755839830.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684226 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:10.948Z,1755839830.948 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:10.948Z,1755839830.948 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:10.948Z,1755839830.948 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:11.200Z,1755839831.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993547
2025-08-22T05:17:11.322Z,1755839831.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:11.345Z,1755839831.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 293.564880 m,
      bearing: 96.943548 deg,
      approach rate: -0.535934 m/s,
      LOS rate: -0.043245 deg/s,
      cmd heading: 96.499044 deg,
      new cmd heading: 96.465061 deg.

2025-08-22T05:17:11.346Z,1755839831.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683633 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:11.453Z,1755839831.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245985
2025-08-22T05:17:11.704Z,1755839831.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497359
2025-08-22T05:17:11.716Z,1755839831.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:11.718Z,1755839831.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 293.357117 m,
      bearing: 96.927602 deg,
      approach rate: -0.529016 m/s,
      LOS rate: -0.040631 deg/s,
      cmd heading: 96.465063 deg,
      new cmd heading: 96.433149 deg.

2025-08-22T05:17:11.719Z,1755839831.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683076 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:11.956Z,1755839831.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749316
2025-08-22T05:17:12.158Z,1755839832.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:12.163Z,1755839832.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 293.133820 m,
      bearing: 96.910481 deg,
      approach rate: -0.504678 m/s,
      LOS rate: -0.038727 deg/s,
      cmd heading: 96.433146 deg,
      new cmd heading: 96.398876 deg.

2025-08-22T05:17:12.165Z,1755839832.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682478 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:12.211Z,1755839832.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003588
2025-08-22T05:17:12.464Z,1755839832.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257246
2025-08-22T05:17:12.540Z,1755839832.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:12.545Z,1755839832.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 292.939087 m,
      bearing: 96.896292 deg,
      approach rate: -0.508613 m/s,
      LOS rate: -0.037083 deg/s,
      cmd heading: 96.398879 deg,
      new cmd heading: 96.370483 deg.

2025-08-22T05:17:12.546Z,1755839832.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681982 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:12.716Z,1755839832.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509375
2025-08-22T05:17:12.938Z,1755839832.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:12.944Z,1755839832.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:12.946Z,1755839832.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 292.735138 m,
      bearing: 96.882165 deg,
      approach rate: -0.505549 m/s,
      LOS rate: -0.035043 deg/s,
      cmd heading: 96.370486 deg,
      new cmd heading: 96.342212 deg.

2025-08-22T05:17:12.952Z,1755839832.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681489 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:12.968Z,1755839832.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761500
2025-08-22T05:17:13.220Z,1755839833.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013248
2025-08-22T05:17:13.359Z,1755839833.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:13.362Z,1755839833.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 292.521210 m,
      bearing: 96.867121 deg,
      approach rate: -0.520126 m/s,
      LOS rate: -0.036604 deg/s,
      cmd heading: 96.342209 deg,
      new cmd heading: 96.312098 deg.

2025-08-22T05:17:13.363Z,1755839833.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680963 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:13.473Z,1755839833.473 [DAT](INFO): DAT read: Rx Time:05:17:12.0916

2025-08-22T05:17:13.474Z,1755839833.474 [DAT](INFO): Rx dataTimestamp_ set to:1755839833.473578
2025-08-22T05:17:13.475Z,1755839833.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267819
2025-08-22T05:17:13.724Z,1755839833.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517431
2025-08-22T05:17:13.729Z,1755839833.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 297.71 m.
2025-08-22T05:17:13.732Z,1755839833.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 297.705231 m,
      nav range: 292.334167 m,
      bearing: 96.854603 deg,
      approach rate: -0.499876 m/s,
      LOS rate: -0.033474 deg/s,
      cmd heading: 96.312095 deg,
      new cmd heading: 96.287044 deg.

2025-08-22T05:17:13.733Z,1755839833.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680526 target range: 297.705231 and range: 299.40 m.
2025-08-22T05:17:13.982Z,1755839833.982 [DAT](INFO): DAT read: 05:17:12.0916 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.37,-0.845,-2.453,-0.548,-1.056, PHS= 0.313,-1.352, 0.464, RAW= 154.3,   6.7, CAL= 153.7,   6.8, ROT= 356.3,  -6.8

2025-08-22T05:17:13.983Z,1755839833.983 [DAT](INFO): got valid direction response:
 05:17:12.0916 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 409,-0.37,-0.845,-2.453,-0.548,-1.056, PHS= 0.313,-1.352, 0.464, RAW= 154.3,   6.7, CAL= 153.7,   6.8, ROT= 356.3,  -6.8

2025-08-22T05:17:13.984Z,1755839833.984 [DAT](INFO): DAT read: Bearing 250.9,   1.7 (Local)

2025-08-22T05:17:13.984Z,1755839833.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.9,   1.7 (Local)

2025-08-22T05:17:13.986Z,1755839833.986 [DAT](INFO): DAT read: Range 11 to 50 : 297.3 m  (Round-trip  396.4 ms) speed  0.2 m/s

2025-08-22T05:17:13.986Z,1755839833.986 [DAT](INFO): DAT read: user:7380>

2025-08-22T05:17:13.988Z,1755839833.988 [DAT](INFO): DAT read: Tx time:05:17:13.1910

2025-08-22T05:17:13.988Z,1755839833.988 [DAT](INFO): Ping request sent.
2025-08-22T05:17:13.988Z,1755839833.988 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:13.989Z,1755839833.989 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:13.990Z,1755839833.990 [DAT](INFO): direction in FSK: [0.990896,-0.064079,0.118404]
2025-08-22T05:17:13.990Z,1755839833.990 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:13.990Z,1755839833.990 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:13.993Z,1755839833.993 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:13.993Z,1755839833.993 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:14.259Z,1755839834.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 297.299988 m,
      deltaT: 3.783831 s,
      deltaX: -2.100006 m,
      approachRate: -0.554995 m/s,
      rangeRepo size: 4

2025-08-22T05:17:14.265Z,1755839834.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 295.626160 m,
      bearing: 98.519707 deg,
      lat: 36.779330 deg,
      lon: -121.859604 deg,
      deltaT: 3.783831 s,
      deltaX: -2.079071 m,
      approachRate: -0.549462 m/s,
      posRepo size: 4

2025-08-22T05:17:14.266Z,1755839834.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:14.272Z,1755839834.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 292.078857 m,
      bearing: 96.838109 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033474 deg/s,
      cmd heading: 96.287041 deg,
      new cmd heading: 96.251656 deg.

2025-08-22T05:17:14.273Z,1755839834.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679908 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:14.551Z,1755839834.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:14.554Z,1755839834.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 291.925446 m,
      bearing: 96.828182 deg,
      approach rate: -0.523352 m/s,
      LOS rate: -0.033883 deg/s,
      cmd heading: 96.251654 deg,
      new cmd heading: 96.231790 deg.

2025-08-22T05:17:14.555Z,1755839834.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679562 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:14.952Z,1755839834.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:14.954Z,1755839834.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:14.957Z,1755839834.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 291.723541 m,
      bearing: 96.816907 deg,
      approach rate: -0.501329 m/s,
      LOS rate: -0.028015 deg/s,
      cmd heading: 96.231792 deg,
      new cmd heading: 96.209227 deg.

2025-08-22T05:17:14.958Z,1755839834.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679168 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:15.001Z,1755839835.001 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:15.001Z,1755839835.001 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:15.002Z,1755839835.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:15.252Z,1755839835.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263946
2025-08-22T05:17:15.422Z,1755839835.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:15.429Z,1755839835.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 291.491791 m,
      bearing: 96.804514 deg,
      approach rate: -0.495181 m/s,
      LOS rate: -0.026503 deg/s,
      cmd heading: 96.209225 deg,
      new cmd heading: 96.184418 deg.

2025-08-22T05:17:15.430Z,1755839835.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678735 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:15.505Z,1755839835.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516561
2025-08-22T05:17:15.749Z,1755839835.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:15.752Z,1755839835.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 291.322174 m,
      bearing: 96.796239 deg,
      approach rate: -0.518745 m/s,
      LOS rate: -0.025323 deg/s,
      cmd heading: 96.184418 deg,
      new cmd heading: 96.167858 deg.

2025-08-22T05:17:15.753Z,1755839835.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678446 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:15.756Z,1755839835.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768031
2025-08-22T05:17:16.009Z,1755839836.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021179
2025-08-22T05:17:16.218Z,1755839836.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:16.221Z,1755839836.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 291.078278 m,
      bearing: 96.785646 deg,
      approach rate: -0.519619 m/s,
      LOS rate: -0.022587 deg/s,
      cmd heading: 96.167861 deg,
      new cmd heading: 96.146658 deg.

2025-08-22T05:17:16.222Z,1755839836.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678076 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:16.260Z,1755839836.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271914
2025-08-22T05:17:16.512Z,1755839836.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523930
2025-08-22T05:17:16.567Z,1755839836.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:16.570Z,1755839836.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 290.896545 m,
      bearing: 96.778050 deg,
      approach rate: -0.520711 m/s,
      LOS rate: -0.021777 deg/s,
      cmd heading: 96.146660 deg,
      new cmd heading: 96.131460 deg.

2025-08-22T05:17:16.587Z,1755839836.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677811 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:16.765Z,1755839836.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776787
2025-08-22T05:17:16.985Z,1755839836.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:16.988Z,1755839836.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:16.990Z,1755839836.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 290.677826 m,
      bearing: 96.769205 deg,
      approach rate: -0.520550 m/s,
      LOS rate: -0.021066 deg/s,
      cmd heading: 96.131463 deg,
      new cmd heading: 96.113760 deg.

2025-08-22T05:17:16.991Z,1755839836.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677502 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:17.017Z,1755839837.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028374
2025-08-22T05:17:17.269Z,1755839837.269 [DAT](INFO): DAT read: Rx Time:05:17:15.9889

2025-08-22T05:17:17.270Z,1755839837.270 [DAT](INFO): Rx dataTimestamp_ set to:1755839837.269450
2025-08-22T05:17:17.271Z,1755839837.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282315
2025-08-22T05:17:17.416Z,1755839837.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 295.63 m.
2025-08-22T05:17:17.418Z,1755839837.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 295.626160 m,
      nav range: 290.450195 m,
      bearing: 96.760627 deg,
      approach rate: -0.532161 m/s,
      LOS rate: -0.020070 deg/s,
      cmd heading: 96.113759 deg,
      new cmd heading: 96.096590 deg.

2025-08-22T05:17:17.420Z,1755839837.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677202 target range: 295.626160 and range: 297.30 m.
2025-08-22T05:17:17.521Z,1755839837.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532383
2025-08-22T05:17:17.778Z,1755839837.778 [DAT](INFO): DAT read: 05:17:15.9889 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 413, 0.14,-0.321,-1.967,-0.216,-0.639, PHS= 0.419,-1.284, 0.379, RAW= 148.8,   5.8, CAL= 148.2,   6.2, ROT=   1.8,  -6.2

2025-08-22T05:17:17.779Z,1755839837.779 [DAT](INFO): got valid direction response:
 05:17:15.9889 LVL= 32752, 32753, 31730, 32755, AGC= 68, IDX= 413, 0.14,-0.321,-1.967,-0.216,-0.639, PHS= 0.419,-1.284, 0.379, RAW= 148.8,   5.8, CAL= 148.2,   6.2, ROT=   1.8,  -6.2

2025-08-22T05:17:17.780Z,1755839837.780 [DAT](INFO): DAT read: Bearing 244.1,   8.7 (Local)

2025-08-22T05:17:17.781Z,1755839837.781 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.1,   8.7 (Local)

2025-08-22T05:17:17.782Z,1755839837.782 [DAT](INFO): DAT read: Range 11 to 50 : 295.3 m  (Round-trip  393.8 ms) speed  0.4 m/s

2025-08-22T05:17:17.783Z,1755839837.783 [DAT](INFO): DAT read: user:7381>

2025-08-22T05:17:17.784Z,1755839837.784 [DAT](INFO): DAT read: Tx time:05:17:17.0910

2025-08-22T05:17:17.784Z,1755839837.784 [DAT](INFO): Ping request sent.
2025-08-22T05:17:17.784Z,1755839837.784 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:17.784Z,1755839837.784 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:17.785Z,1755839837.785 [DAT](INFO): direction in FSK: [0.993660,0.031227,0.107999]
2025-08-22T05:17:17.785Z,1755839837.785 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:17.786Z,1755839837.786 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:17.798Z,1755839837.798 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:17.799Z,1755839837.799 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:17.896Z,1755839837.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 295.299988 m,
      deltaT: 3.796159 s,
      deltaX: -2.000000 m,
      approachRate: -0.526848 m/s,
      rangeRepo size: 4

2025-08-22T05:17:17.898Z,1755839837.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 293.627197 m,
      bearing: 98.091717 deg,
      lat: 36.779330 deg,
      lon: -121.859636 deg,
      deltaT: 3.796159 s,
      deltaX: -1.998962 m,
      approachRate: -0.526575 m/s,
      posRepo size: 4

2025-08-22T05:17:17.903Z,1755839837.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:17.906Z,1755839837.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 287.371948 m,
      bearing: 96.819294 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020070 deg/s,
      cmd heading: 96.096588 deg,
      new cmd heading: 96.077633 deg.

2025-08-22T05:17:17.907Z,1755839837.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676871 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:18.282Z,1755839838.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:18.285Z,1755839838.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 287.135437 m,
      bearing: 96.810706 deg,
      approach rate: -0.599127 m/s,
      LOS rate: -0.021773 deg/s,
      cmd heading: 96.077635 deg,
      new cmd heading: 96.060444 deg.

2025-08-22T05:17:18.286Z,1755839838.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676571 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:18.672Z,1755839838.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:18.675Z,1755839838.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 286.928802 m,
      bearing: 96.803304 deg,
      approach rate: -0.529695 m/s,
      LOS rate: -0.018988 deg/s,
      cmd heading: 96.060443 deg,
      new cmd heading: 96.045629 deg.

2025-08-22T05:17:18.676Z,1755839838.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676312 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:19.060Z,1755839839.060 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:19.062Z,1755839839.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:19.065Z,1755839839.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 286.706512 m,
      bearing: 96.795409 deg,
      approach rate: -0.570665 m/s,
      LOS rate: -0.020284 deg/s,
      cmd heading: 96.045628 deg,
      new cmd heading: 96.029826 deg.

2025-08-22T05:17:19.066Z,1755839839.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676037 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:19.292Z,1755839839.292 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:19.292Z,1755839839.292 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:19.292Z,1755839839.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:19.504Z,1755839839.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:19.506Z,1755839839.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 286.456818 m,
      bearing: 96.787063 deg,
      approach rate: -0.564802 m/s,
      LOS rate: -0.018896 deg/s,
      cmd heading: 96.029823 deg,
      new cmd heading: 96.013116 deg.

2025-08-22T05:17:19.508Z,1755839839.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675745 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:19.545Z,1755839839.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761470
2025-08-22T05:17:19.796Z,1755839839.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012305
2025-08-22T05:17:19.914Z,1755839839.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:19.921Z,1755839839.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 286.227997 m,
      bearing: 96.779425 deg,
      approach rate: -0.558004 m/s,
      LOS rate: -0.018642 deg/s,
      cmd heading: 96.013117 deg,
      new cmd heading: 95.997827 deg.

2025-08-22T05:17:19.923Z,1755839839.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675478 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:20.012Z,1755839840.012 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:17:20.048Z,1755839840.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264187
2025-08-22T05:17:20.300Z,1755839840.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516353
2025-08-22T05:17:20.353Z,1755839840.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:20.359Z,1755839840.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 285.971588 m,
      bearing: 96.770968 deg,
      approach rate: -0.583496 m/s,
      LOS rate: -0.019262 deg/s,
      cmd heading: 95.997831 deg,
      new cmd heading: 95.980902 deg.

2025-08-22T05:17:20.377Z,1755839840.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675183 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:20.553Z,1755839840.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768742
2025-08-22T05:17:20.808Z,1755839840.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024272
2025-08-22T05:17:20.865Z,1755839840.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:20.870Z,1755839840.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 285.679413 m,
      bearing: 96.761227 deg,
      approach rate: -0.571372 m/s,
      LOS rate: -0.019068 deg/s,
      cmd heading: 95.980899 deg,
      new cmd heading: 95.961398 deg.

2025-08-22T05:17:20.873Z,1755839840.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674842 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:21.016Z,1755839841.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:17:21.060Z,1755839841.060 [DAT](INFO): DAT read: Rx Time:05:17:19.8861

2025-08-22T05:17:21.061Z,1755839841.061 [DAT](INFO): Rx dataTimestamp_ set to:1755839841.060665
2025-08-22T05:17:21.061Z,1755839841.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277530
2025-08-22T05:17:21.312Z,1755839841.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528365
2025-08-22T05:17:21.350Z,1755839841.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:21.352Z,1755839841.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:21.357Z,1755839841.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 285.405426 m,
      bearing: 96.752176 deg,
      approach rate: -0.561982 m/s,
      LOS rate: -0.018584 deg/s,
      cmd heading: 95.961398 deg,
      new cmd heading: 95.943278 deg.

2025-08-22T05:17:21.360Z,1755839841.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674526 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:21.565Z,1755839841.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781460
2025-08-22T05:17:21.721Z,1755839841.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:21.724Z,1755839841.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 285.179413 m,
      bearing: 96.744661 deg,
      approach rate: -0.612009 m/s,
      LOS rate: -0.020365 deg/s,
      cmd heading: 95.943278 deg,
      new cmd heading: 95.928237 deg.

2025-08-22T05:17:21.725Z,1755839841.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674264 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:21.823Z,1755839841.823 [DAT](INFO): DAT read: 05:17:19.8861 LVL= 31856, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.08, 1.838, 0.118, 1.915, 1.507, PHS= 0.433,-1.345, 0.364, RAW= 148.0,   6.3, CAL= 147.5,   6.8, ROT=   2.5,  -6.8

2025-08-22T05:17:21.824Z,1755839841.824 [DAT](INFO): got valid direction response:
 05:17:19.8861 LVL= 31856, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.08, 1.838, 0.118, 1.915, 1.507, PHS= 0.433,-1.345, 0.364, RAW= 148.0,   6.3, CAL= 147.5,   6.8, ROT=   2.5,  -6.8

2025-08-22T05:17:21.825Z,1755839841.825 [DAT](INFO): DAT read: Bearing 243.6,  11.4 (Local)

2025-08-22T05:17:21.826Z,1755839841.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.6,  11.4 (Local)

2025-08-22T05:17:21.828Z,1755839841.828 [DAT](INFO): DAT read: R (Round-trip  391.0 ms) speed  0.7 m/s

2025-08-22T05:17:21.828Z,1755839841.828 [DAT](INFO): unknown deviceResponse_: R (Round-trip  391.0 ms) speed  0.7 m/s

2025-08-22T05:17:21.829Z,1755839841.829 [DAT](INFO): DAT read: user:7382>

2025-08-22T05:17:21.830Z,1755839841.830 [DAT](INFO): DAT read: Tx time:05:17:20.9910

2025-08-22T05:17:21.830Z,1755839841.830 [DAT](INFO): Ping request sent.
2025-08-22T05:17:21.830Z,1755839841.830 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:21.831Z,1755839841.831 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:17:21.833Z,1755839841.833 [DAT](INFO): direction in FSK: [0.992020,0.043313,0.118404]
2025-08-22T05:17:21.833Z,1755839841.833 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:21.841Z,1755839841.841 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:22.130Z,1755839842.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:22.133Z,1755839842.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 284.942749 m,
      bearing: 96.736757 deg,
      approach rate: -0.578683 m/s,
      LOS rate: -0.019342 deg/s,
      cmd heading: 95.928238 deg,
      new cmd heading: 95.912418 deg.

2025-08-22T05:17:22.134Z,1755839842.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673988 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:22.557Z,1755839842.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:22.560Z,1755839842.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 284.692230 m,
      bearing: 96.728396 deg,
      approach rate: -0.587318 m/s,
      LOS rate: -0.019619 deg/s,
      cmd heading: 95.912419 deg,
      new cmd heading: 95.895682 deg.

2025-08-22T05:17:22.561Z,1755839842.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673695 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:22.935Z,1755839842.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:22.938Z,1755839842.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 284.472260 m,
      bearing: 96.721030 deg,
      approach rate: -0.581845 m/s,
      LOS rate: -0.019499 deg/s,
      cmd heading: 95.895685 deg,
      new cmd heading: 95.880942 deg.

2025-08-22T05:17:22.939Z,1755839842.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673438 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:23.387Z,1755839843.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:23.390Z,1755839843.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:23.397Z,1755839843.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 284.217438 m,
      bearing: 96.712658 deg,
      approach rate: -0.560615 m/s,
      LOS rate: -0.018436 deg/s,
      cmd heading: 95.880939 deg,
      new cmd heading: 95.864179 deg.

2025-08-22T05:17:23.398Z,1755839843.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673146 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:23.580Z,1755839843.580 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:23.580Z,1755839843.580 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:23.580Z,1755839843.580 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:23.756Z,1755839843.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:23.758Z,1755839843.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 283.999542 m,
      bearing: 96.705482 deg,
      approach rate: -0.595735 m/s,
      LOS rate: -0.019636 deg/s,
      cmd heading: 95.864178 deg,
      new cmd heading: 95.849814 deg.

2025-08-22T05:17:23.768Z,1755839843.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672895 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:23.833Z,1755839843.833 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:23.833Z,1755839843.833 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:23.833Z,1755839843.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:24.084Z,1755839844.084 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:24.084Z,1755839844.084 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:24.084Z,1755839844.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:24.171Z,1755839844.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:24.190Z,1755839844.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 283.750916 m,
      bearing: 96.697316 deg,
      approach rate: -0.599236 m/s,
      LOS rate: -0.019698 deg/s,
      cmd heading: 95.849814 deg,
      new cmd heading: 95.833468 deg.

2025-08-22T05:17:24.191Z,1755839844.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672610 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:24.337Z,1755839844.337 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:24.337Z,1755839844.337 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:24.337Z,1755839844.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:24.588Z,1755839844.588 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:24.588Z,1755839844.588 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:24.588Z,1755839844.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:24.596Z,1755839844.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:24.598Z,1755839844.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 283.501221 m,
      bearing: 96.688557 deg,
      approach rate: -0.586728 m/s,
      LOS rate: -0.020599 deg/s,
      cmd heading: 95.833469 deg,
      new cmd heading: 95.815937 deg.

2025-08-22T05:17:24.600Z,1755839844.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672304 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:24.840Z,1755839844.840 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:24.840Z,1755839844.840 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:24.840Z,1755839844.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:24.988Z,1755839844.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:24.991Z,1755839844.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 283.274628 m,
      bearing: 96.680621 deg,
      approach rate: -0.577771 m/s,
      LOS rate: -0.020253 deg/s,
      cmd heading: 95.815936 deg,
      new cmd heading: 95.800050 deg.

2025-08-22T05:17:24.993Z,1755839844.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672026 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:25.092Z,1755839845.092 [DAT](INFO): DAT read: Rx Time:05:17:23.7829

2025-08-22T05:17:25.093Z,1755839845.093 [DAT](INFO): Rx dataTimestamp_ set to:1755839845.092557
2025-08-22T05:17:25.093Z,1755839845.093 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:25.093Z,1755839845.093 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:25.093Z,1755839845.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:25.344Z,1755839845.344 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:25.344Z,1755839845.344 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:25.344Z,1755839845.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:17:25.430Z,1755839845.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:25.432Z,1755839845.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.63 m.
2025-08-22T05:17:25.435Z,1755839845.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 293.627197 m,
      nav range: 283.014130 m,
      bearing: 96.671463 deg,
      approach rate: -0.586554 m/s,
      LOS rate: -0.020638 deg/s,
      cmd heading: 95.800049 deg,
      new cmd heading: 95.781717 deg.

2025-08-22T05:17:25.436Z,1755839845.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671706 target range: 293.627197 and range: 295.30 m.
2025-08-22T05:17:25.602Z,1755839845.602 [DAT](INFO): DAT read: 05:17:23.7829 LVL= 32704, 32753, 31026, 32755, AGC= 70, IDX= 416,-0.33, 0.297,-1.411, 0.382,-0.062, PHS= 0.461,-1.304, 0.400, RAW= 148.3,   5.2, CAL= 147.6,   5.5, ROT=   2.4,  -5.5

2025-08-22T05:17:25.607Z,1755839845.607 [DAT](INFO): got valid direction response:
 05:17:23.7829 LVL= 32704, 32753, 31026, 32755, AGC= 70, IDX= 416,-0.33, 0.297,-1.411, 0.382,-0.062, PHS= 0.461,-1.304, 0.400, RAW= 148.3,   5.2, CAL= 147.6,   5.5, ROT=   2.4,  -5.5

2025-08-22T05:17:25.608Z,1755839845.608 [DAT](INFO): DAT read: Bearing 242.2,  13.0 (Local)

2025-08-22T05:17:25.608Z,1755839845.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.2,  13.0 (Local)

2025-08-22T05:17:25.610Z,1755839845.610 [DAT](INFO): DAT read: Range 11 to 50 : 290.7 m  (Round-trip  387.7 ms) speed  0.4 m/s

2025-08-22T05:17:25.610Z,1755839845.610 [DAT](INFO): DAT read: user:7383>

2025-08-22T05:17:25.638Z,1755839845.638 [DAT](INFO): DAT read: Tx time:05:17:24.8910

2025-08-22T05:17:25.640Z,1755839845.640 [DAT](INFO): Ping request sent.
2025-08-22T05:17:25.641Z,1755839845.641 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:25.642Z,1755839845.642 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T05:17:25.650Z,1755839845.650 [DAT](INFO): direction in FSK: [0.994523,0.041683,0.095846]
2025-08-22T05:17:25.650Z,1755839845.650 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:25.650Z,1755839845.650 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:25.667Z,1755839845.667 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:25.667Z,1755839845.667 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:25.802Z,1755839845.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 290.700012 m,
      deltaT: 7.823919 s,
      deltaX: -4.599976 m,
      approachRate: -0.587938 m/s,
      rangeRepo size: 4

2025-08-22T05:17:25.804Z,1755839845.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 289.036804 m,
      bearing: 97.912527 deg,
      lat: 36.779281 deg,
      lon: -121.859653 deg,
      deltaT: 7.823919 s,
      deltaX: -4.590393 m,
      approachRate: -0.586713 m/s,
      posRepo size: 4

2025-08-22T05:17:25.805Z,1755839845.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:25.807Z,1755839845.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 282.058929 m,
      bearing: 97.798725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020638 deg/s,
      cmd heading: 95.781717 deg,
      new cmd heading: 95.766498 deg.

2025-08-22T05:17:25.808Z,1755839845.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671441 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:26.193Z,1755839846.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:26.196Z,1755839846.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 281.827606 m,
      bearing: 97.791631 deg,
      approach rate: -0.589342 m/s,
      LOS rate: -0.018088 deg/s,
      cmd heading: 95.766499 deg,
      new cmd heading: 95.752300 deg.

2025-08-22T05:17:26.197Z,1755839846.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671193 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:26.627Z,1755839846.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:26.630Z,1755839846.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 281.578003 m,
      bearing: 97.783829 deg,
      approach rate: -0.575713 m/s,
      LOS rate: -0.018013 deg/s,
      cmd heading: 95.752299 deg,
      new cmd heading: 95.736679 deg.

2025-08-22T05:17:26.631Z,1755839846.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670920 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:27.035Z,1755839847.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:27.038Z,1755839847.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 281.344482 m,
      bearing: 97.776603 deg,
      approach rate: -0.571848 m/s,
      LOS rate: -0.017709 deg/s,
      cmd heading: 95.736678 deg,
      new cmd heading: 95.722215 deg.

2025-08-22T05:17:27.040Z,1755839847.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670668 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:27.450Z,1755839847.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:27.453Z,1755839847.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:27.456Z,1755839847.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 281.106506 m,
      bearing: 97.769549 deg,
      approach rate: -0.570160 m/s,
      LOS rate: -0.016914 deg/s,
      cmd heading: 95.722212 deg,
      new cmd heading: 95.708093 deg.

2025-08-22T05:17:27.457Z,1755839847.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670421 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:27.616Z,1755839847.616 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:27.616Z,1755839847.616 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:27.616Z,1755839847.616 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:27.833Z,1755839847.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:27.836Z,1755839847.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 280.900024 m,
      bearing: 97.763591 deg,
      approach rate: -0.542533 m/s,
      LOS rate: -0.015667 deg/s,
      cmd heading: 95.708094 deg,
      new cmd heading: 95.696169 deg.

2025-08-22T05:17:27.837Z,1755839847.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670213 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:27.889Z,1755839847.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248687
2025-08-22T05:17:28.140Z,1755839848.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500174
2025-08-22T05:17:28.363Z,1755839848.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:28.373Z,1755839848.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 280.617645 m,
      bearing: 97.755535 deg,
      approach rate: -0.537413 m/s,
      LOS rate: -0.015348 deg/s,
      cmd heading: 95.696169 deg,
      new cmd heading: 95.680040 deg.

2025-08-22T05:17:28.374Z,1755839848.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669932 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:28.392Z,1755839848.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752195
2025-08-22T05:17:28.644Z,1755839848.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004065
2025-08-22T05:17:28.725Z,1755839848.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:28.752Z,1755839848.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 280.383942 m,
      bearing: 97.749037 deg,
      approach rate: -0.637806 m/s,
      LOS rate: -0.017747 deg/s,
      cmd heading: 95.680042 deg,
      new cmd heading: 95.667037 deg.

2025-08-22T05:17:28.753Z,1755839848.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669705 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:28.896Z,1755839848.896 [DAT](INFO): DAT read: Rx Time:05:17:27.6798

2025-08-22T05:17:28.897Z,1755839848.897 [DAT](INFO): Rx dataTimestamp_ set to:1755839848.896513
2025-08-22T05:17:28.897Z,1755839848.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257267
2025-08-22T05:17:29.121Z,1755839849.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:29.124Z,1755839849.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 280.166809 m,
      bearing: 97.742991 deg,
      approach rate: -0.568428 m/s,
      LOS rate: -0.015840 deg/s,
      cmd heading: 95.667038 deg,
      new cmd heading: 95.654937 deg.

2025-08-22T05:17:29.125Z,1755839849.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669494 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:29.149Z,1755839849.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508920
2025-08-22T05:17:29.405Z,1755839849.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764320
2025-08-22T05:17:29.519Z,1755839849.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:29.521Z,1755839849.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 289.04 m.
2025-08-22T05:17:29.540Z,1755839849.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 289.036804 m,
      nav range: 279.926392 m,
      bearing: 97.737135 deg,
      approach rate: -0.580546 m/s,
      LOS rate: -0.014153 deg/s,
      cmd heading: 95.654935 deg,
      new cmd heading: 95.643212 deg.

2025-08-22T05:17:29.541Z,1755839849.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669289 target range: 289.036804 and range: 290.70 m.
2025-08-22T05:17:29.658Z,1755839849.658 [DAT](INFO): DAT read: 05:17:27.6798 LVL= 28288, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.28,-1.552, 3.075,-1.503,-1.920, PHS= 0.470,-1.244, 0.373, RAW= 147.1,   4.9, CAL= 146.5,   5.2, ROT=   3.5,  -5.2

2025-08-22T05:17:29.659Z,1755839849.659 [DAT](INFO): got valid direction response:
 05:17:27.6798 LVL= 28288, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.28,-1.552, 3.075,-1.503,-1.920, PHS= 0.470,-1.244, 0.373, RAW= 147.1,   4.9, CAL= 146.5,   5.2, ROT=   3.5,  -5.2

2025-08-22T05:17:29.660Z,1755839849.660 [DAT](INFO): DAT read: Bearing 240.9,  15.4 (Local)

2025-08-22T05:17:29.661Z,1755839849.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.9,  15.4 (Local)

2025-08-22T05:17:29.662Z,1755839849.662 [DAT](INFO): DAT read: Range 11 to 50 : 288.5 m  (Round-trip  384.7 ms) speed  0.4 m/s

2025-08-22T05:17:29.663Z,1755839849.663 [DAT](INFO): DAT read: user:7384>

2025-08-22T05:17:29.664Z,1755839849.664 [DAT](INFO): DAT read: Tx time:05:17:28.7925

2025-08-22T05:17:29.664Z,1755839849.664 [DAT](INFO): Ping request sent.
2025-08-22T05:17:29.664Z,1755839849.664 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:29.665Z,1755839849.665 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:29.666Z,1755839849.666 [DAT](INFO): direction in FSK: [0.994027,0.060797,0.090633]
2025-08-22T05:17:29.666Z,1755839849.666 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:29.666Z,1755839849.666 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:29.670Z,1755839849.670 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:29.670Z,1755839849.670 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:29.922Z,1755839849.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 288.500000 m,
      deltaT: 4.056062 s,
      deltaX: -2.200012 m,
      approachRate: -0.542401 m/s,
      rangeRepo size: 4

2025-08-22T05:17:29.924Z,1755839849.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 286.847748 m,
      bearing: 97.786181 deg,
      lat: 36.779281 deg,
      lon: -121.859658 deg,
      deltaT: 4.056062 s,
      deltaX: -2.189056 m,
      approachRate: -0.539700 m/s,
      posRepo size: 4

2025-08-22T05:17:29.925Z,1755839849.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:29.931Z,1755839849.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 279.208984 m,
      bearing: 97.745665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014153 deg/s,
      cmd heading: 95.643214 deg,
      new cmd heading: 95.631892 deg.

2025-08-22T05:17:29.934Z,1755839849.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669091 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:30.352Z,1755839850.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:30.375Z,1755839850.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 278.969421 m,
      bearing: 97.740078 deg,
      approach rate: -0.581313 m/s,
      LOS rate: -0.013569 deg/s,
      cmd heading: 95.631890 deg,
      new cmd heading: 95.620706 deg.

2025-08-22T05:17:30.376Z,1755839850.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668896 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:30.751Z,1755839850.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:30.753Z,1755839850.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 278.713135 m,
      bearing: 97.733798 deg,
      approach rate: -0.614350 m/s,
      LOS rate: -0.015068 deg/s,
      cmd heading: 95.620709 deg,
      new cmd heading: 95.608137 deg.

2025-08-22T05:17:30.754Z,1755839850.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668677 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:31.113Z,1755839851.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:31.116Z,1755839851.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 278.500549 m,
      bearing: 97.728712 deg,
      approach rate: -0.586671 m/s,
      LOS rate: -0.014046 deg/s,
      cmd heading: 95.608134 deg,
      new cmd heading: 95.597955 deg.

2025-08-22T05:17:31.117Z,1755839851.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668499 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:31.569Z,1755839851.569 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:31.571Z,1755839851.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:31.578Z,1755839851.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 278.230682 m,
      bearing: 97.722590 deg,
      approach rate: -0.589205 m/s,
      LOS rate: -0.013380 deg/s,
      cmd heading: 95.597957 deg,
      new cmd heading: 95.585701 deg.

2025-08-22T05:17:31.579Z,1755839851.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668285 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:31.672Z,1755839851.672 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:31.672Z,1755839851.672 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:31.672Z,1755839851.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:31.924Z,1755839851.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259823
2025-08-22T05:17:31.937Z,1755839851.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:31.940Z,1755839851.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 278.009949 m,
      bearing: 97.717590 deg,
      approach rate: -0.602636 m/s,
      LOS rate: -0.013661 deg/s,
      cmd heading: 95.585704 deg,
      new cmd heading: 95.575696 deg.

2025-08-22T05:17:31.941Z,1755839851.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668111 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:32.177Z,1755839852.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512387
2025-08-22T05:17:32.415Z,1755839852.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:32.421Z,1755839852.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 277.739197 m,
      bearing: 97.711446 deg,
      approach rate: -0.571310 m/s,
      LOS rate: -0.012977 deg/s,
      cmd heading: 95.575698 deg,
      new cmd heading: 95.563398 deg.

2025-08-22T05:17:32.422Z,1755839852.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667896 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:32.429Z,1755839852.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764066
2025-08-22T05:17:32.681Z,1755839852.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016054
2025-08-22T05:17:32.800Z,1755839852.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:32.803Z,1755839852.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 277.486206 m,
      bearing: 97.705815 deg,
      approach rate: -0.649739 m/s,
      LOS rate: -0.014474 deg/s,
      cmd heading: 95.563396 deg,
      new cmd heading: 95.552125 deg.

2025-08-22T05:17:32.804Z,1755839852.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667699 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:32.932Z,1755839852.932 [DAT](INFO): DAT read: Rx Time:05:17:31.5783

2025-08-22T05:17:32.933Z,1755839852.933 [DAT](INFO): Rx dataTimestamp_ set to:1755839852.932418
2025-08-22T05:17:32.933Z,1755839852.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268698
2025-08-22T05:17:33.184Z,1755839853.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519804
2025-08-22T05:17:33.189Z,1755839853.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 286.85 m.
2025-08-22T05:17:33.192Z,1755839853.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 286.847748 m,
      nav range: 277.252686 m,
      bearing: 97.700612 deg,
      approach rate: -0.600895 m/s,
      LOS rate: -0.013402 deg/s,
      cmd heading: 95.552127 deg,
      new cmd heading: 95.541710 deg.

2025-08-22T05:17:33.193Z,1755839853.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667517 target range: 286.847748 and range: 288.50 m.
2025-08-22T05:17:33.444Z,1755839853.444 [DAT](INFO): DAT read: 05:17:31.5783 LVL= 21744, 27345, 23842, 31219, AGC= 68, IDX= 416, 0.18,-1.076,-2.759,-1.031,-1.493, PHS= 0.519,-1.221, 0.418, RAW= 147.0,   3.4, CAL= 146.4,   3.5, ROT=   3.6,  -3.5

2025-08-22T05:17:33.445Z,1755839853.445 [DAT](INFO): got valid direction response:
 05:17:31.5783 LVL= 21744, 27345, 23842, 31219, AGC= 68, IDX= 416, 0.18,-1.076,-2.759,-1.031,-1.493, PHS= 0.519,-1.221, 0.418, RAW= 147.0,   3.4, CAL= 146.4,   3.5, ROT=   3.6,  -3.5

2025-08-22T05:17:33.446Z,1755839853.446 [DAT](INFO): DAT read: Bearing 238.7,  16.3 (Local)

2025-08-22T05:17:33.446Z,1755839853.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.7,  16.3 (Local)

2025-08-22T05:17:33.449Z,1755839853.449 [DAT](INFO): DAT read: Range 11 to 50 : 286.2 m  (Round-trip  381.6 ms) speed  0.5 m/s

2025-08-22T05:17:33.449Z,1755839853.449 [DAT](INFO): DAT read: user:7385>

2025-08-22T05:17:33.450Z,1755839853.450 [DAT](INFO): DAT read: Tx time:05:17:32.6910

2025-08-22T05:17:33.450Z,1755839853.450 [DAT](INFO): Ping request sent.
2025-08-22T05:17:33.450Z,1755839853.450 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:33.451Z,1755839853.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:33.465Z,1755839853.465 [DAT](INFO): direction in FSK: [0.996165,0.062673,0.061049]
2025-08-22T05:17:33.466Z,1755839853.466 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:33.466Z,1755839853.466 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:33.469Z,1755839853.469 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:33.469Z,1755839853.469 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:33.646Z,1755839853.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 286.200012 m,
      deltaT: 3.784943 s,
      deltaX: -2.299988 m,
      approachRate: -0.607668 m/s,
      rangeRepo size: 4

2025-08-22T05:17:33.653Z,1755839853.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 284.551544 m,
      bearing: 97.521250 deg,
      lat: 36.779281 deg,
      lon: -121.859693 deg,
      deltaT: 3.784943 s,
      deltaX: -2.296204 m,
      approachRate: -0.606668 m/s,
      posRepo size: 4

2025-08-22T05:17:33.653Z,1755839853.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:33.658Z,1755839853.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 273.924164 m,
      bearing: 97.782213 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013402 deg/s,
      cmd heading: 95.541711 deg,
      new cmd heading: 95.529477 deg.

2025-08-22T05:17:33.659Z,1755839853.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667304 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:33.996Z,1755839853.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:33.998Z,1755839853.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:34.001Z,1755839854.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 273.693176 m,
      bearing: 97.777967 deg,
      approach rate: -0.655557 m/s,
      LOS rate: -0.012062 deg/s,
      cmd heading: 95.529478 deg,
      new cmd heading: 95.520977 deg.

2025-08-22T05:17:34.002Z,1755839854.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667156 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:34.192Z,1755839854.192 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:34.192Z,1755839854.192 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:34.192Z,1755839854.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:34.444Z,1755839854.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993792
2025-08-22T05:17:34.487Z,1755839854.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:34.490Z,1755839854.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 273.398865 m,
      bearing: 97.772874 deg,
      approach rate: -0.621989 m/s,
      LOS rate: -0.010776 deg/s,
      cmd heading: 95.520974 deg,
      new cmd heading: 95.510777 deg.

2025-08-22T05:17:34.491Z,1755839854.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666978 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:34.697Z,1755839854.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246540
2025-08-22T05:17:34.834Z,1755839854.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:34.844Z,1755839854.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 273.184235 m,
      bearing: 97.769147 deg,
      approach rate: -0.591820 m/s,
      LOS rate: -0.010284 deg/s,
      cmd heading: 95.510777 deg,
      new cmd heading: 95.503318 deg.

2025-08-22T05:17:34.845Z,1755839854.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666847 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:34.948Z,1755839854.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497923
2025-08-22T05:17:35.200Z,1755839855.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749824
2025-08-22T05:17:35.231Z,1755839855.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:35.234Z,1755839855.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 272.926727 m,
      bearing: 97.764678 deg,
      approach rate: -0.647822 m/s,
      LOS rate: -0.011254 deg/s,
      cmd heading: 95.503318 deg,
      new cmd heading: 95.494371 deg.

2025-08-22T05:17:35.235Z,1755839855.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666691 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:35.456Z,1755839855.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004290
2025-08-22T05:17:35.648Z,1755839855.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:35.650Z,1755839855.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 272.663025 m,
      bearing: 97.760277 deg,
      approach rate: -0.633405 m/s,
      LOS rate: -0.010581 deg/s,
      cmd heading: 95.494371 deg,
      new cmd heading: 95.485560 deg.

2025-08-22T05:17:35.652Z,1755839855.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666537 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:35.705Z,1755839855.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254540
2025-08-22T05:17:35.956Z,1755839855.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505731
2025-08-22T05:17:36.073Z,1755839856.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:36.079Z,1755839856.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:36.082Z,1755839856.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 272.405029 m,
      bearing: 97.755962 deg,
      approach rate: -0.603386 m/s,
      LOS rate: -0.010100 deg/s,
      cmd heading: 95.485560 deg,
      new cmd heading: 95.476922 deg.

2025-08-22T05:17:36.083Z,1755839856.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666387 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:36.208Z,1755839856.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758036
2025-08-22T05:17:36.464Z,1755839856.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012951
2025-08-22T05:17:36.518Z,1755839856.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:36.521Z,1755839856.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 272.114777 m,
      bearing: 97.750817 deg,
      approach rate: -0.655737 m/s,
      LOS rate: -0.011636 deg/s,
      cmd heading: 95.476919 deg,
      new cmd heading: 95.466618 deg.

2025-08-22T05:17:36.522Z,1755839856.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666207 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:36.712Z,1755839856.712 [DAT](INFO): DAT read: Rx Time:05:17:35.4734

2025-08-22T05:17:36.713Z,1755839856.713 [DAT](INFO): Rx dataTimestamp_ set to:1755839856.712458
2025-08-22T05:17:36.713Z,1755839856.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262831
2025-08-22T05:17:36.876Z,1755839856.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:36.878Z,1755839856.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 271.890198 m,
      bearing: 97.746843 deg,
      approach rate: -0.627033 m/s,
      LOS rate: -0.011107 deg/s,
      cmd heading: 95.466620 deg,
      new cmd heading: 95.458664 deg.

2025-08-22T05:17:36.904Z,1755839856.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666068 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:36.965Z,1755839856.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514251
2025-08-22T05:17:37.219Z,1755839857.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767630
2025-08-22T05:17:37.395Z,1755839857.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.55 m.
2025-08-22T05:17:37.398Z,1755839857.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 284.551544 m,
      nav range: 271.564758 m,
      bearing: 97.741061 deg,
      approach rate: -0.626710 m/s,
      LOS rate: -0.011148 deg/s,
      cmd heading: 95.458662 deg,
      new cmd heading: 95.447085 deg.

2025-08-22T05:17:37.399Z,1755839857.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665866 target range: 284.551544 and range: 286.20 m.
2025-08-22T05:17:37.508Z,1755839857.508 [DAT](INFO): DAT read: 05:17:35.4734 LVL= 26352, 32753, 29810, 32755, AGC= 66, IDX= 415,-0.26,-0.453,-2.129,-0.430,-0.899, PHS= 0.549,-1.184, 0.426, RAW= 146.3,   2.5, CAL= 145.7,   2.7, ROT=   4.3,  -2.7

2025-08-22T05:17:37.509Z,1755839857.509 [DAT](INFO): got valid direction response:
 05:17:35.4734 LVL= 26352, 32753, 29810, 32755, AGC= 66, IDX= 415,-0.26,-0.453,-2.129,-0.430,-0.899, PHS= 0.549,-1.184, 0.426, RAW= 146.3,   2.5, CAL= 145.7,   2.7, ROT=   4.3,  -2.7

2025-08-22T05:17:37.510Z,1755839857.510 [DAT](INFO): DAT read: Bearing 237.6,  17.6 (Local)

2025-08-22T05:17:37.511Z,1755839857.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.6,  17.6 (Local)

2025-08-22T05:17:37.520Z,1755839857.520 [DAT](INFO): DAT read: Range 11 to 50 : 283.7 m  (Round-trip  378.3 ms) speed  0.4 m/s

2025-08-22T05:17:37.521Z,1755839857.521 [DAT](INFO): DAT read: user:7386>

2025-08-22T05:17:37.522Z,1755839857.522 [DAT](INFO): DAT read: Tx time:05:17:36.5910

2025-08-22T05:17:37.522Z,1755839857.522 [DAT](INFO): Ping request sent.
2025-08-22T05:17:37.522Z,1755839857.522 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:37.522Z,1755839857.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:37.528Z,1755839857.528 [DAT](INFO): direction in FSK: [0.996078,0.074895,0.047106]
2025-08-22T05:17:37.529Z,1755839857.529 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:37.529Z,1755839857.529 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:37.544Z,1755839857.544 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:37.544Z,1755839857.544 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:37.910Z,1755839857.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 283.700012 m,
      deltaT: 4.033072 s,
      deltaX: -2.500000 m,
      approachRate: -0.619875 m/s,
      rangeRepo size: 4

2025-08-22T05:17:37.929Z,1755839857.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 282.063873 m,
      bearing: 98.310519 deg,
      lat: 36.779281 deg,
      lon: -121.859695 deg,
      deltaT: 4.033072 s,
      deltaX: -2.487671 m,
      approachRate: -0.616818 m/s,
      posRepo size: 4

2025-08-22T05:17:37.929Z,1755839857.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:37.938Z,1755839857.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 271.028961 m,
      bearing: 97.742540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011148 deg/s,
      cmd heading: 95.447085 deg,
      new cmd heading: 95.435612 deg.

2025-08-22T05:17:37.944Z,1755839857.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665666 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:38.310Z,1755839858.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:38.312Z,1755839858.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:38.315Z,1755839858.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 270.773438 m,
      bearing: 97.738837 deg,
      approach rate: -0.634802 m/s,
      LOS rate: -0.009208 deg/s,
      cmd heading: 95.435610 deg,
      new cmd heading: 95.428198 deg.

2025-08-22T05:17:38.316Z,1755839858.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665536 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:38.478Z,1755839858.478 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:38.478Z,1755839858.478 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:38.479Z,1755839858.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:38.728Z,1755839858.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206121
2025-08-22T05:17:38.732Z,1755839858.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:38.735Z,1755839858.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 270.506531 m,
      bearing: 97.734616 deg,
      approach rate: -0.635907 m/s,
      LOS rate: -0.010067 deg/s,
      cmd heading: 95.428200 deg,
      new cmd heading: 95.419749 deg.

2025-08-22T05:17:38.736Z,1755839858.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665389 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:38.980Z,1755839858.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457905
2025-08-22T05:17:39.137Z,1755839859.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:39.151Z,1755839859.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 270.251831 m,
      bearing: 97.730588 deg,
      approach rate: -0.629042 m/s,
      LOS rate: -0.009956 deg/s,
      cmd heading: 95.419751 deg,
      new cmd heading: 95.411688 deg.

2025-08-22T05:17:39.156Z,1755839859.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665248 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:39.233Z,1755839859.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710991
2025-08-22T05:17:39.488Z,1755839859.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964551
2025-08-22T05:17:39.590Z,1755839859.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:39.594Z,1755839859.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 269.970459 m,
      bearing: 97.726000 deg,
      approach rate: -0.620633 m/s,
      LOS rate: -0.010131 deg/s,
      cmd heading: 95.411691 deg,
      new cmd heading: 95.402505 deg.

2025-08-22T05:17:39.595Z,1755839859.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665088 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:39.736Z,1755839859.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213949
2025-08-22T05:17:39.933Z,1755839859.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:39.952Z,1755839859.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 269.743713 m,
      bearing: 97.722280 deg,
      approach rate: -0.662118 m/s,
      LOS rate: -0.010873 deg/s,
      cmd heading: 95.402505 deg,
      new cmd heading: 95.395058 deg.

2025-08-22T05:17:39.953Z,1755839859.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664958 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:39.989Z,1755839859.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466466
2025-08-22T05:17:40.240Z,1755839860.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718008
2025-08-22T05:17:40.362Z,1755839860.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:40.368Z,1755839860.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:40.375Z,1755839860.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 269.473663 m,
      bearing: 97.717817 deg,
      approach rate: -0.619881 m/s,
      LOS rate: -0.010254 deg/s,
      cmd heading: 95.395060 deg,
      new cmd heading: 95.386126 deg.

2025-08-22T05:17:40.376Z,1755839860.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664802 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:40.495Z,1755839860.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972387
2025-08-22T05:17:40.746Z,1755839860.746 [DAT](INFO): DAT read: Rx Time:05:17:39.3701

2025-08-22T05:17:40.746Z,1755839860.746 [DAT](INFO): Rx dataTimestamp_ set to:1755839860.746221
2025-08-22T05:17:40.747Z,1755839860.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224802
2025-08-22T05:17:40.793Z,1755839860.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:40.800Z,1755839860.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 269.200195 m,
      bearing: 97.712095 deg,
      approach rate: -0.643884 m/s,
      LOS rate: -0.013487 deg/s,
      cmd heading: 95.386126 deg,
      new cmd heading: 95.374670 deg.

2025-08-22T05:17:40.801Z,1755839860.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664602 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:40.996Z,1755839860.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473999
2025-08-22T05:17:41.213Z,1755839861.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.06 m.
2025-08-22T05:17:41.220Z,1755839861.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 282.063873 m,
      nav range: 268.942596 m,
      bearing: 97.706665 deg,
      approach rate: -0.613116 m/s,
      LOS rate: -0.012938 deg/s,
      cmd heading: 95.374672 deg,
      new cmd heading: 95.363800 deg.

2025-08-22T05:17:41.221Z,1755839861.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664412 target range: 282.063873 and range: 283.70 m.
2025-08-22T05:17:41.254Z,1755839861.254 [DAT](INFO): DAT read: 05:17:39.3701 LVL= 30192, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.16, 0.599,-1.171, 0.616, 0.173, PHS= 0.528,-1.298, 0.399, RAW= 146.4,   4.3, CAL= 145.8,   4.6, ROT=   4.2,  -4.6

2025-08-22T05:17:41.255Z,1755839861.255 [DAT](INFO): got valid direction response:
 05:17:39.3701 LVL= 30192, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.16, 0.599,-1.171, 0.616, 0.173, PHS= 0.528,-1.298, 0.399, RAW= 146.4,   4.3, CAL= 145.8,   4.6, ROT=   4.2,  -4.6

2025-08-22T05:17:41.256Z,1755839861.256 [DAT](INFO): DAT read: Bearing 239.6,  17.6 (Local)

2025-08-22T05:17:41.257Z,1755839861.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.6,  17.6 (Local)

2025-08-22T05:17:41.258Z,1755839861.258 [DAT](INFO): DAT read: Range 11 to 50 : 281.2 m  (Round-trip  375.0 ms) speed  0.4 m/s

2025-08-22T05:17:41.259Z,1755839861.259 [DAT](INFO): DAT read: user:7387>

2025-08-22T05:17:41.259Z,1755839861.259 [DAT](INFO): DAT read: Tx time:05:17:40.4910

2025-08-22T05:17:41.260Z,1755839861.260 [DAT](INFO): Ping request sent.
2025-08-22T05:17:41.260Z,1755839861.260 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:41.260Z,1755839861.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:41.261Z,1755839861.261 [DAT](INFO): direction in FSK: [0.994102,0.073002,0.080199]
2025-08-22T05:17:41.261Z,1755839861.261 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:41.262Z,1755839861.262 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:41.269Z,1755839861.269 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:41.269Z,1755839861.269 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:41.623Z,1755839861.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 281.200012 m,
      deltaT: 3.777971 s,
      deltaX: -2.500000 m,
      approachRate: -0.661731 m/s,
      rangeRepo size: 4

2025-08-22T05:17:41.625Z,1755839861.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 279.573730 m,
      bearing: 98.270103 deg,
      lat: 36.779281 deg,
      lon: -121.859698 deg,
      deltaT: 3.777971 s,
      deltaX: -2.490143 m,
      approachRate: -0.659122 m/s,
      posRepo size: 4

2025-08-22T05:17:41.626Z,1755839861.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:41.645Z,1755839861.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 268.453705 m,
      bearing: 97.708268 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012938 deg/s,
      cmd heading: 95.363798 deg,
      new cmd heading: 95.353216 deg.

2025-08-22T05:17:41.646Z,1755839861.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664228 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:41.995Z,1755839861.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:41.998Z,1755839861.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 268.218536 m,
      bearing: 97.703733 deg,
      approach rate: -0.630462 m/s,
      LOS rate: -0.012169 deg/s,
      cmd heading: 95.353218 deg,
      new cmd heading: 95.344140 deg.

2025-08-22T05:17:42.016Z,1755839862.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664069 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:42.398Z,1755839862.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:42.422Z,1755839862.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:42.425Z,1755839862.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 267.966217 m,
      bearing: 97.698875 deg,
      approach rate: -0.590702 m/s,
      LOS rate: -0.011382 deg/s,
      cmd heading: 95.344141 deg,
      new cmd heading: 95.334417 deg.

2025-08-22T05:17:42.426Z,1755839862.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663899 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:42.515Z,1755839862.515 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:42.516Z,1755839862.516 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:42.517Z,1755839862.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:42.764Z,1755839862.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504262
2025-08-22T05:17:42.850Z,1755839862.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:42.857Z,1755839862.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 267.702271 m,
      bearing: 97.692835 deg,
      approach rate: -0.616569 m/s,
      LOS rate: -0.014123 deg/s,
      cmd heading: 95.334414 deg,
      new cmd heading: 95.322323 deg.

2025-08-22T05:17:42.858Z,1755839862.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663688 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:43.016Z,1755839863.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756431
2025-08-22T05:17:43.212Z,1755839863.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:43.214Z,1755839863.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 267.463013 m,
      bearing: 97.687358 deg,
      approach rate: -0.662859 m/s,
      LOS rate: -0.015187 deg/s,
      cmd heading: 95.322325 deg,
      new cmd heading: 95.311361 deg.

2025-08-22T05:17:43.216Z,1755839863.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663497 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:43.269Z,1755839863.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009236
2025-08-22T05:17:43.523Z,1755839863.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262399
2025-08-22T05:17:43.642Z,1755839863.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:43.645Z,1755839863.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 267.195190 m,
      bearing: 97.681933 deg,
      approach rate: -0.621939 m/s,
      LOS rate: -0.012611 deg/s,
      cmd heading: 95.311363 deg,
      new cmd heading: 95.300501 deg.

2025-08-22T05:17:43.646Z,1755839863.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663308 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:43.772Z,1755839863.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512288
2025-08-22T05:17:44.024Z,1755839864.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764435
2025-08-22T05:17:44.026Z,1755839864.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:44.029Z,1755839864.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 266.957153 m,
      bearing: 97.677111 deg,
      approach rate: -0.619695 m/s,
      LOS rate: -0.012566 deg/s,
      cmd heading: 95.300503 deg,
      new cmd heading: 95.290849 deg.

2025-08-22T05:17:44.030Z,1755839864.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663139 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:44.276Z,1755839864.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016263
2025-08-22T05:17:44.421Z,1755839864.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:44.424Z,1755839864.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:44.426Z,1755839864.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 266.709137 m,
      bearing: 97.672089 deg,
      approach rate: -0.624402 m/s,
      LOS rate: -0.012653 deg/s,
      cmd heading: 95.290851 deg,
      new cmd heading: 95.280800 deg.

2025-08-22T05:17:44.428Z,1755839864.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662964 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:44.532Z,1755839864.532 [DAT](INFO): DAT read: Rx Time:05:17:43.2666

2025-08-22T05:17:44.534Z,1755839864.534 [DAT](INFO): Rx dataTimestamp_ set to:1755839864.533084
2025-08-22T05:17:44.537Z,1755839864.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276142
2025-08-22T05:17:44.780Z,1755839864.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520292
2025-08-22T05:17:44.862Z,1755839864.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.57 m.
2025-08-22T05:17:44.865Z,1755839864.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 279.573730 m,
      nav range: 266.434509 m,
      bearing: 97.666644 deg,
      approach rate: -0.625886 m/s,
      LOS rate: -0.012424 deg/s,
      cmd heading: 95.280797 deg,
      new cmd heading: 95.269895 deg.

2025-08-22T05:17:44.866Z,1755839864.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662773 target range: 279.573730 and range: 281.20 m.
2025-08-22T05:17:45.045Z,1755839865.045 [DAT](INFO): DAT read: 05:17:43.2666 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.00,-2.802, 1.763,-2.771, 3.031, PHS= 0.553,-1.223, 0.437, RAW= 146.7,   2.7, CAL= 146.0,   2.8, ROT=   4.0,  -2.8

2025-08-22T05:17:45.054Z,1755839865.054 [DAT](INFO): got valid direction response:
 05:17:43.2666 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409, 0.00,-2.802, 1.763,-2.771, 3.031, PHS= 0.553,-1.223, 0.437, RAW= 146.7,   2.7, CAL= 146.0,   2.8, ROT=   4.0,  -2.8

2025-08-22T05:17:45.055Z,1755839865.055 [DAT](INFO): DAT read: Bearing 238.2,  17.3 (Local)

2025-08-22T05:17:45.055Z,1755839865.055 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.2,  17.3 (Local)

2025-08-22T05:17:45.057Z,1755839865.057 [DAT](INFO): DAT read: Range 11 to 50 : 278.6 m  (Round-trip  371.5 ms) speed  0.4 m/s

2025-08-22T05:17:45.058Z,1755839865.058 [DAT](INFO): DAT read: user:7388>

2025-08-22T05:17:45.058Z,1755839865.058 [DAT](INFO): DAT read: Tx time:05:17:44.3910

2025-08-22T05:17:45.058Z,1755839865.058 [DAT](INFO): Ping request sent.
2025-08-22T05:17:45.059Z,1755839865.059 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:45.091Z,1755839865.091 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:45.092Z,1755839865.092 [DAT](INFO): direction in FSK: [0.996373,0.069673,0.048850]
2025-08-22T05:17:45.093Z,1755839865.093 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:45.093Z,1755839865.093 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:45.100Z,1755839865.100 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:45.100Z,1755839865.100 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:45.253Z,1755839865.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 278.600006 m,
      deltaT: 3.786344 s,
      deltaX: -2.600006 m,
      approachRate: -0.686680 m/s,
      rangeRepo size: 4

2025-08-22T05:17:45.268Z,1755839865.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 276.988800 m,
      bearing: 98.063134 deg,
      lat: 36.779264 deg,
      lon: -121.859696 deg,
      deltaT: 3.786344 s,
      deltaX: -2.584930 m,
      approachRate: -0.682698 m/s,
      posRepo size: 4

2025-08-22T05:17:45.268Z,1755839865.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:45.275Z,1755839865.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 266.617798 m,
      bearing: 98.062230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012424 deg/s,
      cmd heading: 95.269896 deg,
      new cmd heading: 95.260193 deg.

2025-08-22T05:17:45.276Z,1755839865.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662604 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:45.690Z,1755839865.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:45.697Z,1755839865.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 266.344788 m,
      bearing: 98.057704 deg,
      approach rate: -0.624346 m/s,
      LOS rate: -0.010361 deg/s,
      cmd heading: 95.260191 deg,
      new cmd heading: 95.251130 deg.

2025-08-22T05:17:45.698Z,1755839865.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662446 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:46.043Z,1755839866.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:46.046Z,1755839866.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 266.115082 m,
      bearing: 98.053891 deg,
      approach rate: -0.650550 m/s,
      LOS rate: -0.010808 deg/s,
      cmd heading: 95.251127 deg,
      new cmd heading: 95.243495 deg.

2025-08-22T05:17:46.047Z,1755839866.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662313 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:46.510Z,1755839866.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:46.512Z,1755839866.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:46.515Z,1755839866.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 265.822021 m,
      bearing: 98.049036 deg,
      approach rate: -0.624950 m/s,
      LOS rate: -0.010366 deg/s,
      cmd heading: 95.243498 deg,
      new cmd heading: 95.233776 deg.

2025-08-22T05:17:46.516Z,1755839866.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662143 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:46.545Z,1755839866.545 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:46.545Z,1755839866.545 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:46.545Z,1755839866.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:46.798Z,1755839866.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738886
2025-08-22T05:17:46.952Z,1755839866.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:46.955Z,1755839866.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 265.542816 m,
      bearing: 98.044938 deg,
      approach rate: -0.633885 m/s,
      LOS rate: -0.009313 deg/s,
      cmd heading: 95.233778 deg,
      new cmd heading: 95.225574 deg.

2025-08-22T05:17:46.956Z,1755839866.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662000 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:47.048Z,1755839867.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989578
2025-08-22T05:17:47.301Z,1755839867.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242241
2025-08-22T05:17:47.424Z,1755839867.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:47.426Z,1755839867.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 265.244537 m,
      bearing: 98.040555 deg,
      approach rate: -0.633307 m/s,
      LOS rate: -0.009316 deg/s,
      cmd heading: 95.225575 deg,
      new cmd heading: 95.216800 deg.

2025-08-22T05:17:47.427Z,1755839867.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661847 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:47.554Z,1755839867.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494924
2025-08-22T05:17:47.806Z,1755839867.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746931
2025-08-22T05:17:47.903Z,1755839867.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:47.906Z,1755839867.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 264.934418 m,
      bearing: 98.036689 deg,
      approach rate: -0.646367 m/s,
      LOS rate: -0.008067 deg/s,
      cmd heading: 95.216799 deg,
      new cmd heading: 95.209058 deg.

2025-08-22T05:17:47.907Z,1755839867.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661712 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:48.056Z,1755839868.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997646
2025-08-22T05:17:48.274Z,1755839868.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:48.277Z,1755839868.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 264.694000 m,
      bearing: 98.033676 deg,
      approach rate: -0.648541 m/s,
      LOS rate: -0.008136 deg/s,
      cmd heading: 95.209060 deg,
      new cmd heading: 95.203028 deg.

2025-08-22T05:17:48.278Z,1755839868.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661606 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:48.315Z,1755839868.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255724
2025-08-22T05:17:48.567Z,1755839868.567 [DAT](INFO): DAT read: Rx Time:05:17:47.1634

2025-08-22T05:17:48.568Z,1755839868.568 [DAT](INFO): Rx dataTimestamp_ set to:1755839868.567526
2025-08-22T05:17:48.568Z,1755839868.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509738
2025-08-22T05:17:48.732Z,1755839868.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:48.734Z,1755839868.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 276.99 m.
2025-08-22T05:17:48.741Z,1755839868.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 276.988800 m,
      nav range: 264.393585 m,
      bearing: 98.029152 deg,
      approach rate: -0.653100 m/s,
      LOS rate: -0.009847 deg/s,
      cmd heading: 95.203029 deg,
      new cmd heading: 95.193970 deg.

2025-08-22T05:17:48.742Z,1755839868.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661448 target range: 276.988800 and range: 278.60 m.
2025-08-22T05:17:48.818Z,1755839868.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.758834
2025-08-22T05:17:49.074Z,1755839869.074 [DAT](INFO): DAT read: 05:17:47.1634 LVL= 32080, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.10,-0.331,-2.085,-0.280,-0.754, PHS= 0.524,-1.286, 0.430, RAW= 147.3,   3.8, CAL= 146.7,   4.0, ROT=   3.3,  -4.0

2025-08-22T05:17:49.080Z,1755839869.080 [DAT](INFO): got valid direction response:
 05:17:47.1634 LVL= 32080, 32753, 32754, 32755, AGC= 69, IDX= 408, 0.10,-0.331,-2.085,-0.280,-0.754, PHS= 0.524,-1.286, 0.430, RAW= 147.3,   3.8, CAL= 146.7,   4.0, ROT=   3.3,  -4.0

2025-08-22T05:17:49.081Z,1755839869.081 [DAT](INFO): DAT read: Bearing 240.2,  16.6 (Local)

2025-08-22T05:17:49.081Z,1755839869.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.2,  16.6 (Local)

2025-08-22T05:17:49.082Z,1755839869.082 [DAT](INFO): DAT read: Range 11 to 50 : 276.2 m  (Round-trip  368.3 ms) speed  0.5 m/s

2025-08-22T05:17:49.083Z,1755839869.083 [DAT](INFO): DAT read: user:7389>

2025-08-22T05:17:49.084Z,1755839869.084 [DAT](INFO): DAT read: Tx time:05:17:48.2910

2025-08-22T05:17:49.084Z,1755839869.084 [DAT](INFO): Ping request sent.
2025-08-22T05:17:49.084Z,1755839869.084 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:49.085Z,1755839869.085 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:49.085Z,1755839869.085 [DAT](INFO): direction in FSK: [0.995910,0.057424,0.069756]
2025-08-22T05:17:49.086Z,1755839869.086 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:49.086Z,1755839869.086 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:49.117Z,1755839869.117 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:49.117Z,1755839869.117 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:49.121Z,1755839869.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 276.200012 m,
      deltaT: 4.033995 s,
      deltaX: -2.399994 m,
      approachRate: -0.594942 m/s,
      rangeRepo size: 4

2025-08-22T05:17:49.128Z,1755839869.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 274.604675 m,
      bearing: 97.284537 deg,
      lat: 36.779264 deg,
      lon: -121.859696 deg,
      deltaT: 4.033995 s,
      deltaX: -2.384125 m,
      approachRate: -0.591008 m/s,
      posRepo size: 4

2025-08-22T05:17:49.129Z,1755839869.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:49.136Z,1755839869.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 264.160461 m,
      bearing: 98.025628 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009847 deg/s,
      cmd heading: 95.193972 deg,
      new cmd heading: 95.186356 deg.

2025-08-22T05:17:49.137Z,1755839869.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661315 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:49.539Z,1755839869.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:49.542Z,1755839869.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 263.865356 m,
      bearing: 98.021144 deg,
      approach rate: -0.711959 m/s,
      LOS rate: -0.010829 deg/s,
      cmd heading: 95.186356 deg,
      new cmd heading: 95.177380 deg.

2025-08-22T05:17:49.543Z,1755839869.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661159 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:49.963Z,1755839869.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:49.966Z,1755839869.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 263.580719 m,
      bearing: 98.016843 deg,
      approach rate: -0.670984 m/s,
      LOS rate: -0.010151 deg/s,
      cmd heading: 95.177382 deg,
      new cmd heading: 95.168769 deg.

2025-08-22T05:17:49.967Z,1755839869.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661008 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:50.343Z,1755839870.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:50.346Z,1755839870.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 263.320648 m,
      bearing: 98.012890 deg,
      approach rate: -0.677813 m/s,
      LOS rate: -0.010311 deg/s,
      cmd heading: 95.168769 deg,
      new cmd heading: 95.160856 deg.

2025-08-22T05:17:50.347Z,1755839870.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660870 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:50.759Z,1755839870.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:50.761Z,1755839870.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:50.764Z,1755839870.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 263.045105 m,
      bearing: 98.008816 deg,
      approach rate: -0.659325 m/s,
      LOS rate: -0.009760 deg/s,
      cmd heading: 95.160859 deg,
      new cmd heading: 95.152702 deg.

2025-08-22T05:17:50.765Z,1755839870.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660728 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:50.832Z,1755839870.832 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:50.832Z,1755839870.832 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:50.833Z,1755839870.833 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:51.084Z,1755839871.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999859
2025-08-22T05:17:51.136Z,1755839871.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:17:51.185Z,1755839871.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:51.192Z,1755839871.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 262.778534 m,
      bearing: 98.004857 deg,
      approach rate: -0.628462 m/s,
      LOS rate: -0.009344 deg/s,
      cmd heading: 95.152704 deg,
      new cmd heading: 95.144777 deg.

2025-08-22T05:17:51.193Z,1755839871.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660590 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:51.336Z,1755839871.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252012
2025-08-22T05:17:51.543Z,1755839871.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:51.546Z,1755839871.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 262.518311 m,
      bearing: 98.000953 deg,
      approach rate: -0.726579 m/s,
      LOS rate: -0.010909 deg/s,
      cmd heading: 95.144774 deg,
      new cmd heading: 95.136960 deg.

2025-08-22T05:17:51.547Z,1755839871.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660453 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:51.589Z,1755839871.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504811
2025-08-22T05:17:51.840Z,1755839871.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755891
2025-08-22T05:17:51.958Z,1755839871.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:51.961Z,1755839871.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 262.244690 m,
      bearing: 97.996845 deg,
      approach rate: -0.662601 m/s,
      LOS rate: -0.009960 deg/s,
      cmd heading: 95.136960 deg,
      new cmd heading: 95.128734 deg.

2025-08-22T05:17:51.962Z,1755839871.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660310 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:52.093Z,1755839872.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008317
2025-08-22T05:17:52.139Z,1755839872.139 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:17:52.344Z,1755839872.344 [DAT](INFO): DAT read: Rx Time:05:17:51.0596

2025-08-22T05:17:52.345Z,1755839872.345 [DAT](INFO): Rx dataTimestamp_ set to:1755839872.344588
2025-08-22T05:17:52.345Z,1755839872.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261132
2025-08-22T05:17:52.376Z,1755839872.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 274.60 m.
2025-08-22T05:17:52.378Z,1755839872.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 274.604675 m,
      nav range: 261.975372 m,
      bearing: 97.992766 deg,
      approach rate: -0.648674 m/s,
      LOS rate: -0.009834 deg/s,
      cmd heading: 95.128737 deg,
      new cmd heading: 95.120571 deg.

2025-08-22T05:17:52.383Z,1755839872.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660167 target range: 274.604675 and range: 276.20 m.
2025-08-22T05:17:52.596Z,1755839872.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511866
2025-08-22T05:17:52.857Z,1755839872.857 [DAT](INFO): DAT read: 05:17:51.0596 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.10,-0.744,-2.476,-0.700,-1.138, PHS= 0.496,-1.293, 0.394, RAW= 147.1,   4.7, CAL= 146.5,   5.0, ROT=   3.5,  -5.0

2025-08-22T05:17:52.858Z,1755839872.858 [DAT](INFO): got valid direction response:
 05:17:51.0596 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 402, 0.10,-0.744,-2.476,-0.700,-1.138, PHS= 0.496,-1.293, 0.394, RAW= 147.1,   4.7, CAL= 146.5,   5.0, ROT=   3.5,  -5.0

2025-08-22T05:17:52.860Z,1755839872.860 [DAT](INFO): DAT read: Bearing 242.2,  16.2 (Local)

2025-08-22T05:17:52.860Z,1755839872.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.2,  16.2 (Local)

2025-08-22T05:17:52.861Z,1755839872.861 [DAT](INFO): DAT read: Range 11 to 50 : 273.4 m  (Round-trip  364.6 ms) speed  0.4 m/s

2025-08-22T05:17:52.862Z,1755839872.862 [DAT](INFO): DAT read: user:7390>

2025-08-22T05:17:52.863Z,1755839872.863 [DAT](INFO): DAT read: Tx time:05:17:52.1909

2025-08-22T05:17:52.867Z,1755839872.867 [DAT](INFO): Ping request sent.
2025-08-22T05:17:52.867Z,1755839872.867 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:52.868Z,1755839872.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:17:52.869Z,1755839872.869 [DAT](INFO): direction in FSK: [0.994337,0.060816,0.087156]
2025-08-22T05:17:52.869Z,1755839872.869 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:52.869Z,1755839872.869 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:52.877Z,1755839872.877 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:52.877Z,1755839872.877 [DAT](INFO): publishing direction and range info
2025-08-22T05:17:52.924Z,1755839872.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 273.399994 m,
      deltaT: 3.781880 s,
      deltaX: -2.800018 m,
      approachRate: -0.740377 m/s,
      rangeRepo size: 4

2025-08-22T05:17:52.926Z,1755839872.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.820068 m,
      bearing: 97.559607 deg,
      lat: 36.779284 deg,
      lon: -121.859706 deg,
      deltaT: 3.781880 s,
      deltaX: -2.784607 m,
      approachRate: -0.736302 m/s,
      posRepo size: 4

2025-08-22T05:17:52.932Z,1755839872.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:52.934Z,1755839872.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 260.505157 m,
      bearing: 97.525719 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009834 deg/s,
      cmd heading: 95.120568 deg,
      new cmd heading: 95.109867 deg.

2025-08-22T05:17:52.944Z,1755839872.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659980 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:53.289Z,1755839873.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:53.292Z,1755839873.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 260.222046 m,
      bearing: 97.519761 deg,
      approach rate: -0.758319 m/s,
      LOS rate: -0.015975 deg/s,
      cmd heading: 95.109865 deg,
      new cmd heading: 95.097937 deg.

2025-08-22T05:17:53.293Z,1755839873.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659772 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:53.755Z,1755839873.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:53.757Z,1755839873.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:53.764Z,1755839873.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 259.918854 m,
      bearing: 97.513318 deg,
      approach rate: -0.647011 m/s,
      LOS rate: -0.013764 deg/s,
      cmd heading: 95.097940 deg,
      new cmd heading: 95.085039 deg.

2025-08-22T05:17:53.765Z,1755839873.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659547 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:53.857Z,1755839873.857 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:53.857Z,1755839873.857 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:53.857Z,1755839873.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:54.108Z,1755839874.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245122
2025-08-22T05:17:54.193Z,1755839874.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:54.208Z,1755839874.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 259.637451 m,
      bearing: 97.508394 deg,
      approach rate: -0.646164 m/s,
      LOS rate: -0.011321 deg/s,
      cmd heading: 95.085037 deg,
      new cmd heading: 95.075177 deg.

2025-08-22T05:17:54.209Z,1755839874.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659375 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:54.361Z,1755839874.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498123
2025-08-22T05:17:54.551Z,1755839874.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:54.554Z,1755839874.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 259.401917 m,
      bearing: 97.504258 deg,
      approach rate: -0.657481 m/s,
      LOS rate: -0.011555 deg/s,
      cmd heading: 95.075175 deg,
      new cmd heading: 95.066895 deg.

2025-08-22T05:17:54.555Z,1755839874.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659230 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:54.613Z,1755839874.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750096
2025-08-22T05:17:54.864Z,1755839874.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001061
2025-08-22T05:17:54.977Z,1755839874.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:54.980Z,1755839874.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 259.116089 m,
      bearing: 97.499462 deg,
      approach rate: -0.670981 m/s,
      LOS rate: -0.011272 deg/s,
      cmd heading: 95.066896 deg,
      new cmd heading: 95.057293 deg.

2025-08-22T05:17:54.981Z,1755839874.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659063 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:55.116Z,1755839875.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253318
2025-08-22T05:17:55.352Z,1755839875.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:55.354Z,1755839875.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 258.871582 m,
      bearing: 97.495414 deg,
      approach rate: -0.653126 m/s,
      LOS rate: -0.010823 deg/s,
      cmd heading: 95.057293 deg,
      new cmd heading: 95.049190 deg.

2025-08-22T05:17:55.356Z,1755839875.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658921 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:55.368Z,1755839875.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505206
2025-08-22T05:17:55.621Z,1755839875.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757442
2025-08-22T05:17:55.837Z,1755839875.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:55.839Z,1755839875.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:55.842Z,1755839875.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 258.552856 m,
      bearing: 97.490235 deg,
      approach rate: -0.654189 m/s,
      LOS rate: -0.010642 deg/s,
      cmd heading: 95.049193 deg,
      new cmd heading: 95.038823 deg.

2025-08-22T05:17:55.842Z,1755839875.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658740 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:55.872Z,1755839875.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009247
2025-08-22T05:17:56.124Z,1755839876.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261090
2025-08-22T05:17:56.197Z,1755839876.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:56.200Z,1755839876.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 258.318024 m,
      bearing: 97.486454 deg,
      approach rate: -0.655950 m/s,
      LOS rate: -0.010572 deg/s,
      cmd heading: 95.038824 deg,
      new cmd heading: 95.031255 deg.

2025-08-22T05:17:56.201Z,1755839876.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658608 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:56.379Z,1755839876.379 [DAT](INFO): DAT read: Rx Time:05:17:54.9562

2025-08-22T05:17:56.379Z,1755839876.379 [DAT](INFO): Rx dataTimestamp_ set to:1755839876.379183
2025-08-22T05:17:56.380Z,1755839876.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516904
2025-08-22T05:17:56.576Z,1755839876.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:56.578Z,1755839876.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 258.069550 m,
      bearing: 97.482489 deg,
      approach rate: -0.655592 m/s,
      LOS rate: -0.010472 deg/s,
      cmd heading: 95.031256 deg,
      new cmd heading: 95.023318 deg.

2025-08-22T05:17:56.580Z,1755839876.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658470 target range: 271.820068 and range: 273.40 m.
2025-08-22T05:17:56.629Z,1755839876.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766096
2025-08-22T05:17:56.887Z,1755839876.887 [DAT](INFO): DAT read: 05:17:54.9562 LVL= 30128, 32753, 32754, 32755, AGC= 68, IDX= 399, 085,-1.391, 0.355,-0.127, PHS= 0.514,-1.219, 0.438, RAW= 147.8,   3.2, CAL= 147.0,   3.3, ROT=   3.0,  -3.3

2025-08-22T05:17:56.888Z,1755839876.888 [DAT](INFO): unknown deviceResponse_: 05:17:54.9562 LVL= 30128, 32753, 32754, 32755, AGC= 68, IDX= 399, 085,-1.391, 0.355,-0.127, PHS= 0.514,-1.219, 0.438, RAW= 147.8,   3.2, CAL= 147.0,   3.3, ROT=   3.0,  -3.3

2025-08-22T05:17:56.889Z,1755839876.889 [DAT](INFO): DAT read: Bearing 241.6,  14.8 (Local)

2025-08-22T05:17:56.889Z,1755839876.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.6,  14.8 (Local)

2025-08-22T05:17:56.890Z,1755839876.890 [DAT](INFO): DAT read: Range 11 to 50 : 270.9 m  (Round-trip  361.2 ms) speed  0.4 m/s

2025-08-22T05:17:56.896Z,1755839876.896 [DAT](INFO): DAT read: user:7391>

2025-08-22T05:17:56.896Z,1755839876.896 [DAT](INFO): DAT read: Tx time:05:17:56.0409

2025-08-22T05:17:56.897Z,1755839876.897 [DAT](INFO): Ping request sent.
2025-08-22T05:17:56.897Z,1755839876.897 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:17:56.897Z,1755839876.897 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:17:56.897Z,1755839876.897 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:56.898Z,1755839876.898 [DAT](INFO): publishing transmit ping time
2025-08-22T05:17:57.009Z,1755839877.009 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0002270905162311.4,   0.0,1495.1,  0
2025-08-22T05:17:57.043Z,1755839877.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 270.899994 m,
      deltaT: 4.029752 s,
      deltaX: -2.500000 m,
      approachRate: -0.620386 m/s,
      rangeRepo size: 4

2025-08-22T05:17:57.048Z,1755839877.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:57.050Z,1755839877.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 257.769073 m,
      bearing: 97.477677 deg,
      approach rate: -0.644514 m/s,
      LOS rate: -0.010334 deg/s,
      cmd heading: 95.023320 deg,
      new cmd heading: 95.013684 deg.

2025-08-22T05:17:57.055Z,1755839877.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658302 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:57.381Z,1755839877.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:57.385Z,1755839877.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 257.541077 m,
      bearing: 97.474002 deg,
      approach rate: -0.671648 m/s,
      LOS rate: -0.010833 deg/s,
      cmd heading: 95.013682 deg,
      new cmd heading: 95.006327 deg.

2025-08-22T05:17:57.386Z,1755839877.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658173 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:57.854Z,1755839877.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:57.857Z,1755839877.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:57.859Z,1755839877.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 257.226715 m,
      bearing: 97.467370 deg,
      approach rate: -0.661551 m/s,
      LOS rate: -0.013975 deg/s,
      cmd heading: 95.006326 deg,
      new cmd heading: 94.993044 deg.

2025-08-22T05:17:57.860Z,1755839877.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657941 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:57.888Z,1755839877.888 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:17:57.888Z,1755839877.888 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:17:57.888Z,1755839877.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:17:58.141Z,1755839878.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243844
2025-08-22T05:17:58.229Z,1755839878.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:58.236Z,1755839878.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 256.979614 m,
      bearing: 97.462145 deg,
      approach rate: -0.663093 m/s,
      LOS rate: -0.014035 deg/s,
      cmd heading: 94.993042 deg,
      new cmd heading: 94.982582 deg.

2025-08-22T05:17:58.237Z,1755839878.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657759 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:58.393Z,1755839878.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496010
2025-08-22T05:17:58.596Z,1755839878.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:58.598Z,1755839878.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 256.736847 m,
      bearing: 97.457085 deg,
      approach rate: -0.663009 m/s,
      LOS rate: -0.013831 deg/s,
      cmd heading: 94.982585 deg,
      new cmd heading: 94.972456 deg.

2025-08-22T05:17:58.616Z,1755839878.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657582 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:58.647Z,1755839878.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750174
2025-08-22T05:17:58.896Z,1755839878.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999516
2025-08-22T05:17:59.019Z,1755839879.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:59.021Z,1755839879.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 256.456299 m,
      bearing: 97.452474 deg,
      approach rate: -0.663015 m/s,
      LOS rate: -0.010909 deg/s,
      cmd heading: 94.972455 deg,
      new cmd heading: 94.963223 deg.

2025-08-22T05:17:59.022Z,1755839879.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657421 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:59.149Z,1755839879.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252339
2025-08-22T05:17:59.400Z,1755839879.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503569
2025-08-22T05:17:59.405Z,1755839879.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:59.408Z,1755839879.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 256.201050 m,
      bearing: 97.448284 deg,
      approach rate: -0.660574 m/s,
      LOS rate: -0.010855 deg/s,
      cmd heading: 94.963221 deg,
      new cmd heading: 94.954832 deg.

2025-08-22T05:17:59.409Z,1755839879.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657274 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:59.653Z,1755839879.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755835
2025-08-22T05:17:59.874Z,1755839879.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:17:59.876Z,1755839879.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:17:59.879Z,1755839879.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 255.884979 m,
      bearing: 97.442080 deg,
      approach rate: -0.670530 m/s,
      LOS rate: -0.013178 deg/s,
      cmd heading: 94.954833 deg,
      new cmd heading: 94.942410 deg.

2025-08-22T05:17:59.881Z,1755839879.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657058 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:17:59.918Z,1755839879.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020553
2025-08-22T05:18:00.169Z,1755839880.169 [DAT](INFO): DAT read: Rx Time:05:17:58.8029

2025-08-22T05:18:00.170Z,1755839880.170 [DAT](INFO): Rx dataTimestamp_ set to:1755839880.169218
2025-08-22T05:18:00.170Z,1755839880.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273346
2025-08-22T05:18:00.231Z,1755839880.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:18:00.245Z,1755839880.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 255.647308 m,
      bearing: 97.437435 deg,
      approach rate: -0.670763 m/s,
      LOS rate: -0.013122 deg/s,
      cmd heading: 94.942409 deg,
      new cmd heading: 94.933111 deg.

2025-08-22T05:18:00.246Z,1755839880.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656895 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:18:00.420Z,1755839880.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523705
2025-08-22T05:18:00.620Z,1755839880.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.82 m.
2025-08-22T05:18:00.622Z,1755839880.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.820068 m,
      nav range: 255.387253 m,
      bearing: 97.432352 deg,
      approach rate: -0.669561 m/s,
      LOS rate: -0.013099 deg/s,
      cmd heading: 94.933113 deg,
      new cmd heading: 94.922938 deg.

2025-08-22T05:18:00.624Z,1755839880.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656718 target range: 271.820068 and range: 270.90 m.
2025-08-22T05:18:00.678Z,1755839880.678 [DAT](INFO): DAT read: 05:17:58.8029 LVL= 30896, 32753, 32130, 32755, AGC= 69, IDX= 413,-0.04,-1.141,-2.873,-1.071,-1.548, PHS= 0.510,-1.280, 0.433, RAW= 147.8,   3.9, CAL= 147.1,   4.1, ROT=   2.9,  -4.1

2025-08-22T05:18:00.680Z,1755839880.680 [DAT](INFO): got valid direction response:
 05:17:58.8029 LVL= 30896, 32753, 32130, 32755, AGC= 69, IDX= 413,-0.04,-1.141,-2.873,-1.071,-1.548, PHS= 0.510,-1.280, 0.433, RAW= 147.8,   3.9, CAL= 147.1,   4.1, ROT=   2.9,  -4.1

2025-08-22T05:18:00.680Z,1755839880.680 [DAT](INFO): DAT read: Bearing 242.5,  14.0 (Local)

2025-08-22T05:18:00.681Z,1755839880.681 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.5,  14.0 (Local)

2025-08-22T05:18:00.682Z,1755839880.682 [DAT](INFO): DAT read: Range 11 to 50 : 268.4 m  (Round-trip  357.9 ms) speed  0.6 m/s

2025-08-22T05:18:00.683Z,1755839880.683 [DAT](INFO): DAT read: user:7392>

2025-08-22T05:18:00.684Z,1755839880.684 [DAT](INFO): DAT read: Tx time:05:17:59.8909

2025-08-22T05:18:00.684Z,1755839880.684 [DAT](INFO): Ping request sent.
2025-08-22T05:18:00.684Z,1755839880.684 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:00.685Z,1755839880.685 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:00.685Z,1755839880.685 [DAT](INFO): direction in FSK: [0.996163,0.050463,0.071497]
2025-08-22T05:18:00.686Z,1755839880.686 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:00.686Z,1755839880.686 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:00.700Z,1755839880.700 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:00.700Z,1755839880.700 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:01.072Z,1755839881.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 268.399994 m,
      deltaT: 3.792152 s,
      deltaX: -2.500000 m,
      approachRate: -0.659256 m/s,
      rangeRepo size: 4

2025-08-22T05:18:01.074Z,1755839881.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 266.852722 m,
      bearing: 96.706402 deg,
      lat: 36.779295 deg,
      lon: -121.859706 deg,
      deltaT: 7.821904 s,
      deltaX: -4.967346 m,
      approachRate: -0.635056 m/s,
      posRepo size: 4

2025-08-22T05:18:01.074Z,1755839881.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:01.077Z,1755839881.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 254.956802 m,
      bearing: 97.158447 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013099 deg/s,
      cmd heading: 94.922936 deg,
      new cmd heading: 94.911105 deg.

2025-08-22T05:18:01.078Z,1755839881.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656511 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:01.423Z,1755839881.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:01.426Z,1755839881.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 254.703552 m,
      bearing: 97.153790 deg,
      approach rate: -0.719264 m/s,
      LOS rate: -0.013241 deg/s,
      cmd heading: 94.911107 deg,
      new cmd heading: 94.901783 deg.

2025-08-22T05:18:01.427Z,1755839881.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656349 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:01.929Z,1755839881.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:01.932Z,1755839881.932 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:01.932Z,1755839881.932 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:01.932Z,1755839881.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:01.935Z,1755839881.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:01.938Z,1755839881.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 254.382797 m,
      bearing: 97.148327 deg,
      approach rate: -0.631109 m/s,
      LOS rate: -0.010764 deg/s,
      cmd heading: 94.901783 deg,
      new cmd heading: 94.890842 deg.

2025-08-22T05:18:01.943Z,1755839881.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656158 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:02.185Z,1755839882.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500686
2025-08-22T05:18:02.330Z,1755839882.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:02.337Z,1755839882.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 254.120956 m,
      bearing: 97.143857 deg,
      approach rate: -0.656225 m/s,
      LOS rate: -0.011212 deg/s,
      cmd heading: 94.890841 deg,
      new cmd heading: 94.881894 deg.

2025-08-22T05:18:02.338Z,1755839882.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656001 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:02.437Z,1755839882.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752485
2025-08-22T05:18:02.688Z,1755839882.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004049
2025-08-22T05:18:02.698Z,1755839882.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:02.701Z,1755839882.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 253.863739 m,
      bearing: 97.139462 deg,
      approach rate: -0.698681 m/s,
      LOS rate: -0.011951 deg/s,
      cmd heading: 94.881894 deg,
      new cmd heading: 94.873095 deg.

2025-08-22T05:18:02.702Z,1755839882.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655848 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:02.940Z,1755839882.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255922
2025-08-22T05:18:03.119Z,1755839883.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:03.122Z,1755839883.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 253.584274 m,
      bearing: 97.135289 deg,
      approach rate: -0.663660 m/s,
      LOS rate: -0.009921 deg/s,
      cmd heading: 94.873097 deg,
      new cmd heading: 94.864741 deg.

2025-08-22T05:18:03.124Z,1755839883.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655702 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:03.192Z,1755839883.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508037
2025-08-22T05:18:03.444Z,1755839883.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760197
2025-08-22T05:18:03.524Z,1755839883.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:03.527Z,1755839883.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 253.326385 m,
      bearing: 97.131430 deg,
      approach rate: -0.638094 m/s,
      LOS rate: -0.009558 deg/s,
      cmd heading: 94.864743 deg,
      new cmd heading: 94.857018 deg.

2025-08-22T05:18:03.528Z,1755839883.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655567 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:03.696Z,1755839883.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011924
2025-08-22T05:18:03.945Z,1755839883.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:03.948Z,1755839883.948 [DAT](INFO): DAT read: Rx Time:05:18:02.6494

2025-08-22T05:18:03.949Z,1755839883.949 [DAT](INFO): Rx dataTimestamp_ set to:1755839883.948536
2025-08-22T05:18:03.949Z,1755839883.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265092
2025-08-22T05:18:03.950Z,1755839883.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:03.953Z,1755839883.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 253.045502 m,
      bearing: 97.127287 deg,
      approach rate: -0.662443 m/s,
      LOS rate: -0.009782 deg/s,
      cmd heading: 94.857018 deg,
      new cmd heading: 94.848723 deg.

2025-08-22T05:18:03.954Z,1755839883.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655422 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:04.200Z,1755839884.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515954
2025-08-22T05:18:04.330Z,1755839884.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 266.85 m.
2025-08-22T05:18:04.333Z,1755839884.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 266.852722 m,
      nav range: 252.780960 m,
      bearing: 97.123384 deg,
      approach rate: -0.692073 m/s,
      LOS rate: -0.010222 deg/s,
      cmd heading: 94.848720 deg,
      new cmd heading: 94.840905 deg.

2025-08-22T05:18:04.334Z,1755839884.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655286 target range: 266.852722 and range: 268.40 m.
2025-08-22T05:18:04.458Z,1755839884.458 [DAT](INFO): DAT read: 05:18:02.6494 LVL= 31088, 32753, 31522, 32755, AGC= 68, IDX= 409,-0.11, 0.496,-1.290, 0.559, 0.091, PHS= 0.507,-1.336, 0.424, RAW= 147.7,   4.5, CAL= 147.1,   4.8, ROT=   2.9,  -4.8

2025-08-22T05:18:04.459Z,1755839884.459 [DAT](INFO): got valid direction response:
 05:18:02.6494 LVL= 31088, 32753, 31522, 32755, AGC= 68, IDX= 409,-0.11, 0.496,-1.290, 0.559, 0.091, PHS= 0.507,-1.336, 0.424, RAW= 147.7,   4.5, CAL= 147.1,   4.8, ROT=   2.9,  -4.8

2025-08-22T05:18:04.460Z,1755839884.460 [DAT](INFO): DAT read: Bearing 244.0,  13.3 (Local)

2025-08-22T05:18:04.460Z,1755839884.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.0,  13.3 (Local)

2025-08-22T05:18:04.462Z,1755839884.462 [DAT](INFO): DAT read: Range 11 to 50 : 265.7 m  (Round-trip  354.3 ms) speed  0.4 m/s

2025-08-22T05:18:04.462Z,1755839884.462 [DAT](INFO): DAT read: user:7393>

2025-08-22T05:18:04.463Z,1755839884.463 [DAT](INFO): DAT read: Tx time:05:18:03.7409

2025-08-22T05:18:04.463Z,1755839884.463 [DAT](INFO): Ping request sent.
2025-08-22T05:18:04.464Z,1755839884.464 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:04.464Z,1755839884.464 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:04.465Z,1755839884.465 [DAT](INFO): direction in FSK: [0.995217,0.050416,0.083678]
2025-08-22T05:18:04.465Z,1755839884.465 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:04.465Z,1755839884.465 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:04.468Z,1755839884.468 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:04.469Z,1755839884.469 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:04.738Z,1755839884.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 265.700012 m,
      deltaT: 3.779792 s,
      deltaX: -2.699982 m,
      approachRate: -0.714320 m/s,
      rangeRepo size: 4

2025-08-22T05:18:04.740Z,1755839884.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 264.170776 m,
      bearing: 96.650838 deg,
      lat: 36.779295 deg,
      lon: -121.859702 deg,
      deltaT: 3.779792 s,
      deltaX: -2.681946 m,
      approachRate: -0.709549 m/s,
      posRepo size: 4

2025-08-22T05:18:04.741Z,1755839884.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:04.744Z,1755839884.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 252.807022 m,
      bearing: 97.111099 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010222 deg/s,
      cmd heading: 94.840906 deg,
      new cmd heading: 94.832574 deg.

2025-08-22T05:18:04.745Z,1755839884.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655141 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:05.159Z,1755839885.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:05.163Z,1755839885.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 252.524612 m,
      bearing: 97.107339 deg,
      approach rate: -0.670024 m/s,
      LOS rate: -0.008929 deg/s,
      cmd heading: 94.832573 deg,
      new cmd heading: 94.825046 deg.

2025-08-22T05:18:05.165Z,1755839885.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655009 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:05.528Z,1755839885.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:05.531Z,1755839885.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 252.273865 m,
      bearing: 97.104006 deg,
      approach rate: -0.680449 m/s,
      LOS rate: -0.009053 deg/s,
      cmd heading: 94.825046 deg,
      new cmd heading: 94.818374 deg.

2025-08-22T05:18:05.532Z,1755839885.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654893 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:05.963Z,1755839885.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:05.964Z,1755839885.964 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:05.964Z,1755839885.964 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:05.964Z,1755839885.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:05.973Z,1755839885.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:05.976Z,1755839885.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 251.973083 m,
      bearing: 97.100152 deg,
      approach rate: -0.673976 m/s,
      LOS rate: -0.008648 deg/s,
      cmd heading: 94.818373 deg,
      new cmd heading: 94.810654 deg.

2025-08-22T05:18:05.977Z,1755839885.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654758 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:06.216Z,1755839886.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752576
2025-08-22T05:18:06.344Z,1755839886.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:06.347Z,1755839886.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 251.711365 m,
      bearing: 97.096813 deg,
      approach rate: -0.705622 m/s,
      LOS rate: -0.009010 deg/s,
      cmd heading: 94.810655 deg,
      new cmd heading: 94.803971 deg.

2025-08-22T05:18:06.348Z,1755839886.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654641 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:06.468Z,1755839886.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004691
2025-08-22T05:18:06.720Z,1755839886.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256735
2025-08-22T05:18:06.737Z,1755839886.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:06.739Z,1755839886.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 251.440872 m,
      bearing: 97.093340 deg,
      approach rate: -0.689763 m/s,
      LOS rate: -0.008866 deg/s,
      cmd heading: 94.803968 deg,
      new cmd heading: 94.797015 deg.

2025-08-22T05:18:06.740Z,1755839886.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654520 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:06.973Z,1755839886.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509046
2025-08-22T05:18:07.205Z,1755839887.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:07.208Z,1755839887.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 251.119583 m,
      bearing: 97.088046 deg,
      approach rate: -0.685477 m/s,
      LOS rate: -0.011311 deg/s,
      cmd heading: 94.797015 deg,
      new cmd heading: 94.786412 deg.

2025-08-22T05:18:07.209Z,1755839887.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654335 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:07.227Z,1755839887.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763428
2025-08-22T05:18:07.476Z,1755839887.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012620
2025-08-22T05:18:07.551Z,1755839887.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:07.554Z,1755839887.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 250.881088 m,
      bearing: 97.084002 deg,
      approach rate: -0.689848 m/s,
      LOS rate: -0.011707 deg/s,
      cmd heading: 94.786415 deg,
      new cmd heading: 94.778320 deg.

2025-08-22T05:18:07.555Z,1755839887.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654194 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:07.731Z,1755839887.731 [DAT](INFO): DAT read: Rx Time:05:18:06.5334

2025-08-22T05:18:07.732Z,1755839887.732 [DAT](INFO): Rx dataTimestamp_ set to:1755839887.731306
2025-08-22T05:18:07.732Z,1755839887.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268513
2025-08-22T05:18:07.981Z,1755839887.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516940
2025-08-22T05:18:07.996Z,1755839887.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:07.998Z,1755839887.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:08.001Z,1755839888.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 250.568420 m,
      bearing: 97.079242 deg,
      approach rate: -0.699817 m/s,
      LOS rate: -0.010666 deg/s,
      cmd heading: 94.778321 deg,
      new cmd heading: 94.768790 deg.

2025-08-22T05:18:08.002Z,1755839888.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654027 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:08.232Z,1755839888.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768717
2025-08-22T05:18:08.365Z,1755839888.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:08.368Z,1755839888.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 250.310135 m,
      bearing: 97.075183 deg,
      approach rate: -0.702657 m/s,
      LOS rate: -0.011054 deg/s,
      cmd heading: 94.768793 deg,
      new cmd heading: 94.760666 deg.

2025-08-22T05:18:08.369Z,1755839888.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653886 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:08.491Z,1755839888.491 [DAT](INFO): DAT read: 05:18:06.5334 LVL= 28912, 32753, 29362, 32755, AGC= 70, IDX=  85,-0.27, 2.497, 0.802, 2.551, 2.166, PHS= 0.433,-1.319, 0.341, RAW= 147.3,   6.4, CAL= 146.8,   6.9, ROT=   3.2,  -6.9

2025-08-22T05:18:08.496Z,1755839888.496 [DAT](INFO): got valid direction response:
 05:18:06.5334 LVL= 28912, 32753, 29362, 32755, AGC= 70, IDX=  85,-0.27, 2.497, 0.802, 2.551, 2.166, PHS= 0.433,-1.319, 0.341, RAW= 147.3,   6.4, CAL= 146.8,   6.9, ROT=   3.2,  -6.9

2025-08-22T05:18:08.498Z,1755839888.498 [DAT](INFO): DAT read: Bearing 246.7,  10.0 (Local)

2025-08-22T05:18:08.498Z,1755839888.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.7,  10.0 (Local)

2025-08-22T05:18:08.501Z,1755839888.501 [DAT](INFO): DAT read: Range 11 to 50 : 291.3 m  (Round-trip  388.4 ms) speed  0.3 m/s

2025-08-22T05:18:08.502Z,1755839888.502 [DAT](INFO): DAT read: user:7394>

2025-08-22T05:18:08.502Z,1755839888.502 [DAT](INFO): DAT read: Tx time:05:18:07.6409

2025-08-22T05:18:08.503Z,1755839888.503 [DAT](INFO): Ping request sent.
2025-08-22T05:18:08.503Z,1755839888.503 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:08.504Z,1755839888.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:08.504Z,1755839888.504 [DAT](INFO): direction in FSK: [0.991209,0.055417,0.120137]
2025-08-22T05:18:08.505Z,1755839888.505 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:08.505Z,1755839888.505 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:08.516Z,1755839888.516 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:08.516Z,1755839888.516 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:08.796Z,1755839888.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 291.299988 m,
 deltaT: 4.032102 s,
 deltaX: 25.599976 m,
 approachRate: 6.349040 m/s,
 rangeRepo size: 4
2025-08-22T05:18:08.798Z,1755839888.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:08.800Z,1755839888.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 250.023819 m,
      bearing: 97.070506 deg,
      approach rate: -0.667409 m/s,
      LOS rate: -0.010914 deg/s,
      cmd heading: 94.760665 deg,
      new cmd heading: 94.751300 deg.

2025-08-22T05:18:08.801Z,1755839888.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653722 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:09.229Z,1755839889.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:09.236Z,1755839889.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 249.708084 m,
      bearing: 97.064840 deg,
      approach rate: -0.726763 m/s,
      LOS rate: -0.013059 deg/s,
      cmd heading: 94.751301 deg,
      new cmd heading: 94.739954 deg.

2025-08-22T05:18:09.237Z,1755839889.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653524 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:09.703Z,1755839889.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:09.706Z,1755839889.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 249.355087 m,
      bearing: 97.058115 deg,
      approach rate: -0.743864 m/s,
      LOS rate: -0.014192 deg/s,
      cmd heading: 94.739956 deg,
      new cmd heading: 94.726486 deg.

2025-08-22T05:18:09.707Z,1755839889.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653289 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:10.210Z,1755839890.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:10.220Z,1755839890.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:10.222Z,1755839890.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 249.010605 m,
      bearing: 97.051264 deg,
      approach rate: -0.670708 m/s,
      LOS rate: -0.013357 deg/s,
      cmd heading: 94.726487 deg,
      new cmd heading: 94.712766 deg.

2025-08-22T05:18:10.224Z,1755839890.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653050 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:10.248Z,1755839890.248 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:10.248Z,1755839890.248 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:10.248Z,1755839890.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:10.500Z,1755839890.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997344
2025-08-22T05:18:10.676Z,1755839890.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:10.679Z,1755839890.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 248.684814 m,
      bearing: 97.044686 deg,
      approach rate: -0.708914 m/s,
      LOS rate: -0.014333 deg/s,
      cmd heading: 94.712765 deg,
      new cmd heading: 94.699591 deg.

2025-08-22T05:18:10.680Z,1755839890.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652820 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:10.752Z,1755839890.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249455
2025-08-22T05:18:11.004Z,1755839891.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501594
2025-08-22T05:18:11.121Z,1755839891.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:11.125Z,1755839891.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 248.387054 m,
      bearing: 97.038439 deg,
      approach rate: -0.669620 m/s,
      LOS rate: -0.014064 deg/s,
      cmd heading: 94.699589 deg,
      new cmd heading: 94.687081 deg.

2025-08-22T05:18:11.126Z,1755839891.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652601 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:11.256Z,1755839891.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753370
2025-08-22T05:18:11.479Z,1755839891.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:11.482Z,1755839891.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 248.147171 m,
      bearing: 97.033393 deg,
      approach rate: -0.670255 m/s,
      LOS rate: -0.014114 deg/s,
      cmd heading: 94.687083 deg,
      new cmd heading: 94.676980 deg.

2025-08-22T05:18:11.483Z,1755839891.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652425 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:11.508Z,1755839891.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005391
2025-08-22T05:18:11.763Z,1755839891.763 [DAT](INFO): DAT read: Rx Time:05:18:10.4115

2025-08-22T05:18:11.764Z,1755839891.764 [DAT](INFO): Rx dataTimestamp_ set to:1755839891.763113
2025-08-22T05:18:11.765Z,1755839891.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262429
2025-08-22T05:18:11.894Z,1755839891.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 264.17 m.
2025-08-22T05:18:11.897Z,1755839891.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 264.170776 m,
      nav range: 247.879074 m,
      bearing: 97.027804 deg,
      approach rate: -0.646603 m/s,
      LOS rate: -0.013493 deg/s,
      cmd heading: 94.676981 deg,
      new cmd heading: 94.665792 deg.

2025-08-22T05:18:11.897Z,1755839891.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652230 target range: 264.170776 and range: 265.70 m.
2025-08-22T05:18:12.017Z,1755839892.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514049
2025-08-22T05:18:12.278Z,1755839892.278 [DAT](INFO): DAT read: 05:18:10.4115 LVL= 27376, 32753, 29794, 32755, AGC= 68, IDX= 213, 0.34, 2.778, 1.056, 2.884, 2.488, PHS= 0.392,-1.387, 0.352, RAW= 148.9,   7.4, CAL= 148.3,   7.9, ROT=   1.7,  -7.9

2025-08-22T05:18:12.281Z,1755839892.281 [DAT](INFO): got valid direction response:
 05:18:10.4115 LVL= 27376, 32753, 29794, 32755, AGC= 68, IDX= 213, 0.34, 2.778, 1.056, 2.884, 2.488, PHS= 0.392,-1.387, 0.352, RAW= 148.9,   7.4, CAL= 148.3,   7.9, ROT=   1.7,  -7.9

2025-08-22T05:18:12.282Z,1755839892.282 [DAT](INFO): DAT read: Bearing 248.5,   5.4 (Local)

2025-08-22T05:18:12.282Z,1755839892.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.5,   5.4 (Local)

2025-08-22T05:18:12.285Z,1755839892.285 [DAT](INFO): DAT read: Range 11 to 50 : 274.8 m  (Round-trip  366.5 ms) speed  0.5 m/s

2025-08-22T05:18:12.287Z,1755839892.287 [DAT](INFO): DAT read: user:7395>

2025-08-22T05:18:12.288Z,1755839892.288 [DAT](INFO): DAT read: Tx time:05:18:11.5409

2025-08-22T05:18:12.289Z,1755839892.289 [DAT](INFO): Ping request sent.
2025-08-22T05:18:12.289Z,1755839892.289 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:12.289Z,1755839892.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:12.313Z,1755839892.313 [DAT](INFO): direction in FSK: [0.990074,0.029385,0.137445]
2025-08-22T05:18:12.313Z,1755839892.313 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:12.314Z,1755839892.314 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:12.321Z,1755839892.321 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:12.321Z,1755839892.321 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:12.457Z,1755839892.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 274.799988 m,
      deltaT: 7.816117 s,
      deltaX: 9.099976 m,
      approachRate: 1.164258 m/s,
      rangeRepo size: 4

2025-08-22T05:18:12.463Z,1755839892.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 273.219360 m,
      bearing: 96.204689 deg,
      lat: 36.779306 deg,
      lon: -121.859669 deg,
      deltaT: 7.816117 s,
      deltaX: 9.048584 m,
      approachRate: 1.157683 m/s,
      posRepo size: 4

2025-08-22T05:18:12.464Z,1755839892.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:12.467Z,1755839892.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 250.314941 m,
      bearing: 96.654013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013493 deg/s,
      cmd heading: 94.665794 deg,
      new cmd heading: 94.650605 deg.

2025-08-22T05:18:12.476Z,1755839892.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651965 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:13.001Z,1755839893.001 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:13.009Z,1755839893.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:13.016Z,1755839893.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 249.988876 m,
      bearing: 96.647375 deg,
      approach rate: -0.590338 m/s,
      LOS rate: -0.012035 deg/s,
      cmd heading: 94.650603 deg,
      new cmd heading: 94.637309 deg.

2025-08-22T05:18:13.017Z,1755839893.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651733 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:13.025Z,1755839893.025 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:13.025Z,1755839893.025 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:13.025Z,1755839893.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:13.278Z,1755839893.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988919
2025-08-22T05:18:13.466Z,1755839893.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:13.469Z,1755839893.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 249.626907 m,
      bearing: 96.638937 deg,
      approach rate: -0.791890 m/s,
      LOS rate: -0.018486 deg/s,
      cmd heading: 94.637312 deg,
      new cmd heading: 94.620412 deg.

2025-08-22T05:18:13.470Z,1755839893.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651438 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:13.534Z,1755839893.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245100
2025-08-22T05:18:13.785Z,1755839893.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496530
2025-08-22T05:18:13.855Z,1755839893.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:13.861Z,1755839893.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 249.371582 m,
      bearing: 96.633009 deg,
      approach rate: -0.656907 m/s,
      LOS rate: -0.015269 deg/s,
      cmd heading: 94.620414 deg,
      new cmd heading: 94.608544 deg.

2025-08-22T05:18:13.862Z,1755839893.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651231 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:14.040Z,1755839894.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751025
2025-08-22T05:18:14.288Z,1755839894.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999899
2025-08-22T05:18:14.303Z,1755839894.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:14.306Z,1755839894.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 249.079163 m,
      bearing: 96.625988 deg,
      approach rate: -0.651893 m/s,
      LOS rate: -0.015669 deg/s,
      cmd heading: 94.608543 deg,
      new cmd heading: 94.594485 deg.

2025-08-22T05:18:14.307Z,1755839894.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650985 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:14.541Z,1755839894.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252033
2025-08-22T05:18:14.652Z,1755839894.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:14.655Z,1755839894.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 248.851639 m,
      bearing: 96.620553 deg,
      approach rate: -0.652278 m/s,
      LOS rate: -0.015596 deg/s,
      cmd heading: 94.594486 deg,
      new cmd heading: 94.583606 deg.

2025-08-22T05:18:14.656Z,1755839894.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650795 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:14.792Z,1755839894.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503720
2025-08-22T05:18:15.044Z,1755839895.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755723
2025-08-22T05:18:15.209Z,1755839895.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:15.211Z,1755839895.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:15.213Z,1755839895.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 248.489395 m,
      bearing: 96.610490 deg,
      approach rate: -0.648462 m/s,
      LOS rate: -0.018040 deg/s,
      cmd heading: 94.583606 deg,
      new cmd heading: 94.563451 deg.

2025-08-22T05:18:15.214Z,1755839895.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650444 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:15.298Z,1755839895.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009265
2025-08-22T05:18:15.548Z,1755839895.548 [DAT](INFO): DAT read: Rx Time:05:18:14.3086

2025-08-22T05:18:15.549Z,1755839895.549 [DAT](INFO): Rx dataTimestamp_ set to:1755839895.548449
2025-08-22T05:18:15.549Z,1755839895.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260790
2025-08-22T05:18:15.584Z,1755839895.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 273.22 m.
2025-08-22T05:18:15.587Z,1755839895.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 273.219360 m,
      nav range: 248.249344 m,
      bearing: 96.603806 deg,
      approach rate: -0.642135 m/s,
      LOS rate: -0.017898 deg/s,
      cmd heading: 94.563450 deg,
      new cmd heading: 94.550068 deg.

2025-08-22T05:18:15.588Z,1755839895.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650210 target range: 273.219360 and range: 274.80 m.
2025-08-22T05:18:15.800Z,1755839895.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511820
2025-08-22T05:18:16.087Z,1755839896.087 [DAT](INFO): DAT read: 05:18:14.3086 LVL= 27552, 32753, 32754, 32755, AGC= 68, IDX= 206, 0.11, 0.432,-1.290, 0.437, 0.131, PHS= 0.403,-1.377, 0.262, RAW= 145.9,   8.4, CAL= 145.4,   9.1, ROT=   4.6,  -9.1

2025-08-22T05:18:16.088Z,1755839896.088 [DAT](INFO): got valid direction response:
 05:18:14.3086 LVL= 27552, 32753, 32754, 32755, AGC= 68, IDX= 206, 0.11, 0.432,-1.290, 0.437, 0.131, PHS= 0.403,-1.377, 0.262, RAW= 145.9,   8.4, CAL= 145.4,   9.1, ROT=   4.6,  -9.1

2025-08-22T05:18:16.089Z,1755839896.089 [DAT](INFO): DAT read: Bearing 249.3,   5.8 (Local)

2025-08-22T05:18:16.090Z,1755839896.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.3,   5.8 (Local)

2025-08-22T05:18:16.103Z,1755839896.103 [DAT](INFO): DAT read: Range 11 to 50 : 272.7 m  (Round-trip  363.6 ms) speed  0.5 m/s

2025-08-22T05:18:16.104Z,1755839896.104 [DAT](INFO): DAT read: user:7396>

2025-08-22T05:18:16.105Z,1755839896.105 [DAT](INFO): DAT read: Tx time:05:18:15.3909

2025-08-22T05:18:16.105Z,1755839896.105 [DAT](INFO): Ping request sent.
2025-08-22T05:18:16.105Z,1755839896.105 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:16.106Z,1755839896.106 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:16.106Z,1755839896.106 [DAT](INFO): direction in FSK: [0.984233,0.079190,0.158158]
2025-08-22T05:18:16.107Z,1755839896.107 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:16.107Z,1755839896.107 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:16.114Z,1755839896.114 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:16.114Z,1755839896.114 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:16.278Z,1755839896.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 272.700012 m,
      deltaT: 3.801087 s,
      deltaX: -2.099976 m,
      approachRate: -0.552467 m/s,
      rangeRepo size: 4

2025-08-22T05:18:16.294Z,1755839896.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 271.133148 m,
      bearing: 98.809589 deg,
      lat: 36.779306 deg,
      lon: -121.859469 deg,
      deltaT: 3.801087 s,
      deltaX: -2.086212 m,
      approachRate: -0.548846 m/s,
      posRepo size: 4

2025-08-22T05:18:16.294Z,1755839896.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:16.301Z,1755839896.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 265.495422 m,
      bearing: 96.150990 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017898 deg/s,
      cmd heading: 94.550070 deg,
      new cmd heading: 94.525299 deg.

2025-08-22T05:18:16.302Z,1755839896.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649778 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:16.629Z,1755839896.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:16.652Z,1755839896.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 265.238495 m,
      bearing: 96.144283 deg,
      approach rate: -0.728436 m/s,
      LOS rate: -0.019032 deg/s,
      cmd heading: 94.525297 deg,
      new cmd heading: 94.511871 deg.

2025-08-22T05:18:16.653Z,1755839896.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649543 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:17.077Z,1755839897.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:17.082Z,1755839897.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 264.934998 m,
      bearing: 96.136352 deg,
      approach rate: -0.677174 m/s,
      LOS rate: -0.017718 deg/s,
      cmd heading: 94.511868 deg,
      new cmd heading: 94.495987 deg.

2025-08-22T05:18:17.083Z,1755839897.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649266 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:17.448Z,1755839897.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:17.451Z,1755839897.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:17.473Z,1755839897.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 264.687073 m,
      bearing: 96.129900 deg,
      approach rate: -0.664274 m/s,
      LOS rate: -0.017303 deg/s,
      cmd heading: 94.495988 deg,
      new cmd heading: 94.483072 deg.

2025-08-22T05:18:17.474Z,1755839897.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649041 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:17.586Z,1755839897.586 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:17.586Z,1755839897.586 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:17.586Z,1755839897.586 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:17.825Z,1755839897.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:17.828Z,1755839897.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 264.437714 m,
      bearing: 96.123471 deg,
      approach rate: -0.666187 m/s,
      LOS rate: -0.017190 deg/s,
      cmd heading: 94.483072 deg,
      new cmd heading: 94.470204 deg.

2025-08-22T05:18:17.829Z,1755839897.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648816 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:17.836Z,1755839897.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731056
2025-08-22T05:18:18.092Z,1755839898.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985484
2025-08-22T05:18:18.297Z,1755839898.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:18.300Z,1755839898.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 264.118683 m,
      bearing: 96.116110 deg,
      approach rate: -0.675382 m/s,
      LOS rate: -0.015603 deg/s,
      cmd heading: 94.470204 deg,
      new cmd heading: 94.455463 deg.

2025-08-22T05:18:18.301Z,1755839898.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648559 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:18.340Z,1755839898.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235047
2025-08-22T05:18:18.593Z,1755839898.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487260
2025-08-22T05:18:18.637Z,1755839898.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:18.640Z,1755839898.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 263.888824 m,
      bearing: 96.110862 deg,
      approach rate: -0.675573 m/s,
      LOS rate: -0.015438 deg/s,
      cmd heading: 94.455465 deg,
      new cmd heading: 94.444959 deg.

2025-08-22T05:18:18.641Z,1755839898.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648376 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:18.845Z,1755839898.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740044
2025-08-22T05:18:19.096Z,1755839899.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991018
2025-08-22T05:18:19.154Z,1755839899.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:19.158Z,1755839899.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 263.540039 m,
      bearing: 96.104712 deg,
      approach rate: -0.676175 m/s,
      LOS rate: -0.011937 deg/s,
      cmd heading: 94.444960 deg,
      new cmd heading: 94.432645 deg.

2025-08-22T05:18:19.160Z,1755839899.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648161 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:19.350Z,1755839899.350 [DAT](INFO): DAT read: Rx Time:05:18:18.1546

2025-08-22T05:18:19.351Z,1755839899.351 [DAT](INFO): Rx dataTimestamp_ set to:1755839899.350324
2025-08-22T05:18:19.351Z,1755839899.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246006
2025-08-22T05:18:19.520Z,1755839899.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:19.522Z,1755839899.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:19.525Z,1755839899.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 263.297974 m,
      bearing: 96.100546 deg,
      approach rate: -0.656618 m/s,
      LOS rate: -0.011313 deg/s,
      cmd heading: 94.432645 deg,
      new cmd heading: 94.424304 deg.

2025-08-22T05:18:19.526Z,1755839899.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648015 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:19.600Z,1755839899.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495137
2025-08-22T05:18:19.852Z,1755839899.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.746941
2025-08-22T05:18:19.976Z,1755839899.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.13 m.
2025-08-22T05:18:19.991Z,1755839899.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 271.133148 m,
      nav range: 262.982239 m,
      bearing: 96.095246 deg,
      approach rate: -0.694743 m/s,
      LOS rate: -0.011676 deg/s,
      cmd heading: 94.424305 deg,
      new cmd heading: 94.413693 deg.

2025-08-22T05:18:19.992Z,1755839899.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647830 target range: 271.133148 and range: 272.70 m.
2025-08-22T05:18:20.125Z,1755839900.125 [DAT](INFO): DAT read: 05:18:18.1546 LVL= 28144, 32753, 31698, 32755, AGC= 69, IDX= 203, 0.27,-1.692, 2.826,-1.754,-2.047, PHS= 0.457,-1.365, 0.249, RAW= 144.0,   7.7, CAL= 143.6,   8.4, ROT=   6.4,  -8.4

2025-08-22T05:18:20.126Z,1755839900.126 [DAT](INFO): got valid direction response:
 05:18:18.1546 LVL= 28144, 32753, 31698, 32755, AGC= 69, IDX= 203, 0.27,-1.692, 2.826,-1.754,-2.047, PHS= 0.457,-1.365, 0.249, RAW= 144.0,   7.7, CAL= 143.6,   8.4, ROT=   6.4,  -8.4

2025-08-22T05:18:20.128Z,1755839900.128 [DAT](INFO): DAT read: Bearing 248.0,   7.0 (Local)

2025-08-22T05:18:20.129Z,1755839900.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.0,   7.0 (Local)

2025-08-22T05:18:20.130Z,1755839900.130 [DAT](INFO): DAT read: Range 11 to 50 : 269.7 m  (Round-trip  359.6 ms) speed  0.8 m/s

2025-08-22T05:18:20.131Z,1755839900.131 [DAT](INFO): DAT read: user:7397>

2025-08-22T05:18:20.136Z,1755839900.136 [DAT](INFO): DAT read: Tx time:05:18:19.2409

2025-08-22T05:18:20.136Z,1755839900.136 [DAT](INFO): Ping request sent.
2025-08-22T05:18:20.136Z,1755839900.136 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:20.137Z,1755839900.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:20.138Z,1755839900.138 [DAT](INFO): direction in FSK: [0.983107,0.110273,0.146083]
2025-08-22T05:18:20.138Z,1755839900.138 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:20.138Z,1755839900.138 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:20.141Z,1755839900.141 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:20.142Z,1755839900.142 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:20.380Z,1755839900.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 269.700012 m,
      deltaT: 4.036816 s,
      deltaX: -3.000000 m,
      approachRate: -0.743160 m/s,
      rangeRepo size: 4

2025-08-22T05:18:20.382Z,1755839900.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 268.150391 m,
      bearing: 100.046530 deg,
      lat: 36.779246 deg,
      lon: -121.859469 deg,
      deltaT: 4.036816 s,
      deltaX: -2.982758 m,
      approachRate: -0.738889 m/s,
      posRepo size: 4

2025-08-22T05:18:20.383Z,1755839900.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:20.393Z,1755839900.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 263.503418 m,
      bearing: 97.520602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011676 deg/s,
      cmd heading: 94.413691 deg,
      new cmd heading: 94.404383 deg.

2025-08-22T05:18:20.394Z,1755839900.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647667 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:20.717Z,1755839900.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:20.720Z,1755839900.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 263.260712 m,
      bearing: 97.517872 deg,
      approach rate: -0.709599 m/s,
      LOS rate: -0.007991 deg/s,
      cmd heading: 94.404382 deg,
      new cmd heading: 94.398915 deg.

2025-08-22T05:18:20.721Z,1755839900.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647572 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:21.197Z,1755839901.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:21.212Z,1755839901.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 262.947845 m,
      bearing: 97.515494 deg,
      approach rate: -0.651505 m/s,
      LOS rate: -0.004957 deg/s,
      cmd heading: 94.398918 deg,
      new cmd heading: 94.394157 deg.

2025-08-22T05:18:21.213Z,1755839901.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647489 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:21.536Z,1755839901.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:21.538Z,1755839901.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:21.541Z,1755839901.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 262.702545 m,
      bearing: 97.513692 deg,
      approach rate: -0.719267 m/s,
      LOS rate: -0.005290 deg/s,
      cmd heading: 94.394157 deg,
      new cmd heading: 94.390549 deg.

2025-08-22T05:18:21.542Z,1755839901.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647426 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:21.616Z,1755839901.616 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:21.616Z,1755839901.616 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:21.617Z,1755839901.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:21.868Z,1755839901.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731859
2025-08-22T05:18:22.025Z,1755839902.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:22.028Z,1755839902.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 262.371185 m,
      bearing: 97.511384 deg,
      approach rate: -0.680662 m/s,
      LOS rate: -0.004746 deg/s,
      cmd heading: 94.390551 deg,
      new cmd heading: 94.385929 deg.

2025-08-22T05:18:22.029Z,1755839902.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647345 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:22.125Z,1755839902.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988449
2025-08-22T05:18:22.276Z,1755839902.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:18:22.376Z,1755839902.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239847
2025-08-22T05:18:22.470Z,1755839902.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:22.477Z,1755839902.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 262.075500 m,
      bearing: 97.509853 deg,
      approach rate: -0.665022 m/s,
      LOS rate: -0.003447 deg/s,
      cmd heading: 94.385927 deg,
      new cmd heading: 94.382861 deg.

2025-08-22T05:18:22.478Z,1755839902.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647292 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:22.630Z,1755839902.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493497
2025-08-22T05:18:22.880Z,1755839902.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.743891
2025-08-22T05:18:22.914Z,1755839902.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:22.917Z,1755839902.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 261.763489 m,
      bearing: 97.508240 deg,
      approach rate: -0.702255 m/s,
      LOS rate: -0.003634 deg/s,
      cmd heading: 94.382860 deg,
      new cmd heading: 94.379631 deg.

2025-08-22T05:18:22.918Z,1755839902.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647235 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:23.138Z,1755839903.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000902
2025-08-22T05:18:23.280Z,1755839903.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:18:23.345Z,1755839903.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:23.348Z,1755839903.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 261.467499 m,
      bearing: 97.505215 deg,
      approach rate: -0.686808 m/s,
      LOS rate: -0.007027 deg/s,
      cmd heading: 94.379629 deg,
      new cmd heading: 94.373572 deg.

2025-08-22T05:18:23.349Z,1755839903.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647130 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:23.384Z,1755839903.384 [DAT](INFO): DAT read: Rx Time:05:18:22.0011

2025-08-22T05:18:23.385Z,1755839903.385 [DAT](INFO): Rx dataTimestamp_ set to:1755839903.384601
2025-08-22T05:18:23.385Z,1755839903.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249089
2025-08-22T05:18:23.638Z,1755839903.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502151
2025-08-22T05:18:23.752Z,1755839903.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:23.771Z,1755839903.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 268.15 m.
2025-08-22T05:18:23.784Z,1755839903.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 268.150391 m,
      nav range: 261.210602 m,
      bearing: 97.502518 deg,
      approach rate: -0.605582 m/s,
      LOS rate: -0.006366 deg/s,
      cmd heading: 94.373571 deg,
      new cmd heading: 94.368170 deg.

2025-08-22T05:18:23.785Z,1755839903.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647035 target range: 268.150391 and range: 269.70 m.
2025-08-22T05:18:23.895Z,1755839903.895 [DAT](INFO): DAT read: 05:18:22.0011 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.18,-1.106,-2.946,-1.190,-1.455, PHS= 0.450,-1.447, 0.220, RAW= 143.6,   8.7, CAL= 143.2,   9.5, ROT=   6.8,  -9.5

2025-08-22T05:18:23.896Z,1755839903.896 [DAT](INFO): got valid direction response:
 05:18:22.0011 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.18,-1.106,-2.946,-1.190,-1.455, PHS= 0.450,-1.447, 0.220, RAW= 143.6,   8.7, CAL= 143.2,   9.5, ROT=   6.8,  -9.5

2025-08-22T05:18:23.897Z,1755839903.897 [DAT](INFO): DAT read: Bearing 248.5,   6.9 (Local)

2025-08-22T05:18:23.897Z,1755839903.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.5,   6.9 (Local)

2025-08-22T05:18:23.899Z,1755839903.899 [DAT](INFO): DAT read: Range 11 to 50 : 267.0 m  (Round-trip  356.1 ms) speed  0.1 m/s

2025-08-22T05:18:23.899Z,1755839903.899 [DAT](INFO): DAT read: user:7398>

2025-08-22T05:18:23.900Z,1755839903.900 [DAT](INFO): DAT read: Tx time:05:18:23.0909

2025-08-22T05:18:23.900Z,1755839903.900 [DAT](INFO): Ping request sent.
2025-08-22T05:18:23.900Z,1755839903.900 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:23.901Z,1755839903.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:23.902Z,1755839903.902 [DAT](INFO): direction in FSK: [0.979348,0.116780,0.165048]
2025-08-22T05:18:23.902Z,1755839903.902 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:23.902Z,1755839903.902 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:23.905Z,1755839903.905 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:23.906Z,1755839903.906 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:24.199Z,1755839904.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 267.000000 m,
      deltaT: 3.782458 s,
      deltaX: -2.700012 m,
      approachRate: -0.713825 m/s,
      rangeRepo size: 4

2025-08-22T05:18:24.209Z,1755839904.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 265.465759 m,
      bearing: 100.152185 deg,
      lat: 36.779194 deg,
      lon: -121.859469 deg,
      deltaT: 3.782458 s,
      deltaX: -2.684631 m,
      approachRate: -0.709758 m/s,
      posRepo size: 4

2025-08-22T05:18:24.210Z,1755839904.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:24.229Z,1755839904.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 261.735504 m,
      bearing: 98.767972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006366 deg/s,
      cmd heading: 94.368168 deg,
      new cmd heading: 94.362708 deg.

2025-08-22T05:18:24.230Z,1755839904.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646940 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:24.555Z,1755839904.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:24.558Z,1755839904.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 261.464081 m,
      bearing: 98.766116 deg,
      approach rate: -0.761112 m/s,
      LOS rate: -0.005211 deg/s,
      cmd heading: 94.362711 deg,
      new cmd heading: 94.358994 deg.

2025-08-22T05:18:24.559Z,1755839904.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646875 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:24.971Z,1755839904.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:24.974Z,1755839904.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 261.178284 m,
      bearing: 98.764104 deg,
      approach rate: -0.686255 m/s,
      LOS rate: -0.004836 deg/s,
      cmd heading: 94.358995 deg,
      new cmd heading: 94.354967 deg.

2025-08-22T05:18:24.975Z,1755839904.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646805 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:25.406Z,1755839905.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:25.409Z,1755839905.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 260.880585 m,
      bearing: 98.761695 deg,
      approach rate: -0.684447 m/s,
      LOS rate: -0.005546 deg/s,
      cmd heading: 94.354965 deg,
      new cmd heading: 94.350141 deg.

2025-08-22T05:18:25.410Z,1755839905.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646721 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:25.867Z,1755839905.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:25.873Z,1755839905.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:25.880Z,1755839905.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 260.570557 m,
      bearing: 98.759133 deg,
      approach rate: -0.664014 m/s,
      LOS rate: -0.005492 deg/s,
      cmd heading: 94.350143 deg,
      new cmd heading: 94.345014 deg.

2025-08-22T05:18:25.881Z,1755839905.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646631 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:25.904Z,1755839905.904 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:25.904Z,1755839905.904 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:25.904Z,1755839905.904 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:26.159Z,1755839906.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258123
2025-08-22T05:18:26.373Z,1755839906.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:26.376Z,1755839906.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 260.215302 m,
      bearing: 98.756368 deg,
      approach rate: -0.710817 m/s,
      LOS rate: -0.005541 deg/s,
      cmd heading: 94.345014 deg,
      new cmd heading: 94.339475 deg.

2025-08-22T05:18:26.377Z,1755839906.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646534 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:26.408Z,1755839906.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507879
2025-08-22T05:18:26.660Z,1755839906.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759677
2025-08-22T05:18:26.797Z,1755839906.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:26.807Z,1755839906.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 259.935333 m,
      bearing: 98.754183 deg,
      approach rate: -0.660597 m/s,
      LOS rate: -0.005161 deg/s,
      cmd heading: 94.339474 deg,
      new cmd heading: 94.335100 deg.

2025-08-22T05:18:26.808Z,1755839906.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646458 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:26.912Z,1755839906.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011782
2025-08-22T05:18:27.168Z,1755839907.168 [DAT](INFO): DAT read: Rx Time:05:18:25.8483

2025-08-22T05:18:27.169Z,1755839907.169 [DAT](INFO): Rx dataTimestamp_ set to:1755839907.168415
2025-08-22T05:18:27.171Z,1755839907.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270000
2025-08-22T05:18:27.249Z,1755839907.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:27.263Z,1755839907.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 259.625702 m,
      bearing: 98.751713 deg,
      approach rate: -0.685172 m/s,
      LOS rate: -0.005473 deg/s,
      cmd heading: 94.335103 deg,
      new cmd heading: 94.330157 deg.

2025-08-22T05:18:27.264Z,1755839907.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646372 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:27.416Z,1755839907.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515664
2025-08-22T05:18:27.642Z,1755839907.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 265.47 m.
2025-08-22T05:18:27.645Z,1755839907.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 265.465759 m,
      nav range: 259.345184 m,
      bearing: 98.747913 deg,
      approach rate: -0.712724 m/s,
      LOS rate: -0.009665 deg/s,
      cmd heading: 94.330158 deg,
      new cmd heading: 94.322550 deg.

2025-08-22T05:18:27.646Z,1755839907.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646239 target range: 265.465759 and range: 267.00 m.
2025-08-22T05:18:27.674Z,1755839907.674 [DAT](INFO): DAT read: 05:18:25.8483 LVL= 29248, 32753, 32626, 32755, AGC= 65, IDX= 414, 0.26,-0.526,-2.283,-0.576,-0.869, PHS= 0.444,-1.370, 0.249, RAW= 144.4,   7.9, CAL= 143.9,   8.6, ROT=   6.1,  -8.6

2025-08-22T05:18:27.675Z,1755839907.675 [DAT](INFO): got valid direction response:
 05:18:25.8483 LVL= 29248, 32753, 32626, 32755, AGC= 65, IDX= 414, 0.26,-0.526,-2.283,-0.576,-0.869, PHS= 0.444,-1.370, 0.249, RAW= 144.4,   7.9, CAL= 143.9,   8.6, ROT=   6.1,  -8.6

2025-08-22T05:18:27.676Z,1755839907.676 [DAT](INFO): DAT read: Bearing 247.9,   7.7 (Local)

2025-08-22T05:18:27.677Z,1755839907.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,   7.7 (Local)

2025-08-22T05:18:27.678Z,1755839907.678 [DAT](INFO): DAT read: Range 11 to 50 : 264.9 m  (Round-trip  353.3 ms) speed  0.4 m/s

2025-08-22T05:18:27.679Z,1755839907.679 [DAT](INFO): DAT read: user:7399>

2025-08-22T05:18:27.680Z,1755839907.680 [DAT](INFO): DAT read: Tx time:05:18:26.9409

2025-08-22T05:18:27.680Z,1755839907.680 [DAT](INFO): Ping request sent.
2025-08-22T05:18:27.680Z,1755839907.680 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:27.680Z,1755839907.680 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:27.681Z,1755839907.681 [DAT](INFO): direction in FSK: [0.983158,0.105069,0.149535]
2025-08-22T05:18:27.681Z,1755839907.681 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:27.682Z,1755839907.682 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:27.685Z,1755839907.685 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:27.685Z,1755839907.685 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:27.983Z,1755839907.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 264.899994 m,
      deltaT: 3.779811 s,
      deltaX: -2.100006 m,
      approachRate: -0.555585 m/s,
      rangeRepo size: 4

2025-08-22T05:18:27.985Z,1755839907.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 263.375885 m,
      bearing: 99.864157 deg,
      lat: 36.779149 deg,
      lon: -121.859472 deg,
      deltaT: 3.779811 s,
      deltaX: -2.089874 m,
      approachRate: -0.552904 m/s,
      posRepo size: 4

2025-08-22T05:18:27.986Z,1755839907.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:27.989Z,1755839907.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 259.687347 m,
      bearing: 99.830088 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009665 deg/s,
      cmd heading: 94.322549 deg,
      new cmd heading: 94.315977 deg.

2025-08-22T05:18:27.990Z,1755839907.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646124 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:28.385Z,1755839908.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:28.388Z,1755839908.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:28.390Z,1755839908.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 259.409210 m,
      bearing: 99.826774 deg,
      approach rate: -0.686069 m/s,
      LOS rate: -0.008182 deg/s,
      cmd heading: 94.315979 deg,
      new cmd heading: 94.309345 deg.

2025-08-22T05:18:28.392Z,1755839908.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646009 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:28.424Z,1755839908.424 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:28.424Z,1755839908.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:28.424Z,1755839908.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:28.676Z,1755839908.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996193
2025-08-22T05:18:28.782Z,1755839908.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:28.785Z,1755839908.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 259.143921 m,
      bearing: 99.823606 deg,
      approach rate: -0.672051 m/s,
      LOS rate: -0.008035 deg/s,
      cmd heading: 94.309346 deg,
      new cmd heading: 94.303003 deg.

2025-08-22T05:18:28.786Z,1755839908.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645898 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:28.928Z,1755839908.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248177
2025-08-22T05:18:29.183Z,1755839909.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502726
2025-08-22T05:18:29.265Z,1755839909.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:29.272Z,1755839909.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 258.851318 m,
      bearing: 99.820131 deg,
      approach rate: -0.605954 m/s,
      LOS rate: -0.007204 deg/s,
      cmd heading: 94.303001 deg,
      new cmd heading: 94.296044 deg.

2025-08-22T05:18:29.276Z,1755839909.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645776 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:29.432Z,1755839909.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752211
2025-08-22T05:18:29.629Z,1755839909.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:29.632Z,1755839909.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 258.584839 m,
      bearing: 99.817518 deg,
      approach rate: -0.731821 m/s,
      LOS rate: -0.007183 deg/s,
      cmd heading: 94.296041 deg,
      new cmd heading: 94.290810 deg.

2025-08-22T05:18:29.633Z,1755839909.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645685 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:29.684Z,1755839909.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004331
2025-08-22T05:18:29.936Z,1755839909.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256140
2025-08-22T05:18:30.090Z,1755839910.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:30.097Z,1755839910.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 258.293213 m,
      bearing: 99.814689 deg,
      approach rate: -0.632781 m/s,
      LOS rate: -0.006146 deg/s,
      cmd heading: 94.290809 deg,
      new cmd heading: 94.285144 deg.

2025-08-22T05:18:30.098Z,1755839910.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645586 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:30.188Z,1755839910.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508288
2025-08-22T05:18:30.441Z,1755839910.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761324
2025-08-22T05:18:30.587Z,1755839910.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:30.593Z,1755839910.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:30.604Z,1755839910.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 257.972504 m,
      bearing: 99.811463 deg,
      approach rate: -0.637803 m/s,
      LOS rate: -0.006422 deg/s,
      cmd heading: 94.285147 deg,
      new cmd heading: 94.278688 deg.

2025-08-22T05:18:30.605Z,1755839910.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645473 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:30.693Z,1755839910.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013023
2025-08-22T05:18:30.944Z,1755839910.944 [DAT](INFO): DAT read: Rx Time:05:18:29.6750

2025-08-22T05:18:30.945Z,1755839910.945 [DAT](INFO): Rx dataTimestamp_ set to:1755839910.944488
2025-08-22T05:18:30.945Z,1755839910.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265315
2025-08-22T05:18:31.001Z,1755839911.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.38 m.
2025-08-22T05:18:31.020Z,1755839911.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 263.375885 m,
      nav range: 257.699188 m,
      bearing: 99.808696 deg,
      approach rate: -0.669710 m/s,
      LOS rate: -0.006788 deg/s,
      cmd heading: 94.278686 deg,
      new cmd heading: 94.273145 deg.

2025-08-22T05:18:31.021Z,1755839911.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645377 target range: 263.375885 and range: 264.90 m.
2025-08-22T05:18:31.201Z,1755839911.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520290
2025-08-22T05:18:31.458Z,1755839911.458 [DAT](INFO): DAT read: 05:18:29.6750 LVL= 25840, 32753, 29250, 32115, AGC= 69, IDX= 207,-0.04, 0.870,-0.861, 0.944, 0.549, PHS= 0.423,-1.365, 0.351, RAW= 148.0,   6.8, CAL= 147.4,   7.3, ROT=   2.6,  -7.3

2025-08-22T05:18:31.459Z,1755839911.459 [DAT](INFO): got valid direction response:
 05:18:29.6750 LVL= 25840, 32753, 29250, 32115, AGC= 69, IDX= 207,-0.04, 0.870,-0.861, 0.944, 0.549, PHS= 0.423,-1.365, 0.351, RAW= 148.0,   6.8, CAL= 147.4,   7.3, ROT=   2.6,  -7.3

2025-08-22T05:18:31.460Z,1755839911.460 [DAT](INFO): DAT read: Bearing 247.5,   7.0 (Local)

2025-08-22T05:18:31.460Z,1755839911.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.5,   7.0 (Local)

2025-08-22T05:18:31.462Z,1755839911.462 [DAT](INFO): DAT read: Range 11 to 50 : 247.4 m  (Round-trip  329.9 ms) speed  0.5 m/s

2025-08-22T05:18:31.462Z,1755839911.462 [DAT](INFO): DAT read: user:7400>

2025-08-22T05:18:31.467Z,1755839911.467 [DAT](INFO): DAT read: Tx time:05:18:30.7909

2025-08-22T05:18:31.467Z,1755839911.467 [DAT](INFO): Ping request sent.
2025-08-22T05:18:31.468Z,1755839911.468 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:31.468Z,1755839911.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:31.469Z,1755839911.469 [DAT](INFO): direction in FSK: [0.990873,0.044995,0.127065]
2025-08-22T05:18:31.469Z,1755839911.469 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:31.469Z,1755839911.469 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:31.477Z,1755839911.477 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:31.477Z,1755839911.477 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:31.566Z,1755839911.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 247.399994 m,
      deltaT: 3.782127 s,
      deltaX: -17.500000 m,
      approachRate: -4.627026 m/s,
      rangeRepo size: 4

2025-08-22T05:18:31.577Z,1755839911.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 245.980972 m,
      bearing: 96.371858 deg,
      lat: 36.779149 deg,
      lon: -121.859480 deg,
      deltaT: 3.782127 s,
      deltaX: -17.394913 m,
      approachRate: -4.599241 m/s,
      posRepo size: 4

2025-08-22T05:18:31.577Z,1755839911.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:31.584Z,1755839911.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 256.589386 m,
      bearing: 99.834646 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006788 deg/s,
      cmd heading: 94.273146 deg,
      new cmd heading: 94.265484 deg.

2025-08-22T05:18:31.585Z,1755839911.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645243 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:31.940Z,1755839911.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:31.943Z,1755839911.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 256.335968 m,
      bearing: 99.832452 deg,
      approach rate: -0.676153 m/s,
      LOS rate: -0.005860 deg/s,
      cmd heading: 94.265483 deg,
      new cmd heading: 94.261091 deg.

2025-08-22T05:18:31.944Z,1755839911.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645166 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:32.458Z,1755839912.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:32.460Z,1755839912.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 256.000885 m,
      bearing: 99.830907 deg,
      approach rate: -0.647845 m/s,
      LOS rate: -0.002992 deg/s,
      cmd heading: 94.261091 deg,
      new cmd heading: 94.257996 deg.

2025-08-22T05:18:32.461Z,1755839912.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645112 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:32.918Z,1755839912.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:32.920Z,1755839912.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:32.923Z,1755839912.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 255.699844 m,
      bearing: 99.829578 deg,
      approach rate: -0.650392 m/s,
      LOS rate: -0.002874 deg/s,
      cmd heading: 94.257997 deg,
      new cmd heading: 94.255336 deg.

2025-08-22T05:18:32.924Z,1755839912.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645066 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:32.961Z,1755839912.961 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:32.961Z,1755839912.961 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:32.961Z,1755839912.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:33.212Z,1755839913.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744612
2025-08-22T05:18:33.364Z,1755839913.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:33.367Z,1755839913.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 255.403778 m,
      bearing: 99.828104 deg,
      approach rate: -0.667384 m/s,
      LOS rate: -0.003327 deg/s,
      cmd heading: 94.255333 deg,
      new cmd heading: 94.252381 deg.

2025-08-22T05:18:33.368Z,1755839913.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645014 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:33.464Z,1755839913.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996546
2025-08-22T05:18:33.718Z,1755839913.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250369
2025-08-22T05:18:33.829Z,1755839913.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:33.832Z,1755839913.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 255.093903 m,
      bearing: 99.826619 deg,
      approach rate: -0.666719 m/s,
      LOS rate: -0.003197 deg/s,
      cmd heading: 94.252383 deg,
      new cmd heading: 94.249411 deg.

2025-08-22T05:18:33.833Z,1755839913.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644963 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:33.970Z,1755839913.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502162
2025-08-22T05:18:34.222Z,1755839914.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753920
2025-08-22T05:18:34.354Z,1755839914.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:34.357Z,1755839914.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 254.744385 m,
      bearing: 99.825040 deg,
      approach rate: -0.665327 m/s,
      LOS rate: -0.003010 deg/s,
      cmd heading: 94.249412 deg,
      new cmd heading: 94.246249 deg.

2025-08-22T05:18:34.358Z,1755839914.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644907 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:34.472Z,1755839914.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004715
2025-08-22T05:18:34.697Z,1755839914.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:34.721Z,1755839914.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 254.511841 m,
      bearing: 99.825497 deg,
      approach rate: -0.678111 m/s,
      LOS rate: 0.001332 deg/s,
      cmd heading: 94.246249 deg,
      new cmd heading: 94.247163 deg.

2025-08-22T05:18:34.726Z,1755839914.726 [DAT](INFO): DAT read: Rx Time:05:18:33.5215

2025-08-22T05:18:34.726Z,1755839914.726 [DAT](INFO): Rx dataTimestamp_ set to:1755839914.725819
2025-08-22T05:18:34.727Z,1755839914.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259353
2025-08-22T05:18:34.732Z,1755839914.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644923 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:34.976Z,1755839914.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508641
2025-08-22T05:18:35.090Z,1755839915.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:35.097Z,1755839915.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.98 m.
2025-08-22T05:18:35.103Z,1755839915.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 245.980972 m,
      nav range: 254.244308 m,
      bearing: 99.826110 deg,
      approach rate: -0.669621 m/s,
      LOS rate: 0.001536 deg/s,
      cmd heading: 94.247164 deg,
      new cmd heading: 94.248392 deg.

2025-08-22T05:18:35.104Z,1755839915.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644945 target range: 245.980972 and range: 247.40 m.
2025-08-22T05:18:35.229Z,1755839915.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.761350
2025-08-22T05:18:35.486Z,1755839915.486 [DAT](INFO): DAT read: 05:18:33.5215 LVL= 30096, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.435,-2.102,-0.416,-0.778, PHS= 0.445,-1.280, 0.318, RAW= 146.2,   6.3, CAL= 145.7,   6.8, ROT=   4.3,  -6.8

2025-08-22T05:18:35.487Z,1755839915.487 [DAT](INFO): got valid direction response:
 05:18:33.5215 LVL= 30096, 32753, 32754, 32755, AGC= 65, IDX= 412, 0.29,-0.435,-2.102,-0.416,-0.778, PHS= 0.445,-1.280, 0.318, RAW= 146.2,   6.3, CAL= 145.7,   6.8, ROT=   4.3,  -6.8

2025-08-22T05:18:35.488Z,1755839915.488 [DAT](INFO): DAT read: Bearing 246.5,  10.8 (Local)

2025-08-22T05:18:35.489Z,1755839915.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  10.8 (Local)

2025-08-22T05:18:35.490Z,1755839915.490 [DAT](INFO): DAT read: Range 11 to 50 : 244.8 m  (Round-trip  326.5 ms) speed  0.8 m/s

2025-08-22T05:18:35.491Z,1755839915.491 [DAT](INFO): DAT read: user:7401>

2025-08-22T05:18:35.520Z,1755839915.520 [DAT](INFO): DAT read: Tx time:05:18:34.6409

2025-08-22T05:18:35.520Z,1755839915.520 [DAT](INFO): Ping request sent.
2025-08-22T05:18:35.520Z,1755839915.520 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:35.521Z,1755839915.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:35.521Z,1755839915.521 [DAT](INFO): direction in FSK: [0.990170,0.074451,0.118404]
2025-08-22T05:18:35.522Z,1755839915.522 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:35.522Z,1755839915.522 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:35.544Z,1755839915.544 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:35.544Z,1755839915.544 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:35.629Z,1755839915.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 244.800003 m,
      deltaT: 4.029688 s,
      deltaX: -2.599991 m,
      approachRate: -0.645209 m/s,
      rangeRepo size: 4

2025-08-22T05:18:35.631Z,1755839915.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 243.398178 m,
      bearing: 97.447547 deg,
      lat: 36.779149 deg,
      lon: -121.859482 deg,
      deltaT: 4.029688 s,
      deltaX: -2.582794 m,
      approachRate: -0.640942 m/s,
      posRepo size: 4

2025-08-22T05:18:35.640Z,1755839915.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:35.642Z,1755839915.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 253.777237 m,
      bearing: 99.829839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001536 deg/s,
      cmd heading: 94.248394 deg,
      new cmd heading: 94.250027 deg.

2025-08-22T05:18:35.648Z,1755839915.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644973 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:35.973Z,1755839915.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:35.976Z,1755839915.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 253.522720 m,
      bearing: 99.829438 deg,
      approach rate: -0.738354 m/s,
      LOS rate: -0.001164 deg/s,
      cmd heading: 94.250026 deg,
      new cmd heading: 94.249223 deg.

2025-08-22T05:18:35.977Z,1755839915.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644959 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:36.423Z,1755839916.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:36.426Z,1755839916.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 253.211197 m,
      bearing: 99.830132 deg,
      approach rate: -0.692022 m/s,
      LOS rate: 0.001542 deg/s,
      cmd heading: 94.249220 deg,
      new cmd heading: 94.250609 deg.

2025-08-22T05:18:36.427Z,1755839916.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644983 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:36.886Z,1755839916.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:36.889Z,1755839916.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 252.891190 m,
      bearing: 99.831002 deg,
      approach rate: -0.691429 m/s,
      LOS rate: 0.001883 deg/s,
      cmd heading: 94.250607 deg,
      new cmd heading: 94.252350 deg.

2025-08-22T05:18:36.890Z,1755839916.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645014 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:37.368Z,1755839917.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:37.370Z,1755839917.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:37.381Z,1755839917.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 252.589279 m,
      bearing: 99.831884 deg,
      approach rate: -0.623502 m/s,
      LOS rate: 0.001824 deg/s,
      cmd heading: 94.252349 deg,
      new cmd heading: 94.254115 deg.

2025-08-22T05:18:37.382Z,1755839917.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645045 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:37.496Z,1755839917.496 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:37.496Z,1755839917.496 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:37.496Z,1755839917.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:37.749Z,1755839917.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228725
2025-08-22T05:18:37.887Z,1755839917.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:37.894Z,1755839917.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 252.210846 m,
      bearing: 99.833175 deg,
      approach rate: -0.732100 m/s,
      LOS rate: 0.002501 deg/s,
      cmd heading: 94.254118 deg,
      new cmd heading: 94.256704 deg.

2025-08-22T05:18:37.895Z,1755839917.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645090 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:38.001Z,1755839918.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480784
2025-08-22T05:18:38.253Z,1755839918.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732317
2025-08-22T05:18:38.289Z,1755839918.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:38.291Z,1755839918.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 251.922592 m,
      bearing: 99.834192 deg,
      approach rate: -0.717563 m/s,
      LOS rate: 0.002533 deg/s,
      cmd heading: 94.256706 deg,
      new cmd heading: 94.258741 deg.

2025-08-22T05:18:38.293Z,1755839918.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645125 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:38.505Z,1755839918.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984490
2025-08-22T05:18:38.756Z,1755839918.756 [DAT](INFO): DAT read: Rx Time:05:18:37.3677

2025-08-22T05:18:38.757Z,1755839918.757 [DAT](INFO): Rx dataTimestamp_ set to:1755839918.756485
2025-08-22T05:18:38.757Z,1755839918.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237053
2025-08-22T05:18:38.774Z,1755839918.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:38.811Z,1755839918.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 251.590103 m,
      bearing: 99.835692 deg,
      approach rate: -0.684211 m/s,
      LOS rate: 0.003092 deg/s,
      cmd heading: 94.258742 deg,
      new cmd heading: 94.261747 deg.

2025-08-22T05:18:38.812Z,1755839918.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645178 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:39.008Z,1755839919.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487938
2025-08-22T05:18:39.183Z,1755839919.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.40 m.
2025-08-22T05:18:39.187Z,1755839919.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 243.398178 m,
      nav range: 251.313644 m,
      bearing: 99.836951 deg,
      approach rate: -0.677255 m/s,
      LOS rate: 0.003086 deg/s,
      cmd heading: 94.261747 deg,
      new cmd heading: 94.264267 deg.

2025-08-22T05:18:39.188Z,1755839919.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645222 target range: 243.398178 and range: 244.80 m.
2025-08-22T05:18:39.267Z,1755839919.267 [DAT](INFO): DAT read: 05:18:37.3677 LVL= 32752, 32753, 32226, 32755, AGC= 68, IDX= 407,-0.40, 1.358,-0.389, 1.370, 0.972, PHS= 0.488,-1.316, 0.354, RAW= 146.2,   5.5, CAL= 145.6,   5.9, ROT=   4.4,  -5.9

2025-08-22T05:18:39.269Z,1755839919.269 [DAT](INFO): got valid direction response:
 05:18:37.3677 LVL= 32752, 32753, 32226, 32755, AGC= 68, IDX= 407,-0.40, 1.358,-0.389, 1.370, 0.972, PHS= 0.488,-1.316, 0.354, RAW= 146.2,   5.5, CAL= 145.6,   5.9, ROT=   4.4,  -5.9

2025-08-22T05:18:39.270Z,1755839919.270 [DAT](INFO): DAT read: Bearing 244.9,  12.5 (Local)

2025-08-22T05:18:39.270Z,1755839919.270 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.9,  12.5 (Local)

2025-08-22T05:18:39.273Z,1755839919.273 [DAT](INFO): DAT read: Range 11 to 50 : 242.1 m  (Round-trip  322.8 ms) speed  0.7 m/s

2025-08-22T05:18:39.274Z,1755839919.274 [DAT](INFO): DAT read: user:7402>

2025-08-22T05:18:39.275Z,1755839919.275 [DAT](INFO): DAT read: Tx time:05:18:38.4908

2025-08-22T05:18:39.276Z,1755839919.276 [DAT](INFO): Ping request sent.
2025-08-22T05:18:39.276Z,1755839919.276 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:39.276Z,1755839919.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:39.278Z,1755839919.278 [DAT](INFO): direction in FSK: [0.991771,0.076313,0.102793]
2025-08-22T05:18:39.278Z,1755839919.278 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:39.278Z,1755839919.278 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:39.309Z,1755839919.309 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:39.309Z,1755839919.309 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:39.603Z,1755839919.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 242.100006 m,
      deltaT: 3.780091 s,
      deltaX: -2.699997 m,
      approachRate: -0.714268 m/s,
      rangeRepo size: 4

2025-08-22T05:18:39.612Z,1755839919.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 240.713287 m,
      bearing: 97.166514 deg,
      lat: 36.779263 deg,
      lon: -121.859630 deg,
      deltaT: 3.780091 s,
      deltaX: -2.684891 m,
      approachRate: -0.710271 m/s,
      posRepo size: 4

2025-08-22T05:18:39.613Z,1755839919.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:39.620Z,1755839919.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 236.089630 m,
      bearing: 97.360689 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003086 deg/s,
      cmd heading: 94.264267 deg,
      new cmd heading: 94.266735 deg.

2025-08-22T05:18:39.621Z,1755839919.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645265 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:39.958Z,1755839919.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:39.960Z,1755839919.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:39.963Z,1755839919.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 235.839050 m,
      bearing: 97.358416 deg,
      approach rate: -0.663709 m/s,
      LOS rate: -0.006029 deg/s,
      cmd heading: 94.266733 deg,
      new cmd heading: 94.262181 deg.

2025-08-22T05:18:39.964Z,1755839919.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645185 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:40.016Z,1755839920.016 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:40.016Z,1755839920.016 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:40.017Z,1755839920.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:40.268Z,1755839920.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992261
2025-08-22T05:18:40.434Z,1755839920.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:40.441Z,1755839920.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 235.549316 m,
      bearing: 97.355756 deg,
      approach rate: -0.611761 m/s,
      LOS rate: -0.005623 deg/s,
      cmd heading: 94.262184 deg,
      new cmd heading: 94.256858 deg.

2025-08-22T05:18:40.442Z,1755839920.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645092 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:40.521Z,1755839920.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245372
2025-08-22T05:18:40.772Z,1755839920.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496259
2025-08-22T05:18:40.835Z,1755839920.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:40.842Z,1755839920.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 235.282684 m,
      bearing: 97.353892 deg,
      approach rate: -0.664923 m/s,
      LOS rate: -0.004653 deg/s,
      cmd heading: 94.256856 deg,
      new cmd heading: 94.253125 deg.

2025-08-22T05:18:40.843Z,1755839920.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645027 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:41.026Z,1755839921.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749533
2025-08-22T05:18:41.190Z,1755839921.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:41.192Z,1755839921.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 235.031647 m,
      bearing: 97.352064 deg,
      approach rate: -0.707106 m/s,
      LOS rate: -0.005156 deg/s,
      cmd heading: 94.253127 deg,
      new cmd heading: 94.249466 deg.

2025-08-22T05:18:41.193Z,1755839921.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644964 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:41.276Z,1755839921.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000492
2025-08-22T05:18:41.528Z,1755839921.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252356
2025-08-22T05:18:41.655Z,1755839921.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:41.658Z,1755839921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 234.748535 m,
      bearing: 97.349202 deg,
      approach rate: -0.647077 m/s,
      LOS rate: -0.006550 deg/s,
      cmd heading: 94.249466 deg,
      new cmd heading: 94.243735 deg.

2025-08-22T05:18:41.659Z,1755839921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644863 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:41.781Z,1755839921.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505315
2025-08-22T05:18:42.036Z,1755839922.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759892
2025-08-22T05:18:42.082Z,1755839922.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:42.085Z,1755839922.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:42.090Z,1755839922.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 234.453262 m,
      bearing: 97.346089 deg,
      approach rate: -0.645572 m/s,
      LOS rate: -0.006815 deg/s,
      cmd heading: 94.243736 deg,
      new cmd heading: 94.237502 deg.

2025-08-22T05:18:42.092Z,1755839922.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644755 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:42.289Z,1755839922.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012933
2025-08-22T05:18:42.512Z,1755839922.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:42.515Z,1755839922.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 234.172592 m,
      bearing: 97.343347 deg,
      approach rate: -0.656236 m/s,
      LOS rate: -0.006418 deg/s,
      cmd heading: 94.237500 deg,
      new cmd heading: 94.232009 deg.

2025-08-22T05:18:42.516Z,1755839922.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644659 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:42.540Z,1755839922.540 [DAT](INFO): DAT read: Rx Time:05:18:41.2143

2025-08-22T05:18:42.541Z,1755839922.541 [DAT](INFO): Rx dataTimestamp_ set to:1755839922.540372
2025-08-22T05:18:42.541Z,1755839922.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265270
2025-08-22T05:18:42.792Z,1755839922.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516289
2025-08-22T05:18:42.886Z,1755839922.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.71 m.
2025-08-22T05:18:42.889Z,1755839922.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 240.713287 m,
      nav range: 233.927887 m,
      bearing: 97.340914 deg,
      approach rate: -0.655289 m/s,
      LOS rate: -0.006521 deg/s,
      cmd heading: 94.232008 deg,
      new cmd heading: 94.227138 deg.

2025-08-22T05:18:42.890Z,1755839922.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644574 target range: 240.713287 and range: 242.10 m.
2025-08-22T05:18:43.050Z,1755839923.050 [DAT](INFO): DAT read: 05:18:41.2143 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.36, 2.991, 1.296, 3.037, 2.611, PHS= 0.482,-1.271, 0.382, RAW= 147.1,   4.8, CAL= 146.5,   5.1, ROT=   3.5,  -5.1

2025-08-22T05:18:43.051Z,1755839923.051 [DAT](INFO): got valid direction response:
 05:18:41.2143 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.36, 2.991, 1.296, 3.037, 2.611, PHS= 0.482,-1.271, 0.382, RAW= 147.1,   4.8, CAL= 146.5,   5.1, ROT=   3.5,  -5.1

2025-08-22T05:18:43.053Z,1755839923.053 [DAT](INFO): DAT read: Bearing 244.7,  14.0 (Local)

2025-08-22T05:18:43.053Z,1755839923.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.7,  14.0 (Local)

2025-08-22T05:18:43.055Z,1755839923.055 [DAT](INFO): DAT read: Range 11 to 50 : 239.5 m  (Round-trip  319.4 ms) speed  0.8 m/s

2025-08-22T05:18:43.056Z,1755839923.056 [DAT](INFO): DAT read: user:7403>

2025-08-22T05:18:43.057Z,1755839923.057 [DAT](INFO): DAT read: Tx time:05:18:42.3408

2025-08-22T05:18:43.057Z,1755839923.057 [DAT](INFO): Ping request sent.
2025-08-22T05:18:43.057Z,1755839923.057 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:43.057Z,1755839923.057 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:43.058Z,1755839923.058 [DAT](INFO): direction in FSK: [0.994183,0.060807,0.088894]
2025-08-22T05:18:43.058Z,1755839923.058 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:43.059Z,1755839923.059 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:43.062Z,1755839923.062 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:43.062Z,1755839923.062 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:43.305Z,1755839923.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 239.500000 m,
      deltaT: 3.783865 s,
      deltaX: -2.600006 m,
      approachRate: -0.687130 m/s,
      rangeRepo size: 4

2025-08-22T05:18:43.307Z,1755839923.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 238.128677 m,
      bearing: 96.578956 deg,
      lat: 36.779274 deg,
      lon: -121.859654 deg,
      deltaT: 3.783865 s,
      deltaX: -2.584610 m,
      approachRate: -0.683061 m/s,
      posRepo size: 4

2025-08-22T05:18:43.316Z,1755839923.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:43.318Z,1755839923.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 231.419220 m,
      bearing: 97.107114 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006521 deg/s,
      cmd heading: 94.227138 deg,
      new cmd heading: 94.221683 deg.

2025-08-22T05:18:43.323Z,1755839923.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644479 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:43.705Z,1755839923.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:43.710Z,1755839923.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 231.146255 m,
      bearing: 97.102086 deg,
      approach rate: -0.681673 m/s,
      LOS rate: -0.012570 deg/s,
      cmd heading: 94.221681 deg,
      new cmd heading: 94.211614 deg.

2025-08-22T05:18:43.712Z,1755839923.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644303 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:44.090Z,1755839924.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:44.093Z,1755839924.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:44.095Z,1755839924.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 230.891113 m,
      bearing: 97.097319 deg,
      approach rate: -0.657100 m/s,
      LOS rate: -0.012291 deg/s,
      cmd heading: 94.211613 deg,
      new cmd heading: 94.202068 deg.

2025-08-22T05:18:44.096Z,1755839924.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644136 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:44.304Z,1755839924.304 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:44.304Z,1755839924.304 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:44.305Z,1755839924.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:44.541Z,1755839924.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:44.544Z,1755839924.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 230.598923 m,
      bearing: 97.091565 deg,
      approach rate: -0.652118 m/s,
      LOS rate: -0.012857 deg/s,
      cmd heading: 94.202071 deg,
      new cmd heading: 94.190550 deg.

2025-08-22T05:18:44.545Z,1755839924.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643935 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:44.556Z,1755839924.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499319
2025-08-22T05:18:44.808Z,1755839924.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751137
2025-08-22T05:18:44.930Z,1755839924.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:44.937Z,1755839924.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 230.351273 m,
      bearing: 97.086593 deg,
      approach rate: -0.636626 m/s,
      LOS rate: -0.012796 deg/s,
      cmd heading: 94.190549 deg,
      new cmd heading: 94.180594 deg.

2025-08-22T05:18:44.938Z,1755839924.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643761 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:45.060Z,1755839925.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003102
2025-08-22T05:18:45.312Z,1755839925.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255216
2025-08-22T05:18:45.317Z,1755839925.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:45.335Z,1755839925.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 230.098495 m,
      bearing: 97.081405 deg,
      approach rate: -0.653505 m/s,
      LOS rate: -0.013428 deg/s,
      cmd heading: 94.180591 deg,
      new cmd heading: 94.170203 deg.

2025-08-22T05:18:45.336Z,1755839925.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643580 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:45.565Z,1755839925.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507673
2025-08-22T05:18:45.768Z,1755839925.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:45.771Z,1755839925.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 229.798935 m,
      bearing: 97.075678 deg,
      approach rate: -0.664330 m/s,
      LOS rate: -0.012717 deg/s,
      cmd heading: 94.170202 deg,
      new cmd heading: 94.158733 deg.

2025-08-22T05:18:45.772Z,1755839925.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643380 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:45.817Z,1755839925.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759975
2025-08-22T05:18:46.068Z,1755839926.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011204
2025-08-22T05:18:46.145Z,1755839926.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:46.149Z,1755839926.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:46.153Z,1755839926.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 229.550568 m,
      bearing: 97.070872 deg,
      approach rate: -0.651677 m/s,
      LOS rate: -0.012624 deg/s,
      cmd heading: 94.158734 deg,
      new cmd heading: 94.149111 deg.

2025-08-22T05:18:46.155Z,1755839926.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643212 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:46.320Z,1755839926.320 [DAT](INFO): DAT read: Rx Time:05:18:45.0611

2025-08-22T05:18:46.321Z,1755839926.321 [DAT](INFO): Rx dataTimestamp_ set to:1755839926.320409
2025-08-22T05:18:46.321Z,1755839926.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264177
2025-08-22T05:18:46.573Z,1755839926.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515473
2025-08-22T05:18:46.604Z,1755839926.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.13 m.
2025-08-22T05:18:46.606Z,1755839926.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 238.128677 m,
      nav range: 229.251038 m,
      bearing: 97.065085 deg,
      approach rate: -0.658468 m/s,
      LOS rate: -0.012737 deg/s,
      cmd heading: 94.149110 deg,
      new cmd heading: 94.137522 deg.

2025-08-22T05:18:46.607Z,1755839926.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643010 target range: 238.128677 and range: 239.50 m.
2025-08-22T05:18:46.833Z,1755839926.833 [DAT](INFO): DAT read: 05:18:45.0611 LVL= 32752, 32753, 31186, 32755, AGC= 67, IDX= 402,-0.20,-1.635, 2.982,-1.564,-2.021, PHS= 0.488,-1.235, 0.413, RAW= 147.8,   4.0, CAL= 147.1,   4.2, ROT=   2.9,  -4.2

2025-08-22T05:18:46.834Z,1755839926.834 [DAT](INFO): got valid direction response:
 05:18:45.0611 LVL= 32752, 32753, 31186, 32755, AGC= 67, IDX= 402,-0.20,-1.635, 2.982,-1.564,-2.021, PHS= 0.488,-1.235, 0.413, RAW= 147.8,   4.0, CAL= 147.1,   4.2, ROT=   2.9,  -4.2

2025-08-22T05:18:46.835Z,1755839926.835 [DAT](INFO): DAT read: Bearing 244.5,  15.0 (Local)

2025-08-22T05:18:46.835Z,1755839926.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.5,  15.0 (Local)

2025-08-22T05:18:46.837Z,1755839926.837 [DAT](INFO): DAT read: Range 11 to 50 : 237.1 m  (Round-trip  316.2 ms) speed  0.8 m/s

2025-08-22T05:18:46.837Z,1755839926.837 [DAT](INFO): DAT read: user:7404>

2025-08-22T05:18:46.838Z,1755839926.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:46.839Z,1755839926.839 [DAT](INFO): direction in FSK: [0.996037,0.050457,0.073238]
2025-08-22T05:18:46.839Z,1755839926.839 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:46.876Z,1755839926.876 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:46.876Z,1755839926.876 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:46.877Z,1755839926.877 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:47.006Z,1755839927.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 237.100006 m,
      deltaT: 3.782171 s,
      deltaX: -2.399994 m,
      approachRate: -0.634555 m/s,
      rangeRepo size: 4

2025-08-22T05:18:47.017Z,1755839927.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 235.744614 m,
      bearing: 96.502641 deg,
      lat: 36.779296 deg,
      lon: -121.859666 deg,
      deltaT: 3.782171 s,
      deltaX: -2.384064 m,
      approachRate: -0.630343 m/s,
      posRepo size: 4

2025-08-22T05:18:47.018Z,1755839927.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:47.027Z,1755839927.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 227.621323 m,
      bearing: 96.486863 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012737 deg/s,
      cmd heading: 94.137519 deg,
      new cmd heading: 94.127287 deg.

2025-08-22T05:18:47.028Z,1755839927.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642831 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:47.076Z,1755839927.076 [DAT](INFO): DAT read: Tx time:05:18:46.1908

2025-08-22T05:18:47.077Z,1755839927.077 [DAT](INFO): Ping request sent.
2025-08-22T05:18:47.077Z,1755839927.077 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:47.077Z,1755839927.077 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:47.077Z,1755839927.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-22T05:18:47.333Z,1755839927.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255978
2025-08-22T05:18:47.496Z,1755839927.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:47.507Z,1755839927.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 227.318390 m,
      bearing: 96.480160 deg,
      approach rate: -0.625239 m/s,
      LOS rate: -0.013853 deg/s,
      cmd heading: 94.127288 deg,
      new cmd heading: 94.113864 deg.

2025-08-22T05:18:47.514Z,1755839927.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642597 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:47.582Z,1755839927.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505002
2025-08-22T05:18:47.832Z,1755839927.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755353
2025-08-22T05:18:47.878Z,1755839927.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:47.881Z,1755839927.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 227.043411 m,
      bearing: 96.474238 deg,
      approach rate: -0.707608 m/s,
      LOS rate: -0.015259 deg/s,
      cmd heading: 94.113866 deg,
      new cmd heading: 94.102007 deg.

2025-08-22T05:18:47.882Z,1755839927.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642390 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:48.085Z,1755839928.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007937
2025-08-22T05:18:48.336Z,1755839928.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259501
2025-08-22T05:18:48.361Z,1755839928.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:48.364Z,1755839928.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:48.366Z,1755839928.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 226.730347 m,
      bearing: 96.467498 deg,
      approach rate: -0.645362 m/s,
      LOS rate: -0.013913 deg/s,
      cmd heading: 94.102009 deg,
      new cmd heading: 94.088511 deg.

2025-08-22T05:18:48.367Z,1755839928.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642154 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:48.588Z,1755839928.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511415
2025-08-22T05:18:48.785Z,1755839928.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:48.788Z,1755839928.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 226.454742 m,
      bearing: 96.463140 deg,
      approach rate: -0.653310 m/s,
      LOS rate: -0.010344 deg/s,
      cmd heading: 94.088513 deg,
      new cmd heading: 94.079785 deg.

2025-08-22T05:18:48.789Z,1755839928.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642002 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:48.840Z,1755839928.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763736
2025-08-22T05:18:49.092Z,1755839929.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015472
2025-08-22T05:18:49.249Z,1755839929.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:49.252Z,1755839929.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 226.152100 m,
      bearing: 96.458369 deg,
      approach rate: -0.652826 m/s,
      LOS rate: -0.010304 deg/s,
      cmd heading: 94.079784 deg,
      new cmd heading: 94.070230 deg.

2025-08-22T05:18:49.253Z,1755839929.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641835 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:49.345Z,1755839929.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267995
2025-08-22T05:18:49.596Z,1755839929.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519748
2025-08-22T05:18:49.711Z,1755839929.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:49.727Z,1755839929.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 225.875580 m,
      bearing: 96.453390 deg,
      approach rate: -0.603143 m/s,
      LOS rate: -0.010874 deg/s,
      cmd heading: 94.070228 deg,
      new cmd heading: 94.060258 deg.

2025-08-22T05:18:49.728Z,1755839929.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641661 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:49.848Z,1755839929.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771637
2025-08-22T05:18:50.050Z,1755839930.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:50.054Z,1755839930.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 225.625473 m,
      bearing: 96.448881 deg,
      approach rate: -0.728900 m/s,
      LOS rate: -0.013157 deg/s,
      cmd heading: 94.060256 deg,
      new cmd heading: 94.051227 deg.

2025-08-22T05:18:50.055Z,1755839930.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641504 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:50.101Z,1755839930.101 [DAT](INFO): DAT read: Rx Time:05:18:48.9075

2025-08-22T05:18:50.102Z,1755839930.102 [DAT](INFO): Rx dataTimestamp_ set to:1755839930.101458
2025-08-22T05:18:50.103Z,1755839930.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025920
2025-08-22T05:18:50.352Z,1755839930.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275520
2025-08-22T05:18:50.446Z,1755839930.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:50.470Z,1755839930.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 235.74 m.
2025-08-22T05:18:50.472Z,1755839930.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 235.744614 m,
      nav range: 225.363235 m,
      bearing: 96.444143 deg,
      approach rate: -0.625498 m/s,
      LOS rate: -0.011314 deg/s,
      cmd heading: 94.051227 deg,
      new cmd heading: 94.041740 deg.

2025-08-22T05:18:50.473Z,1755839930.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641338 target range: 235.744614 and range: 237.10 m.
2025-08-22T05:18:50.604Z,1755839930.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527484
2025-08-22T05:18:50.862Z,1755839930.862 [DAT](INFO): DAT read: 05:18:48.9075 LVL= 30112, 32753, 29122, 32755, AGC= 68, IDX= 397, 0.28,-0.811,-2.568,-0.758,-1.259, PHS= 0.550,-1.264, 0.457, RAW= 147.4,   2.9, CAL= 146.7,   3.0, ROT=   3.3,  -3.0

2025-08-22T05:18:50.863Z,1755839930.863 [DAT](INFO): got valid direction response:
 05:18:48.9075 LVL= 30112, 32753, 29122, 32755, AGC= 68, IDX= 397, 0.28,-0.811,-2.568,-0.758,-1.259, PHS= 0.550,-1.264, 0.457, RAW= 147.4,   2.9, CAL= 146.7,   3.0, ROT=   3.3,  -3.0

2025-08-22T05:18:50.864Z,1755839930.864 [DAT](INFO): DAT read: Bearing 243.3,  16.3 (Local)

2025-08-22T05:18:50.864Z,1755839930.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.3,  16.3 (Local)

2025-08-22T05:18:50.866Z,1755839930.866 [DAT](INFO): DAT read: Range 11 to 50 : 234.3 m  (Round-trip  312.5 ms) speed  0.5 m/s

2025-08-22T05:18:50.867Z,1755839930.867 [DAT](INFO): DAT read: user:7405>

2025-08-22T05:18:50.867Z,1755839930.867 [DAT](INFO): DAT read: Tx time:05:18:49.9908

2025-08-22T05:18:50.868Z,1755839930.868 [DAT](INFO): Ping request sent.
2025-08-22T05:18:50.868Z,1755839930.868 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:50.868Z,1755839930.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:50.869Z,1755839930.869 [DAT](INFO): direction in FSK: [0.996974,0.057485,0.052336]
2025-08-22T05:18:50.869Z,1755839930.869 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:50.870Z,1755839930.870 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:50.877Z,1755839930.877 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:50.877Z,1755839930.877 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:50.937Z,1755839930.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 234.300003 m,
      deltaT: 4.029849 s,
      deltaX: -2.800003 m,
      approachRate: -0.694816 m/s,
      rangeRepo size: 4

2025-08-22T05:18:50.939Z,1755839930.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 232.960190 m,
      bearing: 96.913817 deg,
      lat: 36.779281 deg,
      lon: -121.859681 deg,
      deltaT: 4.029849 s,
      deltaX: -2.784424 m,
      approachRate: -0.690950 m/s,
      posRepo size: 4

2025-08-22T05:18:50.948Z,1755839930.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:50.950Z,1755839930.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 223.944595 m,
      bearing: 96.912403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011314 deg/s,
      cmd heading: 94.041740 deg,
      new cmd heading: 94.031184 deg.

2025-08-22T05:18:50.980Z,1755839930.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641154 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:51.314Z,1755839931.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:51.317Z,1755839931.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 223.669235 m,
      bearing: 96.909034 deg,
      approach rate: -0.727667 m/s,
      LOS rate: -0.008913 deg/s,
      cmd heading: 94.031187 deg,
      new cmd heading: 94.024442 deg.

2025-08-22T05:18:51.318Z,1755839931.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641036 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:51.777Z,1755839931.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:51.779Z,1755839931.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 223.366486 m,
      bearing: 96.904253 deg,
      approach rate: -0.655098 m/s,
      LOS rate: -0.010360 deg/s,
      cmd heading: 94.024439 deg,
      new cmd heading: 94.014863 deg.

2025-08-22T05:18:51.780Z,1755839931.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640869 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:52.111Z,1755839932.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:52.114Z,1755839932.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 223.147415 m,
      bearing: 96.900769 deg,
      approach rate: -0.655252 m/s,
      LOS rate: -0.010429 deg/s,
      cmd heading: 94.014863 deg,
      new cmd heading: 94.007889 deg.

2025-08-22T05:18:52.115Z,1755839932.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640747 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:52.513Z,1755839932.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:52.515Z,1755839932.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:52.518Z,1755839932.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 222.883041 m,
      bearing: 96.896550 deg,
      approach rate: -0.654214 m/s,
      LOS rate: -0.010453 deg/s,
      cmd heading: 94.007889 deg,
      new cmd heading: 93.999441 deg.

2025-08-22T05:18:52.519Z,1755839932.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640600 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:52.620Z,1755839932.620 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:52.620Z,1755839932.620 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:52.620Z,1755839932.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:52.872Z,1755839932.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004558
2025-08-22T05:18:52.947Z,1755839932.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:52.949Z,1755839932.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 222.596344 m,
      bearing: 96.892536 deg,
      approach rate: -0.664548 m/s,
      LOS rate: -0.009317 deg/s,
      cmd heading: 93.999440 deg,
      new cmd heading: 93.991401 deg.

2025-08-22T05:18:52.950Z,1755839932.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640459 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:53.124Z,1755839933.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256297
2025-08-22T05:18:53.325Z,1755839933.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:53.328Z,1755839933.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 222.345200 m,
      bearing: 96.888999 deg,
      approach rate: -0.663959 m/s,
      LOS rate: -0.009360 deg/s,
      cmd heading: 93.991401 deg,
      new cmd heading: 93.984320 deg.

2025-08-22T05:18:53.329Z,1755839933.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640336 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:53.376Z,1755839933.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508599
2025-08-22T05:18:53.428Z,1755839933.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:18:53.628Z,1755839933.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760422
2025-08-22T05:18:53.761Z,1755839933.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:53.764Z,1755839933.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 222.053299 m,
      bearing: 96.883349 deg,
      approach rate: -0.669096 m/s,
      LOS rate: -0.012968 deg/s,
      cmd heading: 93.984318 deg,
      new cmd heading: 93.973004 deg.

2025-08-22T05:18:53.765Z,1755839933.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640138 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:53.880Z,1755839933.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012425
2025-08-22T05:18:54.132Z,1755839934.132 [DAT](INFO): DAT read: Rx Time:05:18:52.7041

2025-08-22T05:18:54.133Z,1755839934.133 [DAT](INFO): Rx dataTimestamp_ set to:1755839934.132553
2025-08-22T05:18:54.133Z,1755839934.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265499
2025-08-22T05:18:54.142Z,1755839934.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:54.145Z,1755839934.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 221.800369 m,
      bearing: 96.878457 deg,
      approach rate: -0.664578 m/s,
      LOS rate: -0.012869 deg/s,
      cmd heading: 93.973001 deg,
      new cmd heading: 93.963205 deg.

2025-08-22T05:18:54.147Z,1755839934.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639967 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:54.384Z,1755839934.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516288
2025-08-22T05:18:54.436Z,1755839934.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:18:54.558Z,1755839934.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:54.561Z,1755839934.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 232.96 m.
2025-08-22T05:18:54.564Z,1755839934.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 232.960190 m,
      nav range: 221.532654 m,
      bearing: 96.873275 deg,
      approach rate: -0.638659 m/s,
      LOS rate: -0.012376 deg/s,
      cmd heading: 93.963206 deg,
      new cmd heading: 93.952830 deg.

2025-08-22T05:18:54.565Z,1755839934.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639786 target range: 232.960190 and range: 234.30 m.
2025-08-22T05:18:54.642Z,1755839934.642 [DAT](INFO): DAT read: 05:18:52.7041 LVL= 28320, 32753, 27090, 32755, AGC= 69, IDX= 410, 0.18, 1.600,-0.128, 1.652, 1.156, PHS= 0.546,-1.238, 0.452, RAW= 147.3,   2.8, CAL= 146.6,   2.9, ROT=   3.4,  -2.9

2025-08-22T05:18:54.644Z,1755839934.644 [DAT](INFO): got valid direction response:
 05:18:52.7041 LVL= 28320, 32753, 27090, 32755, AGC= 69, IDX= 410, 0.18, 1.600,-0.128, 1.652, 1.156, PHS= 0.546,-1.238, 0.452, RAW= 147.3,   2.8, CAL= 146.6,   2.9, ROT=   3.4,  -2.9

2025-08-22T05:18:54.645Z,1755839934.645 [DAT](INFO): DAT read: Bearing 243.1,  16.8 (Local)

2025-08-22T05:18:54.645Z,1755839934.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.1,  16.8 (Local)

2025-08-22T05:18:54.646Z,1755839934.646 [DAT](INFO): DAT read: Range 11 to 50 : 231.8 m  (Round-trip  309.1 ms) speed  0.7 m/s

2025-08-22T05:18:54.647Z,1755839934.647 [DAT](INFO): DAT read: user:7406>

2025-08-22T05:18:54.648Z,1755839934.648 [DAT](INFO): DAT read: Tx time:05:18:53.7908

2025-08-22T05:18:54.648Z,1755839934.648 [DAT](INFO): Ping request sent.
2025-08-22T05:18:54.648Z,1755839934.648 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:18:54.649Z,1755839934.649 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:18:54.650Z,1755839934.650 [DAT](INFO): direction in FSK: [0.996961,0.059230,0.050593]
2025-08-22T05:18:54.650Z,1755839934.650 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:54.652Z,1755839934.652 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:54.655Z,1755839934.655 [DAT](INFO): publishing transmit ping time
2025-08-22T05:18:54.655Z,1755839934.655 [DAT](INFO): publishing direction and range info
2025-08-22T05:18:55.013Z,1755839935.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 231.800003 m,
      deltaT: 3.780032 s,
      deltaX: -2.500000 m,
      approachRate: -0.661370 m/s,
      rangeRepo size: 4

2025-08-22T05:18:55.020Z,1755839935.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 230.478149 m,
      bearing: 96.998466 deg,
      lat: 36.779281 deg,
      lon: -121.859681 deg,
      deltaT: 3.780032 s,
      deltaX: -2.482040 m,
      approachRate: -0.656619 m/s,
      posRepo size: 4

2025-08-22T05:18:55.021Z,1755839935.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:55.027Z,1755839935.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 221.215912 m,
      bearing: 96.869518 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012376 deg/s,
      cmd heading: 93.952831 deg,
      new cmd heading: 93.941648 deg.

2025-08-22T05:18:55.028Z,1755839935.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639591 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:55.392Z,1755839935.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:55.395Z,1755839935.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 220.959305 m,
      bearing: 96.865672 deg,
      approach rate: -0.715832 m/s,
      LOS rate: -0.010742 deg/s,
      cmd heading: 93.941650 deg,
      new cmd heading: 93.933948 deg.

2025-08-22T05:18:55.412Z,1755839935.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639457 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:55.819Z,1755839935.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:55.821Z,1755839935.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 220.676956 m,
      bearing: 96.860700 deg,
      approach rate: -0.630964 m/s,
      LOS rate: -0.011125 deg/s,
      cmd heading: 93.933946 deg,
      new cmd heading: 93.923989 deg.

2025-08-22T05:18:55.822Z,1755839935.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639283 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:56.228Z,1755839936.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:56.230Z,1755839936.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 220.398453 m,
      bearing: 96.855783 deg,
      approach rate: -0.680636 m/s,
      LOS rate: -0.012031 deg/s,
      cmd heading: 93.923987 deg,
      new cmd heading: 93.914141 deg.

2025-08-22T05:18:56.232Z,1755839936.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639111 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:56.577Z,1755839936.577 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:56.579Z,1755839936.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:56.598Z,1755839936.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 220.168671 m,
      bearing: 96.851801 deg,
      approach rate: -0.653588 m/s,
      LOS rate: -0.011340 deg/s,
      cmd heading: 93.914138 deg,
      new cmd heading: 93.906165 deg.

2025-08-22T05:18:56.605Z,1755839936.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638972 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:56.655Z,1755839936.655 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:56.656Z,1755839936.656 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:56.656Z,1755839936.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:18:56.904Z,1755839936.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256134
2025-08-22T05:18:57.049Z,1755839937.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:57.052Z,1755839937.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 219.854736 m,
      bearing: 96.846153 deg,
      approach rate: -0.668687 m/s,
      LOS rate: -0.012047 deg/s,
      cmd heading: 93.906167 deg,
      new cmd heading: 93.894856 deg.

2025-08-22T05:18:57.053Z,1755839937.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638774 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:57.157Z,1755839937.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508633
2025-08-22T05:18:57.407Z,1755839937.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:57.408Z,1755839937.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760022
2025-08-22T05:18:57.414Z,1755839937.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 219.623520 m,
      bearing: 96.842088 deg,
      approach rate: -0.645952 m/s,
      LOS rate: -0.011368 deg/s,
      cmd heading: 93.894856 deg,
      new cmd heading: 93.886718 deg.

2025-08-22T05:18:57.415Z,1755839937.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638632 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:57.663Z,1755839937.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014669
2025-08-22T05:18:57.826Z,1755839937.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:57.828Z,1755839937.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 219.349915 m,
      bearing: 96.837636 deg,
      approach rate: -0.653308 m/s,
      LOS rate: -0.010644 deg/s,
      cmd heading: 93.886715 deg,
      new cmd heading: 93.877799 deg.

2025-08-22T05:18:57.829Z,1755839937.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638477 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:57.918Z,1755839937.918 [DAT](INFO): DAT read: 05:18:56.5006 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.39,-0.850,-2.546,-0.785,-1.265, PHS= 0.517,-1.237, 0.435, RAW= 147.6,   3.4, CAL= 146.9,   3.5, ROT=   3.1,  -3.5

2025-08-22T05:18:57.919Z,1755839937.919 [DAT](INFO): got valid direction response:
 05:18:56.5006 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407, 0.39,-0.850,-2.546,-0.785,-1.265, PHS= 0.517,-1.237, 0.435, RAW= 147.6,   3.4, CAL= 146.9,   3.5, ROT=   3.1,  -3.5

2025-08-22T05:18:57.920Z,1755839937.920 [DAT](INFO): DAT read: Rx Time:05:18:56.5006

2025-08-22T05:18:57.921Z,1755839937.921 [DAT](INFO): Rx dataTimestamp_ set to:1755839937.920305
2025-08-22T05:18:57.921Z,1755839937.921 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-22T05:18:57.921Z,1755839937.921 [DAT](INFO): Received low SNR in chirp
2025-08-22T05:18:57.935Z,1755839937.935 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:18:57.937Z,1755839937.937 [DAT](INFO): direction in FSK: [0.996674,0.053978,0.061049]
2025-08-22T05:18:57.942Z,1755839937.942 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:57.942Z,1755839937.942 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:57.942Z,1755839937.942 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:58.164Z,1755839938.164 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:58.165Z,1755839938.165 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:58.165Z,1755839938.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:58.256Z,1755839938.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:58.259Z,1755839938.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 219.073883 m,
      bearing: 96.833181 deg,
      approach rate: -0.641029 m/s,
      LOS rate: -0.010358 deg/s,
      cmd heading: 93.877801 deg,
      new cmd heading: 93.868881 deg.

2025-08-22T05:18:58.260Z,1755839938.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638321 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:58.416Z,1755839938.416 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:58.416Z,1755839938.416 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:58.416Z,1755839938.416 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:58.610Z,1755839938.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:18:58.615Z,1755839938.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:58.619Z,1755839938.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 218.847565 m,
      bearing: 96.829578 deg,
      approach rate: -0.633104 m/s,
      LOS rate: -0.010091 deg/s,
      cmd heading: 93.868881 deg,
      new cmd heading: 93.861666 deg.

2025-08-22T05:18:58.620Z,1755839938.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638195 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:58.671Z,1755839938.671 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:58.671Z,1755839938.671 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:58.672Z,1755839938.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:58.920Z,1755839938.920 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:58.921Z,1755839938.921 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:58.921Z,1755839938.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:59.056Z,1755839939.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:59.058Z,1755839939.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 218.574280 m,
      bearing: 96.825237 deg,
      approach rate: -0.618100 m/s,
      LOS rate: -0.009829 deg/s,
      cmd heading: 93.861669 deg,
      new cmd heading: 93.852977 deg.

2025-08-22T05:18:59.064Z,1755839939.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638043 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:59.173Z,1755839939.173 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:59.174Z,1755839939.174 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:59.174Z,1755839939.174 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:59.424Z,1755839939.424 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:59.424Z,1755839939.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:59.424Z,1755839939.424 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:59.471Z,1755839939.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:59.474Z,1755839939.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 218.324554 m,
      bearing: 96.821325 deg,
      approach rate: -0.612880 m/s,
      LOS rate: -0.009613 deg/s,
      cmd heading: 93.852974 deg,
      new cmd heading: 93.845140 deg.

2025-08-22T05:18:59.483Z,1755839939.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637907 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:59.679Z,1755839939.679 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:59.680Z,1755839939.680 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:59.680Z,1755839939.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:18:59.868Z,1755839939.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:18:59.871Z,1755839939.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 218.042038 m,
      bearing: 96.817313 deg,
      approach rate: -0.698037 m/s,
      LOS rate: -0.009926 deg/s,
      cmd heading: 93.845139 deg,
      new cmd heading: 93.837105 deg.

2025-08-22T05:18:59.872Z,1755839939.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637766 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:18:59.929Z,1755839939.929 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:18:59.929Z,1755839939.929 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:18:59.929Z,1755839939.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:00.181Z,1755839940.181 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:00.181Z,1755839940.181 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:00.182Z,1755839940.182 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:00.289Z,1755839940.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:00.296Z,1755839940.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 217.779205 m,
      bearing: 96.813572 deg,
      approach rate: -0.624331 m/s,
      LOS rate: -0.008898 deg/s,
      cmd heading: 93.837107 deg,
      new cmd heading: 93.829615 deg.

2025-08-22T05:19:00.297Z,1755839940.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637636 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:00.434Z,1755839940.434 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:00.434Z,1755839940.434 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:00.434Z,1755839940.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:00.687Z,1755839940.687 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:00.687Z,1755839940.687 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:00.688Z,1755839940.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:00.824Z,1755839940.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:00.826Z,1755839940.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:00.834Z,1755839940.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 217.429108 m,
      bearing: 96.808996 deg,
      approach rate: -0.651756 m/s,
      LOS rate: -0.008531 deg/s,
      cmd heading: 93.829614 deg,
      new cmd heading: 93.820449 deg.

2025-08-22T05:19:00.835Z,1755839940.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637476 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:00.936Z,1755839940.936 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:00.936Z,1755839940.936 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:00.937Z,1755839940.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:01.189Z,1755839941.189 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:01.189Z,1755839941.189 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:01.190Z,1755839941.190 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:01.267Z,1755839941.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:01.270Z,1755839941.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 217.153122 m,
      bearing: 96.805484 deg,
      approach rate: -0.631419 m/s,
      LOS rate: -0.008046 deg/s,
      cmd heading: 93.820448 deg,
      new cmd heading: 93.813415 deg.

2025-08-22T05:19:01.275Z,1755839941.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637353 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:01.441Z,1755839941.441 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:01.441Z,1755839941.441 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:01.441Z,1755839941.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:01.695Z,1755839941.695 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:01.695Z,1755839941.695 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:01.696Z,1755839941.696 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:01.825Z,1755839941.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:01.828Z,1755839941.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 216.782852 m,
      bearing: 96.800224 deg,
      approach rate: -0.659402 m/s,
      LOS rate: -0.009383 deg/s,
      cmd heading: 93.813413 deg,
      new cmd heading: 93.802875 deg.

2025-08-22T05:19:01.829Z,1755839941.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637169 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:01.944Z,1755839941.944 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:01.944Z,1755839941.944 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:01.944Z,1755839941.944 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:02.151Z,1755839942.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:02.155Z,1755839942.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 216.573074 m,
      bearing: 96.797235 deg,
      approach rate: -0.644016 m/s,
      LOS rate: -0.009185 deg/s,
      cmd heading: 93.802874 deg,
      new cmd heading: 93.796891 deg.

2025-08-22T05:19:02.157Z,1755839942.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637065 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:02.197Z,1755839942.197 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:02.197Z,1755839942.197 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:02.197Z,1755839942.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:02.448Z,1755839942.448 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:02.448Z,1755839942.448 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:02.448Z,1755839942.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:02.548Z,1755839942.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:02.551Z,1755839942.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 216.312302 m,
      bearing: 96.793521 deg,
      approach rate: -0.655936 m/s,
      LOS rate: -0.009353 deg/s,
      cmd heading: 93.796891 deg,
      new cmd heading: 93.789454 deg.

2025-08-22T05:19:02.552Z,1755839942.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636935 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:02.702Z,1755839942.702 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:02.703Z,1755839942.703 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:02.703Z,1755839942.703 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:02.952Z,1755839942.952 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:02.952Z,1755839942.952 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:02.952Z,1755839942.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:02.978Z,1755839942.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:02.981Z,1755839942.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:02.984Z,1755839942.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 216.034531 m,
      bearing: 96.789935 deg,
      approach rate: -0.641760 m/s,
      LOS rate: -0.008296 deg/s,
      cmd heading: 93.789453 deg,
      new cmd heading: 93.782272 deg.

2025-08-22T05:19:02.985Z,1755839942.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636809 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:03.205Z,1755839943.205 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:03.205Z,1755839943.205 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:03.205Z,1755839943.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:03.355Z,1755839943.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:03.358Z,1755839943.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 215.792664 m,
      bearing: 96.786774 deg,
      approach rate: -0.646090 m/s,
      LOS rate: -0.008455 deg/s,
      cmd heading: 93.782274 deg,
      new cmd heading: 93.775944 deg.

2025-08-22T05:19:03.359Z,1755839943.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636699 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:03.456Z,1755839943.456 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:03.456Z,1755839943.456 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:03.456Z,1755839943.456 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:03.710Z,1755839943.710 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:03.710Z,1755839943.710 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:03.711Z,1755839943.711 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:03.825Z,1755839943.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:03.828Z,1755839943.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 215.484650 m,
      bearing: 96.782060 deg,
      approach rate: -0.655753 m/s,
      LOS rate: -0.010050 deg/s,
      cmd heading: 93.775943 deg,
      new cmd heading: 93.766502 deg.

2025-08-22T05:19:03.829Z,1755839943.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636534 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:03.960Z,1755839943.960 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:03.960Z,1755839943.960 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:03.960Z,1755839943.960 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:04.200Z,1755839944.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:04.202Z,1755839944.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 215.255020 m,
      bearing: 96.778553 deg,
      approach rate: -0.640495 m/s,
      LOS rate: -0.009792 deg/s,
      cmd heading: 93.766503 deg,
      new cmd heading: 93.759482 deg.

2025-08-22T05:19:04.207Z,1755839944.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636412 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:04.212Z,1755839944.212 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:04.212Z,1755839944.212 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:04.212Z,1755839944.212 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:04.464Z,1755839944.464 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:04.464Z,1755839944.464 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:04.464Z,1755839944.464 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-22T05:19:04.575Z,1755839944.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:04.578Z,1755839944.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 214.991989 m,
      bearing: 96.774509 deg,
      approach rate: -0.671273 m/s,
      LOS rate: -0.010334 deg/s,
      cmd heading: 93.759482 deg,
      new cmd heading: 93.751384 deg.

2025-08-22T05:19:04.579Z,1755839944.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636270 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:04.716Z,1755839944.716 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:04.716Z,1755839944.716 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:04.717Z,1755839944.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:04.968Z,1755839944.968 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:04.968Z,1755839944.968 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:04.968Z,1755839944.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:05.016Z,1755839945.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:05.018Z,1755839945.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:05.025Z,1755839945.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 214.712341 m,
      bearing: 96.769833 deg,
      approach rate: -0.632048 m/s,
      LOS rate: -0.010583 deg/s,
      cmd heading: 93.751381 deg,
      new cmd heading: 93.742017 deg.

2025-08-22T05:19:05.026Z,1755839945.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636107 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:05.220Z,1755839945.220 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:05.220Z,1755839945.220 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:05.220Z,1755839945.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:05.389Z,1755839945.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:05.392Z,1755839945.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 214.455017 m,
      bearing: 96.765487 deg,
      approach rate: -0.692167 m/s,
      LOS rate: -0.011702 deg/s,
      cmd heading: 93.742017 deg,
      new cmd heading: 93.733316 deg.

2025-08-22T05:19:05.393Z,1755839945.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635955 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:05.472Z,1755839945.472 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:05.473Z,1755839945.473 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:05.473Z,1755839945.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:05.726Z,1755839945.726 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:05.727Z,1755839945.727 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:05.728Z,1755839945.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:05.865Z,1755839945.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:05.872Z,1755839945.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 214.150467 m,
      bearing: 96.760456 deg,
      approach rate: -0.640386 m/s,
      LOS rate: -0.010595 deg/s,
      cmd heading: 93.733316 deg,
      new cmd heading: 93.723238 deg.

2025-08-22T05:19:05.873Z,1755839945.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635779 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:05.977Z,1755839945.977 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:05.977Z,1755839945.977 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:05.977Z,1755839945.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:06.228Z,1755839946.228 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:06.228Z,1755839946.228 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:06.229Z,1755839946.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:06.249Z,1755839946.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:06.256Z,1755839946.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 213.905029 m,
      bearing: 96.756378 deg,
      approach rate: -0.639605 m/s,
      LOS rate: -0.010638 deg/s,
      cmd heading: 93.723241 deg,
      new cmd heading: 93.715077 deg.

2025-08-22T05:19:06.257Z,1755839946.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635637 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:06.480Z,1755839946.480 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:06.481Z,1755839946.481 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:06.481Z,1755839946.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:06.635Z,1755839946.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:06.637Z,1755839946.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 213.640854 m,
      bearing: 96.751954 deg,
      approach rate: -0.684527 m/s,
      LOS rate: -0.011479 deg/s,
      cmd heading: 93.715079 deg,
      new cmd heading: 93.706219 deg.

2025-08-22T05:19:06.638Z,1755839946.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635482 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:06.735Z,1755839946.735 [DAT](INFO): Reached modem response timeout
2025-08-22T05:19:06.736Z,1755839946.736 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:19:06.736Z,1755839946.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:06.984Z,1755839946.984 [DAT](INFO): DAT read: Response Not Received

2025-08-22T05:19:06.985Z,1755839946.985 [DAT](INFO): response not received
2025-08-22T05:19:06.985Z,1755839946.985 [DAT](INFO): DAT read: user:7408>

2025-08-22T05:19:06.986Z,1755839946.986 [DAT](INFO): DAT read: Tx time:05:19:06.2408

2025-08-22T05:19:06.986Z,1755839946.986 [DAT](INFO): Ping request sent.
2025-08-22T05:19:06.986Z,1755839946.986 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:06.986Z,1755839946.986 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:06.987Z,1755839946.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T05:19:07.073Z,1755839947.073 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000628,35.0, +11.1, 94.0,  0
2025-08-22T05:19:07.086Z,1755839947.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:07.089Z,1755839947.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:07.092Z,1755839947.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 213.344742 m,
      bearing: 96.746977 deg,
      approach rate: -0.652058 m/s,
      LOS rate: -0.010974 deg/s,
      cmd heading: 93.706220 deg,
      new cmd heading: 93.696253 deg.

2025-08-22T05:19:07.093Z,1755839947.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635308 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:07.240Z,1755839947.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253691
2025-08-22T05:19:07.453Z,1755839947.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:07.456Z,1755839947.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 213.106689 m,
      bearing: 96.743017 deg,
      approach rate: -0.653037 m/s,
      LOS rate: -0.010874 deg/s,
      cmd heading: 93.696255 deg,
      new cmd heading: 93.688327 deg.

2025-08-22T05:19:07.457Z,1755839947.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635170 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:07.489Z,1755839947.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502345
2025-08-22T05:19:07.741Z,1755839947.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754426
2025-08-22T05:19:07.890Z,1755839947.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:07.897Z,1755839947.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 212.826508 m,
      bearing: 96.738081 deg,
      approach rate: -0.641655 m/s,
      LOS rate: -0.011321 deg/s,
      cmd heading: 93.688325 deg,
      new cmd heading: 93.678439 deg.

2025-08-22T05:19:07.898Z,1755839947.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634997 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:07.993Z,1755839947.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006581
2025-08-22T05:19:08.244Z,1755839948.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258194
2025-08-22T05:19:08.252Z,1755839948.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:08.255Z,1755839948.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 212.586288 m,
      bearing: 96.733883 deg,
      approach rate: -0.663208 m/s,
      LOS rate: -0.011602 deg/s,
      cmd heading: 93.678442 deg,
      new cmd heading: 93.670037 deg.

2025-08-22T05:19:08.256Z,1755839948.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634851 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:08.497Z,1755839948.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510597
2025-08-22T05:19:08.651Z,1755839948.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:08.657Z,1755839948.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 212.324890 m,
      bearing: 96.729376 deg,
      approach rate: -0.655655 m/s,
      LOS rate: -0.011318 deg/s,
      cmd heading: 93.670034 deg,
      new cmd heading: 93.661009 deg.

2025-08-22T05:19:08.660Z,1755839948.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634693 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:08.749Z,1755839948.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763369
2025-08-22T05:19:09.000Z,1755839949.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014063
2025-08-22T05:19:09.093Z,1755839949.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:09.095Z,1755839949.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:09.098Z,1755839949.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 212.031677 m,
      bearing: 96.725383 deg,
      approach rate: -0.659967 m/s,
      LOS rate: -0.009000 deg/s,
      cmd heading: 93.661011 deg,
      new cmd heading: 93.653014 deg.

2025-08-22T05:19:09.099Z,1755839949.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634553 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:09.252Z,1755839949.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266119
2025-08-22T05:19:09.476Z,1755839949.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:09.479Z,1755839949.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 211.790573 m,
      bearing: 96.722188 deg,
      approach rate: -0.633075 m/s,
      LOS rate: -0.008399 deg/s,
      cmd heading: 93.653013 deg,
      new cmd heading: 93.646615 deg.

2025-08-22T05:19:09.484Z,1755839949.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634442 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:09.504Z,1755839949.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518356
2025-08-22T05:19:09.756Z,1755839949.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770033
2025-08-22T05:19:09.991Z,1755839949.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:09.994Z,1755839949.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 211.446442 m,
      bearing: 96.718148 deg,
      approach rate: -0.668106 m/s,
      LOS rate: -0.007857 deg/s,
      cmd heading: 93.646613 deg,
      new cmd heading: 93.638519 deg.

2025-08-22T05:19:09.995Z,1755839949.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634300 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:10.008Z,1755839950.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022199
2025-08-22T05:19:10.260Z,1755839950.260 [DAT](INFO): DAT read: Rx Time:05:19:08.9396

2025-08-22T05:19:10.261Z,1755839950.261 [DAT](INFO): Rx dataTimestamp_ set to:1755839950.260427
2025-08-22T05:19:10.261Z,1755839950.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275162
2025-08-22T05:19:10.467Z,1755839950.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 230.48 m.
2025-08-22T05:19:10.470Z,1755839950.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 230.478149 m,
      nav range: 211.137970 m,
      bearing: 96.714515 deg,
      approach rate: -0.647791 m/s,
      LOS rate: -0.007640 deg/s,
      cmd heading: 93.638519 deg,
      new cmd heading: 93.631243 deg.

2025-08-22T05:19:10.471Z,1755839950.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634174 target range: 230.478149 and range: 231.80 m.
2025-08-22T05:19:10.512Z,1755839950.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526239
2025-08-22T05:19:10.770Z,1755839950.770 [DAT](INFO): DAT read: 05:19:08.9396 LVL= 29008, 32753, 30578, 32755, AGC= 68, IDX= 326, 0.24, 2.559, 0.829, 2.603, 2.090, PHS= 0.571,-1.216, 0.469, RAW= 147.1,   2.0, CAL= 146.4,   2.1, ROT=   3.6,  -2.1

2025-08-22T05:19:10.771Z,1755839950.771 [DAT](INFO): got valid direction response:
 05:19:08.9396 LVL= 29008, 32753, 30578, 32755, AGC= 68, IDX= 326, 0.24, 2.559, 0.829, 2.603, 2.090, PHS= 0.571,-1.216, 0.469, RAW= 147.1,   2.0, CAL= 146.4,   2.1, ROT=   3.6,  -2.1

2025-08-22T05:19:10.772Z,1755839950.772 [DAT](INFO): DAT read: Bearing 243.9,  16.6 (Local)

2025-08-22T05:19:10.772Z,1755839950.772 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.9,  16.6 (Local)

2025-08-22T05:19:10.774Z,1755839950.774 [DAT](INFO): DAT read: Range 11 to 50 : 221.0 m  (Round-trip  294.7 ms) speed  0.4 m/s

2025-08-22T05:19:10.774Z,1755839950.774 [DAT](INFO): DAT read: user:7409>

2025-08-22T05:19:10.775Z,1755839950.775 [DAT](INFO): DAT read: Tx time:05:19:10.0408

2025-08-22T05:19:10.776Z,1755839950.776 [DAT](INFO): Ping request sent.
2025-08-22T05:19:10.776Z,1755839950.776 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:10.776Z,1755839950.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:10.777Z,1755839950.777 [DAT](INFO): direction in FSK: [0.997356,0.062748,0.036644]
2025-08-22T05:19:10.777Z,1755839950.777 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:10.777Z,1755839950.777 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:10.780Z,1755839950.780 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:10.781Z,1755839950.781 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:11.018Z,1755839951.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 221.000000 m,
      deltaT: 16.127875 s,
      deltaX: -10.800003 m,
      approachRate: -0.669648 m/s,
      rangeRepo size: 4

2025-08-22T05:19:11.025Z,1755839951.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 219.745514 m,
      bearing: 96.507369 deg,
      lat: 36.779286 deg,
      lon: -121.859681 deg,
      deltaT: 16.127875 s,
      deltaX: -10.732635 m,
      approachRate: -0.665471 m/s,
      posRepo size: 4

2025-08-22T05:19:11.026Z,1755839951.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:11.033Z,1755839951.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 210.725327 m,
      bearing: 96.554553 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007640 deg/s,
      cmd heading: 93.631245 deg,
      new cmd heading: 93.622834 deg.

2025-08-22T05:19:11.034Z,1755839951.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634027 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:11.348Z,1755839951.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:11.350Z,1755839951.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:11.353Z,1755839951.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 210.507538 m,
      bearing: 96.551865 deg,
      approach rate: -0.655006 m/s,
      LOS rate: -0.008093 deg/s,
      cmd heading: 93.622830 deg,
      new cmd heading: 93.617449 deg.

2025-08-22T05:19:11.354Z,1755839951.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633933 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:11.520Z,1755839951.520 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:11.520Z,1755839951.520 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:11.521Z,1755839951.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:11.772Z,1755839951.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996647
2025-08-22T05:19:11.788Z,1755839951.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:11.790Z,1755839951.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 210.246780 m,
      bearing: 96.548712 deg,
      approach rate: -0.596003 m/s,
      LOS rate: -0.007215 deg/s,
      cmd heading: 93.617448 deg,
      new cmd heading: 93.611135 deg.

2025-08-22T05:19:11.797Z,1755839951.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633823 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:12.024Z,1755839952.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248700
2025-08-22T05:19:12.198Z,1755839952.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:12.201Z,1755839952.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 209.949631 m,
      bearing: 96.544625 deg,
      approach rate: -0.724356 m/s,
      LOS rate: -0.009978 deg/s,
      cmd heading: 93.611137 deg,
      new cmd heading: 93.602951 deg.

2025-08-22T05:19:12.202Z,1755839952.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633680 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:12.276Z,1755839952.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500663
2025-08-22T05:19:12.528Z,1755839952.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752426
2025-08-22T05:19:12.545Z,1755839952.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:12.565Z,1755839952.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 209.726440 m,
      bearing: 96.541615 deg,
      approach rate: -0.643172 m/s,
      LOS rate: -0.008684 deg/s,
      cmd heading: 93.602948 deg,
      new cmd heading: 93.596921 deg.

2025-08-22T05:19:12.566Z,1755839952.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633574 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:12.780Z,1755839952.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004463
2025-08-22T05:19:12.971Z,1755839952.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:12.974Z,1755839952.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 209.455017 m,
      bearing: 96.538278 deg,
      approach rate: -0.637425 m/s,
      LOS rate: -0.007845 deg/s,
      cmd heading: 93.596924 deg,
      new cmd heading: 93.590243 deg.

2025-08-22T05:19:12.975Z,1755839952.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633458 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:13.033Z,1755839953.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257473
2025-08-22T05:19:13.284Z,1755839953.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508556
2025-08-22T05:19:13.353Z,1755839953.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:13.355Z,1755839953.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:13.358Z,1755839953.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 209.210190 m,
      bearing: 96.535187 deg,
      approach rate: -0.637097 m/s,
      LOS rate: -0.008055 deg/s,
      cmd heading: 93.590244 deg,
      new cmd heading: 93.584053 deg.

2025-08-22T05:19:13.359Z,1755839953.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633350 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:13.536Z,1755839953.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760478
2025-08-22T05:19:13.751Z,1755839953.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:13.754Z,1755839953.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 208.957382 m,
      bearing: 96.531943 deg,
      approach rate: -0.638756 m/s,
      LOS rate: -0.008206 deg/s,
      cmd heading: 93.584055 deg,
      new cmd heading: 93.577560 deg.

2025-08-22T05:19:13.755Z,1755839953.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633237 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:13.789Z,1755839953.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012915
2025-08-22T05:19:14.046Z,1755839954.046 [DAT](INFO): DAT read: Rx Time:05:19:12.7364

2025-08-22T05:19:14.049Z,1755839954.049 [DAT](INFO): Rx dataTimestamp_ set to:1755839954.048399
2025-08-22T05:19:14.050Z,1755839954.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273940
2025-08-22T05:19:14.212Z,1755839954.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.75 m.
2025-08-22T05:19:14.214Z,1755839954.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 219.745514 m,
      nav range: 208.663834 m,
      bearing: 96.528747 deg,
      approach rate: -0.639447 m/s,
      LOS rate: -0.006972 deg/s,
      cmd heading: 93.577560 deg,
      new cmd heading: 93.571159 deg.

2025-08-22T05:19:14.215Z,1755839954.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633125 target range: 219.745514 and range: 221.00 m.
2025-08-22T05:19:14.297Z,1755839954.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521179
2025-08-22T05:19:14.554Z,1755839954.554 [DAT](INFO): DAT read: 05:19:12.7364 LVL= 32368, 32753, 29522, 32755, AGC= 69, IDX= 405,-0.01, 2.621, 0.810, 2.677, 2.192, PHS= 0.531,-1.337, 0.440, RAW= 147.5,   4.1, CAL= 146.9,   4.3, ROT=   3.1,  -4.3

2025-08-22T05:19:14.555Z,1755839954.555 [DAT](INFO): got valid direction response:
 05:19:12.7364 LVL= 32368, 32753, 29522, 32755, AGC= 69, IDX= 405,-0.01, 2.621, 0.810, 2.677, 2.192, PHS= 0.531,-1.337, 0.440, RAW= 147.5,   4.1, CAL= 146.9,   4.3, ROT=   3.1,  -4.3

2025-08-22T05:19:14.556Z,1755839954.556 [DAT](INFO): DAT read: Bearing 246.6,  15.6 (Local)

2025-08-22T05:19:14.556Z,1755839954.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.6,  15.6 (Local)

2025-08-22T05:19:14.558Z,1755839954.558 [DAT](INFO): DAT read: Range 11 to 50 : 218.6 m  (Round-trip  291.5 ms) speed  0.8 m/s

2025-08-22T05:19:14.559Z,1755839954.559 [DAT](INFO): DAT read: user:7410>

2025-08-22T05:19:14.559Z,1755839954.559 [DAT](INFO): DAT read: Tx time:05:19:13.8408

2025-08-22T05:19:14.560Z,1755839954.560 [DAT](INFO): Ping request sent.
2025-08-22T05:19:14.560Z,1755839954.560 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:14.560Z,1755839954.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:14.561Z,1755839954.561 [DAT](INFO): direction in FSK: [0.995726,0.053927,0.074979]
2025-08-22T05:19:14.561Z,1755839954.561 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:14.561Z,1755839954.561 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:14.565Z,1755839954.565 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:14.565Z,1755839954.565 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:14.651Z,1755839954.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 218.600006 m,
      deltaT: 3.784099 s,
      deltaX: -2.399994 m,
      approachRate: -0.634231 m/s,
      rangeRepo size: 4

2025-08-22T05:19:14.658Z,1755839954.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 217.359833 m,
      bearing: 95.819640 deg,
      lat: 36.779286 deg,
      lon: -121.859681 deg,
      deltaT: 3.784099 s,
      deltaX: -2.385681 m,
      approachRate: -0.630449 m/s,
      posRepo size: 4

2025-08-22T05:19:14.664Z,1755839954.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:14.673Z,1755839954.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 208.408112 m,
      bearing: 96.525825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.006972 deg/s,
      cmd heading: 93.571160 deg,
      new cmd heading: 93.565036 deg.

2025-08-22T05:19:14.674Z,1755839954.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633018 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:15.041Z,1755839955.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:15.044Z,1755839955.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 208.108978 m,
      bearing: 96.522193 deg,
      approach rate: -0.762545 m/s,
      LOS rate: -0.009273 deg/s,
      cmd heading: 93.565033 deg,
      new cmd heading: 93.557758 deg.

2025-08-22T05:19:15.045Z,1755839955.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632891 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:15.413Z,1755839955.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:15.415Z,1755839955.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:15.418Z,1755839955.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 207.854584 m,
      bearing: 96.518971 deg,
      approach rate: -0.681079 m/s,
      LOS rate: -0.008638 deg/s,
      cmd heading: 93.557759 deg,
      new cmd heading: 93.551307 deg.

2025-08-22T05:19:15.419Z,1755839955.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632778 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:15.556Z,1755839955.556 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:15.556Z,1755839955.556 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:15.556Z,1755839955.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:15.808Z,1755839955.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248251
2025-08-22T05:19:15.841Z,1755839955.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:15.843Z,1755839955.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 207.580200 m,
      bearing: 96.515385 deg,
      approach rate: -0.644579 m/s,
      LOS rate: -0.008436 deg/s,
      cmd heading: 93.551305 deg,
      new cmd heading: 93.544123 deg.

2025-08-22T05:19:15.844Z,1755839955.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632653 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:16.060Z,1755839956.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500587
2025-08-22T05:19:16.245Z,1755839956.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:16.248Z,1755839956.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 207.300705 m,
      bearing: 96.511328 deg,
      approach rate: -0.691154 m/s,
      LOS rate: -0.010045 deg/s,
      cmd heading: 93.544119 deg,
      new cmd heading: 93.535996 deg.

2025-08-22T05:19:16.249Z,1755839956.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632511 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:16.314Z,1755839956.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753932
2025-08-22T05:19:16.564Z,1755839956.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004321
2025-08-22T05:19:16.623Z,1755839956.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:16.626Z,1755839956.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 207.049042 m,
      bearing: 96.507605 deg,
      approach rate: -0.665432 m/s,
      LOS rate: -0.009857 deg/s,
      cmd heading: 93.535998 deg,
      new cmd heading: 93.528543 deg.

2025-08-22T05:19:16.628Z,1755839956.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632381 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:16.816Z,1755839956.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256317
2025-08-22T05:19:17.052Z,1755839957.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:17.055Z,1755839957.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 206.765198 m,
      bearing: 96.504255 deg,
      approach rate: -0.661704 m/s,
      LOS rate: -0.007820 deg/s,
      cmd heading: 93.528540 deg,
      new cmd heading: 93.521831 deg.

2025-08-22T05:19:17.056Z,1755839957.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632264 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:17.068Z,1755839957.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508516
2025-08-22T05:19:17.321Z,1755839957.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760683
2025-08-22T05:19:17.436Z,1755839957.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:17.438Z,1755839957.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:17.441Z,1755839957.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 206.508499 m,
      bearing: 96.501202 deg,
      approach rate: -0.665319 m/s,
      LOS rate: -0.007922 deg/s,
      cmd heading: 93.521832 deg,
      new cmd heading: 93.515719 deg.

2025-08-22T05:19:17.442Z,1755839957.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632157 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:17.572Z,1755839957.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012412
2025-08-22T05:19:17.824Z,1755839957.824 [DAT](INFO): DAT read: Rx Time:05:19:16.5329

2025-08-22T05:19:17.825Z,1755839957.825 [DAT](INFO): Rx dataTimestamp_ set to:1755839957.824560
2025-08-22T05:19:17.825Z,1755839957.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265538
2025-08-22T05:19:17.874Z,1755839957.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.36 m.
2025-08-22T05:19:17.879Z,1755839957.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 217.359833 m,
      nav range: 206.228577 m,
      bearing: 96.497862 deg,
      approach rate: -0.652012 m/s,
      LOS rate: -0.007791 deg/s,
      cmd heading: 93.515719 deg,
      new cmd heading: 93.509029 deg.

2025-08-22T05:19:17.886Z,1755839957.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632041 target range: 217.359833 and range: 218.60 m.
2025-08-22T05:19:18.076Z,1755839958.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516309
2025-08-22T05:19:18.334Z,1755839958.334 [DAT](INFO): DAT read: 05:19:16.5329 LVL= 28032, 32753, 26866, 32755, AGC= 65, IDX= 402,-0.21, 1.417,-0.302, 1.473, 1.027, PHS= 0.492,-1.284, 0.402, RAW= 147.4,   4.5, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-22T05:19:18.336Z,1755839958.336 [DAT](INFO): got valid direction response:
 05:19:16.5329 LVL= 28032, 32753, 26866, 32755, AGC= 65, IDX= 402,-0.21, 1.417,-0.302, 1.473, 1.027, PHS= 0.492,-1.284, 0.402, RAW= 147.4,   4.5, CAL= 146.8,   4.8, ROT=   3.2,  -4.8

2025-08-22T05:19:18.337Z,1755839958.337 [DAT](INFO): DAT read: Bearing 248.0,  15.3 (Local)

2025-08-22T05:19:18.337Z,1755839958.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.0,  15.3 (Local)

2025-08-22T05:19:18.338Z,1755839958.338 [DAT](INFO): DAT read: Range 11 to 50 : 215.9 m  (Round-trip  287.9 ms) speed  0.5 m/s

2025-08-22T05:19:18.339Z,1755839958.339 [DAT](INFO): DAT read: user:7411>

2025-08-22T05:19:18.340Z,1755839958.340 [DAT](INFO): DAT read: Tx time:05:19:17.6408

2025-08-22T05:19:18.340Z,1755839958.340 [DAT](INFO): Ping request sent.
2025-08-22T05:19:18.340Z,1755839958.340 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:18.341Z,1755839958.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:18.342Z,1755839958.342 [DAT](INFO): direction in FSK: [0.994939,0.055626,0.083678]
2025-08-22T05:19:18.342Z,1755839958.342 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:18.342Z,1755839958.342 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:18.349Z,1755839958.349 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:18.350Z,1755839958.350 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:18.397Z,1755839958.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 215.899994 m,
      deltaT: 3.780463 s,
      deltaX: -2.700012 m,
      approachRate: -0.714201 m/s,
      rangeRepo size: 4

2025-08-22T05:19:18.399Z,1755839958.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 214.676132 m,
      bearing: 96.353603 deg,
      lat: 36.779286 deg,
      lon: -121.859681 deg,
      deltaT: 3.780463 s,
      deltaX: -2.683701 m,
      approachRate: -0.709887 m/s,
      posRepo size: 4

2025-08-22T05:19:18.404Z,1755839958.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:18.406Z,1755839958.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 205.892075 m,
      bearing: 96.493359 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007791 deg/s,
      cmd heading: 93.509033 deg,
      new cmd heading: 93.500871 deg.

2025-08-22T05:19:18.416Z,1755839958.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631898 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:18.743Z,1755839958.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:18.746Z,1755839958.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 205.626038 m,
      bearing: 96.489791 deg,
      approach rate: -0.755931 m/s,
      LOS rate: -0.010151 deg/s,
      cmd heading: 93.500871 deg,
      new cmd heading: 93.493726 deg.

2025-08-22T05:19:18.747Z,1755839958.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631773 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:19.203Z,1755839959.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:19.206Z,1755839959.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 205.331604 m,
      bearing: 96.485180 deg,
      approach rate: -0.640020 m/s,
      LOS rate: -0.010038 deg/s,
      cmd heading: 93.493726 deg,
      new cmd heading: 93.484490 deg.

2025-08-22T05:19:19.207Z,1755839959.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631612 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:19.547Z,1755839959.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:19.549Z,1755839959.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:19.552Z,1755839959.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 205.095917 m,
      bearing: 96.481522 deg,
      approach rate: -0.680900 m/s,
      LOS rate: -0.010579 deg/s,
      cmd heading: 93.484492 deg,
      new cmd heading: 93.477168 deg.

2025-08-22T05:19:19.553Z,1755839959.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631484 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:19.591Z,1755839959.591 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:19.591Z,1755839959.591 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:19.591Z,1755839959.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:19.840Z,1755839959.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500138
2025-08-22T05:19:20.047Z,1755839960.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:20.063Z,1755839960.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 204.775497 m,
      bearing: 96.477128 deg,
      approach rate: -0.644235 m/s,
      LOS rate: -0.008849 deg/s,
      cmd heading: 93.477170 deg,
      new cmd heading: 93.468368 deg.

2025-08-22T05:19:20.064Z,1755839960.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631331 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:20.093Z,1755839960.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752156
2025-08-22T05:19:20.344Z,1755839960.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003778
2025-08-22T05:19:20.545Z,1755839960.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:20.548Z,1755839960.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 204.445526 m,
      bearing: 96.472669 deg,
      approach rate: -0.662405 m/s,
      LOS rate: -0.008967 deg/s,
      cmd heading: 93.468366 deg,
      new cmd heading: 93.459432 deg.

2025-08-22T05:19:20.549Z,1755839960.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631175 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:20.596Z,1755839960.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256100
2025-08-22T05:19:20.848Z,1755839960.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508003
2025-08-22T05:19:20.948Z,1755839960.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:20.951Z,1755839960.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 204.167679 m,
      bearing: 96.468919 deg,
      approach rate: -0.688368 m/s,
      LOS rate: -0.009304 deg/s,
      cmd heading: 93.459432 deg,
      new cmd heading: 93.451921 deg.

2025-08-22T05:19:20.971Z,1755839960.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631044 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:21.100Z,1755839961.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759771
2025-08-22T05:19:21.353Z,1755839961.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012937
2025-08-22T05:19:21.508Z,1755839961.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:21.510Z,1755839961.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 203.802368 m,
      bearing: 96.463276 deg,
      approach rate: -0.653489 m/s,
      LOS rate: -0.010111 deg/s,
      cmd heading: 93.451919 deg,
      new cmd heading: 93.440614 deg.

2025-08-22T05:19:21.511Z,1755839961.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630846 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:21.605Z,1755839961.605 [DAT](INFO): DAT read: Rx Time:05:19:20.3294

2025-08-22T05:19:21.605Z,1755839961.605 [DAT](INFO): Rx dataTimestamp_ set to:1755839961.604990
2025-08-22T05:19:21.606Z,1755839961.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265463
2025-08-22T05:19:21.856Z,1755839961.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515787
2025-08-22T05:19:21.869Z,1755839961.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:21.871Z,1755839961.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 214.68 m.
2025-08-22T05:19:21.873Z,1755839961.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 214.676132 m,
      nav range: 203.562805 m,
      bearing: 96.459556 deg,
      approach rate: -0.659346 m/s,
      LOS rate: -0.010253 deg/s,
      cmd heading: 93.440615 deg,
      new cmd heading: 93.433164 deg.

2025-08-22T05:19:21.874Z,1755839961.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630716 target range: 214.676132 and range: 215.90 m.
2025-08-22T05:19:22.118Z,1755839962.118 [DAT](INFO): DAT read: 05:19:20.3294 LVL= 30960, 32753, 29394, 31779, AGC= 67, IDX= 416,-0.21,-1.031,-2.732,-0.965,-1.459, PHS= 0.530,-1.228, 0.450, RAW= 147.7,   2.9, CAL= 146.9,   3.0, ROT=   3.1,  -3.0

2025-08-22T05:19:22.120Z,1755839962.120 [DAT](INFO): got valid direction response:
 05:19:20.3294 LVL= 30960, 32753, 29394, 31779, AGC= 67, IDX= 416,-0.21,-1.031,-2.732,-0.965,-1.459, PHS= 0.530,-1.228, 0.450, RAW= 147.7,   2.9, CAL= 146.9,   3.0, ROT=   3.1,  -3.0

2025-08-22T05:19:22.122Z,1755839962.122 [DAT](INFO): DAT read: Bearing 246.3,  15.2 (Local)

2025-08-22T05:19:22.122Z,1755839962.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.3,  15.2 (Local)

2025-08-22T05:19:22.124Z,1755839962.124 [DAT](INFO): DAT read: Range 11 to 50 : 213.4 m  (Round-trip  284.6 ms) speed  0.7 m/s

2025-08-22T05:19:22.125Z,1755839962.125 [DAT](INFO): DAT read: user:7412>

2025-08-22T05:19:22.125Z,1755839962.125 [DAT](INFO): DAT read: Tx time:05:19:21.4422

2025-08-22T05:19:22.126Z,1755839962.126 [DAT](INFO): Ping request sent.
2025-08-22T05:19:22.126Z,1755839962.126 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:22.126Z,1755839962.126 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:22.132Z,1755839962.132 [DAT](INFO): direction in FSK: [0.997168,0.054005,0.052336]
2025-08-22T05:19:22.133Z,1755839962.133 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:22.133Z,1755839962.133 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:22.159Z,1755839962.159 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:22.163Z,1755839962.163 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:22.331Z,1755839962.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 213.399994 m,
      deltaT: 3.780449 s,
      deltaX: -2.500000 m,
      approachRate: -0.661297 m/s,
      rangeRepo size: 4

2025-08-22T05:19:22.337Z,1755839962.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 212.190369 m,
      bearing: 96.159466 deg,
      lat: 36.779290 deg,
      lon: -121.859677 deg,
      deltaT: 3.780449 s,
      deltaX: -2.485764 m,
      approachRate: -0.657531 m/s,
      posRepo size: 4

2025-08-22T05:19:22.338Z,1755839962.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:22.345Z,1755839962.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 203.567978 m,
      bearing: 96.297362 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010253 deg/s,
      cmd heading: 93.433163 deg,
      new cmd heading: 93.423746 deg.

2025-08-22T05:19:22.346Z,1755839962.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630552 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:22.690Z,1755839962.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:22.693Z,1755839962.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 203.318420 m,
      bearing: 96.293427 deg,
      approach rate: -0.692657 m/s,
      LOS rate: -0.010938 deg/s,
      cmd heading: 93.423744 deg,
      new cmd heading: 93.415863 deg.

2025-08-22T05:19:22.694Z,1755839962.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630414 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:23.117Z,1755839963.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:23.120Z,1755839963.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 203.032745 m,
      bearing: 96.288326 deg,
      approach rate: -0.672091 m/s,
      LOS rate: -0.012017 deg/s,
      cmd heading: 93.415862 deg,
      new cmd heading: 93.405646 deg.

2025-08-22T05:19:23.121Z,1755839963.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630236 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:23.516Z,1755839963.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:23.518Z,1755839963.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 202.771729 m,
      bearing: 96.283632 deg,
      approach rate: -0.651822 m/s,
      LOS rate: -0.011737 deg/s,
      cmd heading: 93.405644 deg,
      new cmd heading: 93.396244 deg.

2025-08-22T05:19:23.525Z,1755839963.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630072 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:23.896Z,1755839963.896 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:23.898Z,1755839963.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:23.901Z,1755839963.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 202.506882 m,
      bearing: 96.278865 deg,
      approach rate: -0.692486 m/s,
      LOS rate: -0.012480 deg/s,
      cmd heading: 93.396246 deg,
      new cmd heading: 93.386700 deg.

2025-08-22T05:19:23.902Z,1755839963.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629905 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:24.125Z,1755839964.125 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:24.125Z,1755839964.125 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:24.126Z,1755839964.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:24.329Z,1755839964.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:24.332Z,1755839964.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 202.214920 m,
      bearing: 96.275476 deg,
      approach rate: -0.678003 m/s,
      LOS rate: -0.007882 deg/s,
      cmd heading: 93.386697 deg,
      new cmd heading: 93.379909 deg.

2025-08-22T05:19:24.333Z,1755839964.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629787 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:24.377Z,1755839964.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251158
2025-08-22T05:19:24.552Z,1755839964.552 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:19:24.630Z,1755839964.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503899
2025-08-22T05:19:24.708Z,1755839964.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:24.710Z,1755839964.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 201.957474 m,
      bearing: 96.272453 deg,
      approach rate: -0.679215 m/s,
      LOS rate: -0.007985 deg/s,
      cmd heading: 93.379908 deg,
      new cmd heading: 93.373855 deg.

2025-08-22T05:19:24.712Z,1755839964.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629681 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:24.880Z,1755839964.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754449
2025-08-22T05:19:25.134Z,1755839965.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008136
2025-08-22T05:19:25.181Z,1755839965.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:25.187Z,1755839965.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 201.663162 m,
      bearing: 96.267106 deg,
      approach rate: -0.623009 m/s,
      LOS rate: -0.011336 deg/s,
      cmd heading: 93.373856 deg,
      new cmd heading: 93.363146 deg.

2025-08-22T05:19:25.188Z,1755839965.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629494 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:25.384Z,1755839965.384 [DAT](INFO): DAT read: Rx Time:05:19:24.1275

2025-08-22T05:19:25.385Z,1755839965.385 [DAT](INFO): Rx dataTimestamp_ set to:1755839965.384458
2025-08-22T05:19:25.385Z,1755839965.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259607
2025-08-22T05:19:25.556Z,1755839965.556 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:19:25.559Z,1755839965.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 212.19 m.
2025-08-22T05:19:25.562Z,1755839965.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 212.190369 m,
      nav range: 201.390701 m,
      bearing: 96.262142 deg,
      approach rate: -0.719443 m/s,
      LOS rate: -0.013126 deg/s,
      cmd heading: 93.363147 deg,
      new cmd heading: 93.353205 deg.

2025-08-22T05:19:25.563Z,1755839965.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629321 target range: 212.190369 and range: 213.40 m.
2025-08-22T05:19:25.637Z,1755839965.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511248
2025-08-22T05:19:25.903Z,1755839965.903 [DAT](INFO): DAT read: 05:19:24.1275 LVL= 27280, 32753, 27426, 32755, AGC= 65, IDX= 412,-0.24, 2.879, 1.152, 2.928, 2.461, PHS= 0.520,-1.265, 0.423, RAW= 147.2,   3.7, CAL= 146.6,   3.9, ROT=   3.4,  -3.9

2025-08-22T05:19:25.905Z,1755839965.905 [DAT](INFO): got valid direction response:
 05:19:24.1275 LVL= 27280, 32753, 27426, 32755, AGC= 65, IDX= 412,-0.24, 2.879, 1.152, 2.928, 2.461, PHS= 0.520,-1.265, 0.423, RAW= 147.2,   3.7, CAL= 146.6,   3.9, ROT=   3.4,  -3.9

2025-08-22T05:19:25.906Z,1755839965.906 [DAT](INFO): DAT read: Bearing 247.9,  16.0 (Local)

2025-08-22T05:19:25.906Z,1755839965.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  16.0 (Local)

2025-08-22T05:19:25.920Z,1755839965.920 [DAT](INFO): DAT read: Range 11 to 50 : 210.8 m  (Round-trip  281.1 ms) speed  0.7 m/s

2025-08-22T05:19:25.920Z,1755839965.920 [DAT](INFO): DAT read: user:7413>

2025-08-22T05:19:25.921Z,1755839965.921 [DAT](INFO): DAT read: Tx time:05:19:25.2407

2025-08-22T05:19:25.921Z,1755839965.921 [DAT](INFO): Ping request sent.
2025-08-22T05:19:25.921Z,1755839965.921 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:25.922Z,1755839965.922 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:25.923Z,1755839965.923 [DAT](INFO): direction in FSK: [0.995928,0.059169,0.068015]
2025-08-22T05:19:25.923Z,1755839965.923 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:25.923Z,1755839965.923 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:25.926Z,1755839965.926 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:25.926Z,1755839965.926 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:26.088Z,1755839966.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 210.800003 m,
      deltaT: 3.781913 s,
      deltaX: -2.599991 m,
      approachRate: -0.687480 m/s,
      rangeRepo size: 4

2025-08-22T05:19:26.090Z,1755839966.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 209.606201 m,
      bearing: 96.509132 deg,
      lat: 36.779290 deg,
      lon: -121.859677 deg,
      deltaT: 3.781913 s,
      deltaX: -2.584167 m,
      approachRate: -0.683296 m/s,
      posRepo size: 4

2025-08-22T05:19:26.107Z,1755839966.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:26.110Z,1755839966.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 201.110229 m,
      bearing: 96.256960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013126 deg/s,
      cmd heading: 93.353202 deg,
      new cmd heading: 93.339443 deg.

2025-08-22T05:19:26.111Z,1755839966.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629081 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:26.518Z,1755839966.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:26.524Z,1755839966.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:26.527Z,1755839966.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 200.763321 m,
      bearing: 96.252414 deg,
      approach rate: -0.786808 m/s,
      LOS rate: -0.010329 deg/s,
      cmd heading: 93.339446 deg,
      new cmd heading: 93.330337 deg.

2025-08-22T05:19:26.532Z,1755839966.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628922 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:26.646Z,1755839966.646 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:26.646Z,1755839966.646 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:26.646Z,1755839966.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:26.881Z,1755839966.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:26.884Z,1755839966.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 200.525803 m,
      bearing: 96.249275 deg,
      approach rate: -0.664575 m/s,
      LOS rate: -0.008791 deg/s,
      cmd heading: 93.330334 deg,
      new cmd heading: 93.324050 deg.

2025-08-22T05:19:26.885Z,1755839966.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628812 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:26.896Z,1755839966.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974887
2025-08-22T05:19:27.150Z,1755839967.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228189
2025-08-22T05:19:27.300Z,1755839967.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:27.302Z,1755839967.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 200.234268 m,
      bearing: 96.246790 deg,
      approach rate: -0.696581 m/s,
      LOS rate: -0.005947 deg/s,
      cmd heading: 93.324051 deg,
      new cmd heading: 93.319072 deg.

2025-08-22T05:19:27.304Z,1755839967.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628725 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:27.400Z,1755839967.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478716
2025-08-22T05:19:27.652Z,1755839967.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730947
2025-08-22T05:19:27.683Z,1755839967.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:27.686Z,1755839967.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 199.980576 m,
      bearing: 96.244584 deg,
      approach rate: -0.662072 m/s,
      LOS rate: -0.005763 deg/s,
      cmd heading: 93.319071 deg,
      new cmd heading: 93.314655 deg.

2025-08-22T05:19:27.687Z,1755839967.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628648 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:27.904Z,1755839967.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982704
2025-08-22T05:19:28.157Z,1755839968.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235495
2025-08-22T05:19:28.185Z,1755839968.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:28.188Z,1755839968.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 199.684052 m,
      bearing: 96.241999 deg,
      approach rate: -0.598337 m/s,
      LOS rate: -0.005224 deg/s,
      cmd heading: 93.314652 deg,
      new cmd heading: 93.309474 deg.

2025-08-22T05:19:28.189Z,1755839968.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628558 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:28.410Z,1755839968.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488256
2025-08-22T05:19:28.660Z,1755839968.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738785
2025-08-22T05:19:28.700Z,1755839968.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:28.702Z,1755839968.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:28.704Z,1755839968.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 199.309296 m,
      bearing: 96.236093 deg,
      approach rate: -0.716526 m/s,
      LOS rate: -0.011313 deg/s,
      cmd heading: 93.309475 deg,
      new cmd heading: 93.297641 deg.

2025-08-22T05:19:28.705Z,1755839968.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628351 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:28.913Z,1755839968.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991088
2025-08-22T05:19:29.072Z,1755839969.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:29.075Z,1755839969.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 199.068268 m,
      bearing: 96.232289 deg,
      approach rate: -0.649965 m/s,
      LOS rate: -0.010272 deg/s,
      cmd heading: 93.297638 deg,
      new cmd heading: 93.290020 deg.

2025-08-22T05:19:29.077Z,1755839969.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628218 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:29.165Z,1755839969.165 [DAT](INFO): DAT read: Rx Time:05:19:27.9225

2025-08-22T05:19:29.166Z,1755839969.166 [DAT](INFO): Rx dataTimestamp_ set to:1755839969.165288
2025-08-22T05:19:29.166Z,1755839969.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244975
2025-08-22T05:19:29.416Z,1755839969.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494714
2025-08-22T05:19:29.521Z,1755839969.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:29.528Z,1755839969.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 198.774063 m,
      bearing: 96.227385 deg,
      approach rate: -0.656421 m/s,
      LOS rate: -0.010957 deg/s,
      cmd heading: 93.290023 deg,
      new cmd heading: 93.280201 deg.

2025-08-22T05:19:29.529Z,1755839969.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628047 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:29.671Z,1755839969.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749463
2025-08-22T05:19:29.876Z,1755839969.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.61 m.
2025-08-22T05:19:29.878Z,1755839969.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 209.606201 m,
      nav range: 198.533508 m,
      bearing: 96.223451 deg,
      approach rate: -0.677211 m/s,
      LOS rate: -0.011087 deg/s,
      cmd heading: 93.280201 deg,
      new cmd heading: 93.272324 deg.

2025-08-22T05:19:29.880Z,1755839969.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627909 target range: 209.606201 and range: 210.80 m.
2025-08-22T05:19:29.929Z,1755839969.929 [DAT](INFO): DAT read: 05:19:27.9225 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.36,-2.382, 2.234,-2.338,-2.810, PHS= 0.530,-1.194, 0.427, RAW= 147.0,   2.9, CAL= 146.3,   3.0, ROT=   3.7,  -3.0

2025-08-22T05:19:29.930Z,1755839969.930 [DAT](INFO): got valid direction response:
 05:19:27.9225 LVL= 32752, 32753, 31474, 32755, AGC= 66, IDX= 409,-0.36,-2.382, 2.234,-2.338,-2.810, PHS= 0.530,-1.194, 0.427, RAW= 147.0,   2.9, CAL= 146.3,   3.0, ROT=   3.7,  -3.0

2025-08-22T05:19:29.932Z,1755839969.932 [DAT](INFO): DAT read: Bearing 247.6,  17.0 (Local)

2025-08-22T05:19:29.932Z,1755839969.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,  17.0 (Local)

2025-08-22T05:19:29.934Z,1755839969.934 [DAT](INFO): DAT read: Range 11 to 50 : 208.2 m  (Round-trip  277.7 ms) speed  0.4 m/s

2025-08-22T05:19:29.936Z,1755839969.936 [DAT](INFO): DAT read: user:7414>

2025-08-22T05:19:29.937Z,1755839969.937 [DAT](INFO): DAT read: Tx time:05:19:29.0407

2025-08-22T05:19:29.937Z,1755839969.937 [DAT](INFO): Ping request sent.
2025-08-22T05:19:29.937Z,1755839969.937 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:29.938Z,1755839969.938 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:29.939Z,1755839969.939 [DAT](INFO): direction in FSK: [0.996548,0.064444,0.052336]
2025-08-22T05:19:29.939Z,1755839969.939 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:29.939Z,1755839969.939 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:29.942Z,1755839969.942 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:29.943Z,1755839969.943 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:30.310Z,1755839970.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 208.199997 m,
      deltaT: 4.029405 s,
      deltaX: -2.600006 m,
      approachRate: -0.645258 m/s,
      rangeRepo size: 4

2025-08-22T05:19:30.312Z,1755839970.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 207.023666 m,
      bearing: 96.651568 deg,
      lat: 36.779290 deg,
      lon: -121.859677 deg,
      deltaT: 4.029405 s,
      deltaX: -2.582535 m,
      approachRate: -0.640922 m/s,
      posRepo size: 4

2025-08-22T05:19:30.313Z,1755839970.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:30.316Z,1755839970.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 198.248016 m,
      bearing: 96.220566 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011087 deg/s,
      cmd heading: 93.272326 deg,
      new cmd heading: 93.262711 deg.

2025-08-22T05:19:30.317Z,1755839970.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627741 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:30.681Z,1755839970.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:30.684Z,1755839970.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 197.998825 m,
      bearing: 96.218148 deg,
      approach rate: -0.670525 m/s,
      LOS rate: -0.006513 deg/s,
      cmd heading: 93.262709 deg,
      new cmd heading: 93.257868 deg.

2025-08-22T05:19:30.685Z,1755839970.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627657 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:31.082Z,1755839971.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:31.084Z,1755839971.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:31.087Z,1755839971.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 197.730392 m,
      bearing: 96.215647 deg,
      approach rate: -0.665853 m/s,
      LOS rate: -0.006213 deg/s,
      cmd heading: 93.257866 deg,
      new cmd heading: 93.252857 deg.

2025-08-22T05:19:31.088Z,1755839971.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627569 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:31.181Z,1755839971.181 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:31.181Z,1755839971.181 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:31.181Z,1755839971.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:31.433Z,1755839971.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495491
2025-08-22T05:19:31.532Z,1755839971.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:31.535Z,1755839971.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 197.440262 m,
      bearing: 96.211935 deg,
      approach rate: -0.647515 m/s,
      LOS rate: -0.008296 deg/s,
      cmd heading: 93.252860 deg,
      new cmd heading: 93.245425 deg.

2025-08-22T05:19:31.540Z,1755839971.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627440 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:31.684Z,1755839971.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747070
2025-08-22T05:19:31.894Z,1755839971.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:31.897Z,1755839971.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 197.199905 m,
      bearing: 96.208941 deg,
      approach rate: -0.664822 m/s,
      LOS rate: -0.008294 deg/s,
      cmd heading: 93.245428 deg,
      new cmd heading: 93.239431 deg.

2025-08-22T05:19:31.900Z,1755839971.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627335 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:31.937Z,1755839971.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999437
2025-08-22T05:19:32.189Z,1755839972.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251821
2025-08-22T05:19:32.324Z,1755839972.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:32.326Z,1755839972.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 196.911728 m,
      bearing: 96.204390 deg,
      approach rate: -0.670247 m/s,
      LOS rate: -0.010600 deg/s,
      cmd heading: 93.239431 deg,
      new cmd heading: 93.230316 deg.

2025-08-22T05:19:32.328Z,1755839972.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627176 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:32.440Z,1755839972.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503060
2025-08-22T05:19:32.692Z,1755839972.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755169
2025-08-22T05:19:32.697Z,1755839972.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:32.700Z,1755839972.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 196.664352 m,
      bearing: 96.200543 deg,
      approach rate: -0.662220 m/s,
      LOS rate: -0.010310 deg/s,
      cmd heading: 93.230313 deg,
      new cmd heading: 93.222610 deg.

2025-08-22T05:19:32.701Z,1755839972.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627041 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:32.944Z,1755839972.944 [DAT](INFO): DAT read: Rx Time:05:19:31.7192

2025-08-22T05:19:32.945Z,1755839972.945 [DAT](INFO): Rx dataTimestamp_ set to:1755839972.944467
2025-08-22T05:19:32.945Z,1755839972.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008189
2025-08-22T05:19:33.099Z,1755839973.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:33.101Z,1755839973.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:33.104Z,1755839973.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 196.394836 m,
      bearing: 96.196418 deg,
      approach rate: -0.666957 m/s,
      LOS rate: -0.010223 deg/s,
      cmd heading: 93.222609 deg,
      new cmd heading: 93.214347 deg.

2025-08-22T05:19:33.105Z,1755839973.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626897 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:33.200Z,1755839973.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261788
2025-08-22T05:19:33.453Z,1755839973.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515318
2025-08-22T05:19:33.578Z,1755839973.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 207.02 m.
2025-08-22T05:19:33.585Z,1755839973.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 207.023666 m,
      nav range: 196.086731 m,
      bearing: 96.192822 deg,
      approach rate: -0.646499 m/s,
      LOS rate: -0.007558 deg/s,
      cmd heading: 93.214344 deg,
      new cmd heading: 93.207140 deg.

2025-08-22T05:19:33.586Z,1755839973.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626771 target range: 207.023666 and range: 208.20 m.
2025-08-22T05:19:33.709Z,1755839973.709 [DAT](INFO): DAT read: 05:19:31.7192 LVL= 32672, 32753, 29634, 32755, AGC= 67, IDX= 406, 0.09,-2.967, 1.616,-2.934, 2.869, PHS= 0.549,-1.208, 0.436, RAW= 146.7,   2.6, CAL= 146.1,   2.8, ROT=   3.9,  -2.8

2025-08-22T05:19:33.710Z,1755839973.710 [DAT](INFO): got valid direction response:
 05:19:31.7192 LVL= 32672, 32753, 29634, 32755, AGC= 67, IDX= 406, 0.09,-2.967, 1.616,-2.934, 2.869, PHS= 0.549,-1.208, 0.436, RAW= 146.7,   2.6, CAL= 146.1,   2.8, ROT=   3.9,  -2.8

2025-08-22T05:19:33.711Z,1755839973.711 [DAT](INFO): DAT read: Bearing 247.2,  17.2 (Local)

2025-08-22T05:19:33.712Z,1755839973.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.2,  17.2 (Local)

2025-08-22T05:19:33.713Z,1755839973.713 [DAT](INFO): DAT read: Range 11 to 50 : 205.8 m  (Round-trip  274.4 ms) speed  0.8 m/s

2025-08-22T05:19:33.714Z,1755839973.714 [DAT](INFO): DAT read: user:7415>

2025-08-22T05:19:33.715Z,1755839973.715 [DAT](INFO): DAT read: Tx time:05:19:32.8407

2025-08-22T05:19:33.715Z,1755839973.715 [DAT](INFO): Ping request sent.
2025-08-22T05:19:33.715Z,1755839973.715 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:33.716Z,1755839973.716 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:33.716Z,1755839973.716 [DAT](INFO): direction in FSK: [0.996493,0.067934,0.048850]
2025-08-22T05:19:33.717Z,1755839973.717 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:33.717Z,1755839973.717 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:33.720Z,1755839973.720 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:33.720Z,1755839973.720 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:33.963Z,1755839973.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.800003 m,
      deltaT: 3.780182 s,
      deltaX: -2.399994 m,
      approachRate: -0.634888 m/s,
      rangeRepo size: 4

2025-08-22T05:19:33.965Z,1755839973.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 204.637115 m,
      bearing: 96.315232 deg,
      lat: 36.779286 deg,
      lon: -121.859672 deg,
      deltaT: 3.780182 s,
      deltaX: -2.386551 m,
      approachRate: -0.631332 m/s,
      posRepo size: 4

2025-08-22T05:19:33.966Z,1755839973.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:33.973Z,1755839973.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 196.315201 m,
      bearing: 96.329713 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007558 deg/s,
      cmd heading: 93.207138 deg,
      new cmd heading: 93.201388 deg.

2025-08-22T05:19:33.974Z,1755839973.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626671 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:34.352Z,1755839974.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:34.354Z,1755839974.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 196.043808 m,
      bearing: 96.326154 deg,
      approach rate: -0.689853 m/s,
      LOS rate: -0.009060 deg/s,
      cmd heading: 93.201387 deg,
      new cmd heading: 93.194259 deg.

2025-08-22T05:19:34.356Z,1755839974.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626547 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:34.357Z,1755839974.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 64.575378 m.
2025-08-22T05:19:34.733Z,1755839974.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:34.756Z,1755839974.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 195.791336 m,
      bearing: 96.322786 deg,
      approach rate: -0.663150 m/s,
      LOS rate: -0.008858 deg/s,
      cmd heading: 93.194257 deg,
      new cmd heading: 93.187512 deg.

2025-08-22T05:19:34.757Z,1755839974.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626429 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:35.157Z,1755839975.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:35.160Z,1755839975.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:35.186Z,1755839975.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 195.513962 m,
      bearing: 96.319019 deg,
      approach rate: -0.649731 m/s,
      LOS rate: -0.008837 deg/s,
      cmd heading: 93.187515 deg,
      new cmd heading: 93.179970 deg.

2025-08-22T05:19:35.194Z,1755839975.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626297 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:35.215Z,1755839975.215 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:35.215Z,1755839975.215 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:35.216Z,1755839975.216 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:35.464Z,1755839975.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748868
2025-08-22T05:19:35.566Z,1755839975.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:35.585Z,1755839975.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 195.234512 m,
      bearing: 96.314422 deg,
      approach rate: -0.687212 m/s,
      LOS rate: -0.011322 deg/s,
      cmd heading: 93.179968 deg,
      new cmd heading: 93.170760 deg.

2025-08-22T05:19:35.586Z,1755839975.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626137 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:35.717Z,1755839975.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001615
2025-08-22T05:19:35.959Z,1755839975.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:35.962Z,1755839975.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 194.980408 m,
      bearing: 96.310170 deg,
      approach rate: -0.646230 m/s,
      LOS rate: -0.010828 deg/s,
      cmd heading: 93.170761 deg,
      new cmd heading: 93.162246 deg.

2025-08-22T05:19:35.969Z,1755839975.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253553
2025-08-22T05:19:35.971Z,1755839975.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625988 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:36.222Z,1755839976.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506605
2025-08-22T05:19:36.367Z,1755839976.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:36.370Z,1755839976.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 194.696762 m,
      bearing: 96.305281 deg,
      approach rate: -0.695989 m/s,
      LOS rate: -0.012014 deg/s,
      cmd heading: 93.162243 deg,
      new cmd heading: 93.152451 deg.

2025-08-22T05:19:36.371Z,1755839976.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625817 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:36.474Z,1755839976.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758508
2025-08-22T05:19:36.724Z,1755839976.724 [DAT](INFO): DAT read: Rx Time:05:19:35.5158

2025-08-22T05:19:36.725Z,1755839976.725 [DAT](INFO): Rx dataTimestamp_ set to:1755839976.724537
2025-08-22T05:19:36.725Z,1755839976.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010093
2025-08-22T05:19:36.807Z,1755839976.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:36.810Z,1755839976.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 194.426300 m,
      bearing: 96.300495 deg,
      approach rate: -0.619796 m/s,
      LOS rate: -0.010982 deg/s,
      cmd heading: 93.152449 deg,
      new cmd heading: 93.142865 deg.

2025-08-22T05:19:36.811Z,1755839976.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625650 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:36.976Z,1755839976.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260869
2025-08-22T05:19:37.170Z,1755839977.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:37.173Z,1755839977.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.64 m.
2025-08-22T05:19:37.178Z,1755839977.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 204.637115 m,
      nav range: 194.160553 m,
      bearing: 96.295689 deg,
      approach rate: -0.718379 m/s,
      LOS rate: -0.013009 deg/s,
      cmd heading: 93.142866 deg,
      new cmd heading: 93.133241 deg.

2025-08-22T05:19:37.180Z,1755839977.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625482 target range: 204.637115 and range: 205.80 m.
2025-08-22T05:19:37.234Z,1755839977.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518241
2025-08-22T05:19:37.487Z,1755839977.487 [DAT](INFO): DAT read: 05:19:35.5158 LVL= 26592, 32753, 28562, 32755, AGC= 64, IDX= 403,-0.17,-2.350, 2.242,-2.298,-2.787, PHS= 0.539,-1.209, 0.445, RAW= 147.3,   2.7, CAL= 146.6,   2.7, ROT=   3.4,  -2.7

2025-08-22T05:19:37.488Z,1755839977.488 [DAT](INFO): got valid direction response:
 05:19:35.5158 LVL= 26592, 32753, 28562, 32755, AGC= 64, IDX= 403,-0.17,-2.350, 2.242,-2.298,-2.787, PHS= 0.539,-1.209, 0.445, RAW= 147.3,   2.7, CAL= 146.6,   2.7, ROT=   3.4,  -2.7

2025-08-22T05:19:37.489Z,1755839977.489 [DAT](INFO): DAT read: Bearing 247.7,  17.1 (Local)

2025-08-22T05:19:37.489Z,1755839977.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.7,  17.1 (Local)

2025-08-22T05:19:37.491Z,1755839977.491 [DAT](INFO): DAT read: Range 11 to 50 : 203.1 m  (Round-trip  270.9 ms) speed  0.4 m/s

2025-08-22T05:19:37.508Z,1755839977.508 [DAT](INFO): DAT read: user:7416>

2025-08-22T05:19:37.509Z,1755839977.509 [DAT](INFO): DAT read: Tx time:05:19:36.6407

2025-08-22T05:19:37.510Z,1755839977.510 [DAT](INFO): Ping request sent.
2025-08-22T05:19:37.510Z,1755839977.510 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:37.510Z,1755839977.510 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:37.512Z,1755839977.512 [DAT](INFO): direction in FSK: [0.997132,0.059241,0.047106]
2025-08-22T05:19:37.513Z,1755839977.513 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:37.513Z,1755839977.513 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:37.575Z,1755839977.575 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:37.575Z,1755839977.575 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:37.714Z,1755839977.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 203.100006 m,
      deltaT: 3.779838 s,
      deltaX: -2.699997 m,
      approachRate: -0.714316 m/s,
      rangeRepo size: 4

2025-08-22T05:19:37.720Z,1755839977.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 201.954605 m,
      bearing: 96.230859 deg,
      lat: 36.779286 deg,
      lon: -121.859670 deg,
      deltaT: 3.779838 s,
      deltaX: -2.682510 m,
      approachRate: -0.709689 m/s,
      posRepo size: 4

2025-08-22T05:19:37.721Z,1755839977.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:37.728Z,1755839977.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 193.999344 m,
      bearing: 96.281869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013009 deg/s,
      cmd heading: 93.133243 deg,
      new cmd heading: 93.119188 deg.

2025-08-22T05:19:37.729Z,1755839977.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625236 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:38.018Z,1755839978.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:38.025Z,1755839978.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 193.791855 m,
      bearing: 96.277540 deg,
      approach rate: -0.681225 m/s,
      LOS rate: -0.014228 deg/s,
      cmd heading: 93.119186 deg,
      new cmd heading: 93.110519 deg.

2025-08-22T05:19:38.026Z,1755839978.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625085 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:38.427Z,1755839978.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:38.430Z,1755839978.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 193.508804 m,
      bearing: 96.271585 deg,
      approach rate: -0.691372 m/s,
      LOS rate: -0.014565 deg/s,
      cmd heading: 93.110518 deg,
      new cmd heading: 93.098592 deg.

2025-08-22T05:19:38.431Z,1755839978.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624877 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:38.812Z,1755839978.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:38.815Z,1755839978.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 193.253204 m,
      bearing: 96.266114 deg,
      approach rate: -0.664291 m/s,
      LOS rate: -0.014238 deg/s,
      cmd heading: 93.098593 deg,
      new cmd heading: 93.087636 deg.

2025-08-22T05:19:38.816Z,1755839978.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624686 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:39.210Z,1755839979.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:39.238Z,1755839979.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:39.246Z,1755839979.246 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:39.246Z,1755839979.246 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:39.247Z,1755839979.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:39.267Z,1755839979.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 192.986832 m,
      bearing: 96.260408 deg,
      approach rate: -0.627164 m/s,
      LOS rate: -0.013454 deg/s,
      cmd heading: 93.087637 deg,
      new cmd heading: 93.076209 deg.

2025-08-22T05:19:39.280Z,1755839979.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624486 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:39.496Z,1755839979.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986567
2025-08-22T05:19:39.683Z,1755839979.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:39.702Z,1755839979.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 192.670853 m,
      bearing: 96.254534 deg,
      approach rate: -0.708545 m/s,
      LOS rate: -0.013193 deg/s,
      cmd heading: 93.076210 deg,
      new cmd heading: 93.064443 deg.

2025-08-22T05:19:39.702Z,1755839979.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624281 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:39.750Z,1755839979.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239668
2025-08-22T05:19:40.000Z,1755839980.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490290
2025-08-22T05:19:40.056Z,1755839980.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:40.058Z,1755839980.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 192.414780 m,
      bearing: 96.249759 deg,
      approach rate: -0.686271 m/s,
      LOS rate: -0.012813 deg/s,
      cmd heading: 93.064442 deg,
      new cmd heading: 93.054880 deg.

2025-08-22T05:19:40.064Z,1755839980.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624114 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:40.276Z,1755839980.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745042
2025-08-22T05:19:40.467Z,1755839980.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:40.470Z,1755839980.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 192.136963 m,
      bearing: 96.245910 deg,
      approach rate: -0.675293 m/s,
      LOS rate: -0.009369 deg/s,
      cmd heading: 93.054880 deg,
      new cmd heading: 93.047171 deg.

2025-08-22T05:19:40.472Z,1755839980.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623979 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:40.504Z,1755839980.504 [DAT](INFO): DAT read: Rx Time:05:19:39.3123

2025-08-22T05:19:40.505Z,1755839980.505 [DAT](INFO): Rx dataTimestamp_ set to:1755839980.504427
2025-08-22T05:19:40.505Z,1755839980.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995380
2025-08-22T05:19:40.756Z,1755839980.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246307
2025-08-22T05:19:40.856Z,1755839980.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:40.859Z,1755839980.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 191.874695 m,
      bearing: 96.242329 deg,
      approach rate: -0.674535 m/s,
      LOS rate: -0.009224 deg/s,
      cmd heading: 93.047168 deg,
      new cmd heading: 93.039996 deg.

2025-08-22T05:19:40.860Z,1755839980.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623854 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:41.009Z,1755839981.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498624
2025-08-22T05:19:41.254Z,1755839981.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:41.258Z,1755839981.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 201.95 m.
2025-08-22T05:19:41.309Z,1755839981.309 [DAT](INFO): DAT read: 05:19:39.3123 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 400,-0.49, 2.146, 0.502, 2.226, 1.704, PHS= 0.543,-1.157, 0.478, RAW= 148.1,   1.6, CAL= 147.2,   1.5, ROT=   2.8,  -1.5

2025-08-22T05:19:41.316Z,1755839981.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 201.954605 m,
      nav range: 191.605453 m,
      bearing: 96.238661 deg,
      approach rate: -0.671835 m/s,
      LOS rate: -0.009166 deg/s,
      cmd heading: 93.039997 deg,
      new cmd heading: 93.032650 deg.

2025-08-22T05:19:41.321Z,1755839981.321 [DAT](INFO): got valid direction response:
 05:19:39.3123 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 400,-0.49, 2.146, 0.502, 2.226, 1.704, PHS= 0.543,-1.157, 0.478, RAW= 148.1,   1.6, CAL= 147.2,   1.5, ROT=   2.8,  -1.5

2025-08-22T05:19:41.327Z,1755839981.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623726 target range: 201.954605 and range: 203.10 m.
2025-08-22T05:19:41.331Z,1755839981.331 [DAT](INFO): DAT read: Bearing 247.0,  16.5 (Local)

2025-08-22T05:19:41.332Z,1755839981.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0,  16.5 (Local)

2025-08-22T05:19:41.333Z,1755839981.333 [DAT](INFO): DAT read: Range 11 to 50 : 200.5 m  (Round-trip  267.4 ms) speed  0.4 m/s

2025-08-22T05:19:41.334Z,1755839981.334 [DAT](INFO): DAT read: user:7417>

2025-08-22T05:19:41.335Z,1755839981.335 [DAT](INFO): DAT read: Tx time:05:19:40.4407

2025-08-22T05:19:41.335Z,1755839981.335 [DAT](INFO): Ping request sent.
2025-08-22T05:19:41.335Z,1755839981.335 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:41.343Z,1755839981.343 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:41.344Z,1755839981.344 [DAT](INFO): direction in FSK: [0.998464,0.048833,0.026177]
2025-08-22T05:19:41.345Z,1755839981.345 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:41.345Z,1755839981.345 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:41.368Z,1755839981.368 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:41.368Z,1755839981.368 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:41.708Z,1755839981.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 200.500000 m,
      deltaT: 3.781669 s,
      deltaX: -2.600006 m,
      approachRate: -0.687529 m/s,
      rangeRepo size: 4

2025-08-22T05:19:41.710Z,1755839981.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 199.370926 m,
      bearing: 95.699029 deg,
      lat: 36.779286 deg,
      lon: -121.859670 deg,
      deltaT: 3.781669 s,
      deltaX: -2.583679 m,
      approachRate: -0.683211 m/s,
      posRepo size: 4

2025-08-22T05:19:41.711Z,1755839981.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:41.713Z,1755839981.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 191.306122 m,
      bearing: 96.234066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009166 deg/s,
      cmd heading: 93.032647 deg,
      new cmd heading: 93.024394 deg.

2025-08-22T05:19:41.714Z,1755839981.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623582 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:42.067Z,1755839982.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:42.070Z,1755839982.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 191.062820 m,
      bearing: 96.230383 deg,
      approach rate: -0.675886 m/s,
      LOS rate: -0.010244 deg/s,
      cmd heading: 93.024397 deg,
      new cmd heading: 93.017021 deg.

2025-08-22T05:19:42.071Z,1755839982.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623453 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:42.484Z,1755839982.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:42.487Z,1755839982.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 190.798203 m,
      bearing: 96.227327 deg,
      approach rate: -0.634368 m/s,
      LOS rate: -0.007338 deg/s,
      cmd heading: 93.017020 deg,
      new cmd heading: 93.010898 deg.

2025-08-22T05:19:42.504Z,1755839982.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623346 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:42.866Z,1755839982.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:42.869Z,1755839982.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 190.549225 m,
      bearing: 96.224491 deg,
      approach rate: -0.651338 m/s,
      LOS rate: -0.007429 deg/s,
      cmd heading: 93.010900 deg,
      new cmd heading: 93.005221 deg.

2025-08-22T05:19:42.870Z,1755839982.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623247 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:43.313Z,1755839983.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:43.330Z,1755839983.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:43.352Z,1755839983.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 190.289108 m,
      bearing: 96.221577 deg,
      approach rate: -0.563319 m/s,
      LOS rate: -0.006318 deg/s,
      cmd heading: 93.005217 deg,
      new cmd heading: 92.999382 deg.

2025-08-22T05:19:43.354Z,1755839983.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623145 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:43.528Z,1755839983.528 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:43.528Z,1755839983.528 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:43.528Z,1755839983.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:43.710Z,1755839983.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:43.713Z,1755839983.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 190.001526 m,
      bearing: 96.216430 deg,
      approach rate: -0.753625 m/s,
      LOS rate: -0.013508 deg/s,
      cmd heading: 92.999384 deg,
      new cmd heading: 92.989075 deg.

2025-08-22T05:19:43.714Z,1755839983.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622966 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:43.783Z,1755839983.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.447617
2025-08-22T05:19:44.036Z,1755839984.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701248
2025-08-22T05:19:44.104Z,1755839984.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:44.109Z,1755839984.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 189.748520 m,
      bearing: 96.211889 deg,
      approach rate: -0.643909 m/s,
      LOS rate: -0.011573 deg/s,
      cmd heading: 92.989078 deg,
      new cmd heading: 92.979983 deg.

2025-08-22T05:19:44.111Z,1755839984.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622807 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:44.292Z,1755839984.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.955923
2025-08-22T05:19:44.520Z,1755839984.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:44.522Z,1755839984.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 189.478592 m,
      bearing: 96.208263 deg,
      approach rate: -0.647151 m/s,
      LOS rate: -0.008705 deg/s,
      cmd heading: 92.979980 deg,
      new cmd heading: 92.972718 deg.

2025-08-22T05:19:44.528Z,1755839984.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622680 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:44.540Z,1755839984.540 [DAT](INFO): DAT read: Rx Time:05:19:43.1089

2025-08-22T05:19:44.541Z,1755839984.541 [DAT](INFO): Rx dataTimestamp_ set to:1755839984.540535
2025-08-22T05:19:44.541Z,1755839984.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206412
2025-08-22T05:19:44.792Z,1755839984.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.457350
2025-08-22T05:19:45.002Z,1755839985.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 199.37 m.
2025-08-22T05:19:45.025Z,1755839985.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 199.370926 m,
      nav range: 189.150528 m,
      bearing: 96.203931 deg,
      approach rate: -0.680843 m/s,
      LOS rate: -0.009007 deg/s,
      cmd heading: 92.972719 deg,
      new cmd heading: 92.964040 deg.

2025-08-22T05:19:45.026Z,1755839985.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622529 target range: 199.370926 and range: 200.50 m.
2025-08-22T05:19:45.050Z,1755839985.050 [DAT](INFO): DAT read: 05:19:43.1089 LVL= 32496, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.26,-1.288,-2.931,-1.239,-1.757, PHS= 0.571,-1.130, 0.474, RAW= 147.1,   1.0, CAL= 146.4,   0.9, ROT=   3.6,  -0.9

2025-08-22T05:19:45.052Z,1755839985.052 [DAT](INFO): got valid direction response:
 05:19:43.1089 LVL= 32496, 32753, 32754, 32755, AGC= 64, IDX= 413, 0.26,-1.288,-2.931,-1.239,-1.757, PHS= 0.571,-1.130, 0.474, RAW= 147.1,   1.0, CAL= 146.4,   0.9, ROT=   3.6,  -0.9

2025-08-22T05:19:45.053Z,1755839985.053 [DAT](INFO): DAT read: Bearing 246.3,  17.8 (Local)

2025-08-22T05:19:45.053Z,1755839985.053 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.3,  17.8 (Local)

2025-08-22T05:19:45.055Z,1755839985.055 [DAT](INFO): DAT read: Range 11 to 50 : 198.0 m  (Round-trip  264.1 ms) speed  0.7 m/s

2025-08-22T05:19:45.056Z,1755839985.056 [DAT](INFO): DAT read: user:7418>

2025-08-22T05:19:45.057Z,1755839985.057 [DAT](INFO): DAT read: Tx time:05:19:44.1907

2025-08-22T05:19:45.057Z,1755839985.057 [DAT](INFO): Ping request sent.
2025-08-22T05:19:45.057Z,1755839985.057 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:45.057Z,1755839985.057 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:45.058Z,1755839985.058 [DAT](INFO): direction in FSK: [0.997904,0.062783,0.015707]
2025-08-22T05:19:45.058Z,1755839985.058 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:45.059Z,1755839985.059 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:45.064Z,1755839985.064 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:45.064Z,1755839985.064 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:45.603Z,1755839985.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.000000 m,
      deltaT: 3.782294 s,
      deltaX: -2.500000 m,
      approachRate: -0.660975 m/s,
      rangeRepo size: 4

2025-08-22T05:19:45.607Z,1755839985.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 196.884003 m,
      bearing: 96.181833 deg,
      lat: 36.779286 deg,
      lon: -121.859667 deg,
      deltaT: 3.782294 s,
      deltaX: -2.486923 m,
      approachRate: -0.657517 m/s,
      posRepo size: 4

2025-08-22T05:19:45.609Z,1755839985.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:45.633Z,1755839985.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 189.037827 m,
      bearing: 96.187201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009007 deg/s,
      cmd heading: 92.964038 deg,
      new cmd heading: 92.953238 deg.

2025-08-22T05:19:45.634Z,1755839985.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622340 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:46.072Z,1755839986.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:46.075Z,1755839986.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:46.078Z,1755839986.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 188.718079 m,
      bearing: 96.180665 deg,
      approach rate: -0.675519 m/s,
      LOS rate: -0.013831 deg/s,
      cmd heading: 92.953240 deg,
      new cmd heading: 92.940146 deg.

2025-08-22T05:19:46.097Z,1755839986.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622112 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:46.308Z,1755839986.308 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:46.308Z,1755839986.308 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:46.308Z,1755839986.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:46.500Z,1755839986.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:46.503Z,1755839986.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 188.439026 m,
      bearing: 96.175950 deg,
      approach rate: -0.655686 m/s,
      LOS rate: -0.011095 deg/s,
      cmd heading: 92.940146 deg,
      new cmd heading: 92.930703 deg.

2025-08-22T05:19:46.504Z,1755839986.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621947 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:46.557Z,1755839986.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500173
2025-08-22T05:19:46.808Z,1755839986.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751192
2025-08-22T05:19:46.893Z,1755839986.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:46.896Z,1755839986.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 188.182083 m,
      bearing: 96.171636 deg,
      approach rate: -0.654439 m/s,
      LOS rate: -0.011004 deg/s,
      cmd heading: 92.930700 deg,
      new cmd heading: 92.922060 deg.

2025-08-22T05:19:46.897Z,1755839986.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621796 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:47.061Z,1755839987.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003595
2025-08-22T05:19:47.292Z,1755839987.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:47.295Z,1755839987.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 187.922195 m,
      bearing: 96.167314 deg,
      approach rate: -0.650852 m/s,
      LOS rate: -0.010838 deg/s,
      cmd heading: 92.922060 deg,
      new cmd heading: 92.913405 deg.

2025-08-22T05:19:47.312Z,1755839987.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255367
2025-08-22T05:19:47.316Z,1755839987.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621645 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:47.564Z,1755839987.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507244
2025-08-22T05:19:47.723Z,1755839987.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:47.738Z,1755839987.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 187.640808 m,
      bearing: 96.162409 deg,
      approach rate: -0.653121 m/s,
      LOS rate: -0.011402 deg/s,
      cmd heading: 92.913406 deg,
      new cmd heading: 92.903581 deg.

2025-08-22T05:19:47.739Z,1755839987.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621473 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:47.817Z,1755839987.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760254
2025-08-22T05:19:48.069Z,1755839988.069 [DAT](INFO): DAT read: Rx Time:05:19:46.8556

2025-08-22T05:19:48.069Z,1755839988.069 [DAT](INFO): Rx dataTimestamp_ set to:1755839988.068811
2025-08-22T05:19:48.070Z,1755839988.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012669
2025-08-22T05:19:48.128Z,1755839988.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:48.130Z,1755839988.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:48.137Z,1755839988.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 187.392670 m,
      bearing: 96.158087 deg,
      approach rate: -0.609761 m/s,
      LOS rate: -0.010635 deg/s,
      cmd heading: 92.903584 deg,
      new cmd heading: 92.894928 deg.

2025-08-22T05:19:48.138Z,1755839988.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621322 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:48.320Z,1755839988.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263146
2025-08-22T05:19:48.525Z,1755839988.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 196.88 m.
2025-08-22T05:19:48.528Z,1755839988.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 196.884003 m,
      nav range: 187.116760 m,
      bearing: 96.152699 deg,
      approach rate: -0.698075 m/s,
      LOS rate: -0.013651 deg/s,
      cmd heading: 92.894930 deg,
      new cmd heading: 92.884139 deg.

2025-08-22T05:19:48.529Z,1755839988.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621134 target range: 196.884003 and range: 198.00 m.
2025-08-22T05:19:48.594Z,1755839988.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536274
2025-08-22T05:19:48.830Z,1755839988.830 [DAT](INFO): DAT read: 05:19:46.8556 LVL= 29984, 32753, 28482, 31843, AGC= 65, IDX= 411, 0.38,-2.716, 1.906,-2.643, 3.121, PHS= 0.548,-1.169, 0.475, RAW= 147.9,   1.8, CAL= 147.0,   1.7, ROT=   3.0,  -1.7

2025-08-22T05:19:48.831Z,1755839988.831 [DAT](INFO): got valid direction response:
 05:19:46.8556 LVL= 29984, 32753, 28482, 31843, AGC= 65, IDX= 411, 0.38,-2.716, 1.906,-2.643, 3.121, PHS= 0.548,-1.169, 0.475, RAW= 147.9,   1.8, CAL= 147.0,   1.7, ROT=   3.0,  -1.7

2025-08-22T05:19:48.832Z,1755839988.832 [DAT](INFO): DAT read: Bearing 247.2,  17.2 (Local)

2025-08-22T05:19:48.832Z,1755839988.832 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.2,  17.2 (Local)

2025-08-22T05:19:48.834Z,1755839988.834 [DAT](INFO): DAT read: Range 11 to 50 : 195.6 m  (Round-trip  260.8 ms) speed  0.6 m/s

2025-08-22T05:19:48.835Z,1755839988.835 [DAT](INFO): DAT read: user:7419>

2025-08-22T05:19:48.835Z,1755839988.835 [DAT](INFO): DAT read: Tx time:05:19:47.9407

2025-08-22T05:19:48.836Z,1755839988.836 [DAT](INFO): Ping request sent.
2025-08-22T05:19:48.836Z,1755839988.836 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:48.836Z,1755839988.836 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:48.837Z,1755839988.837 [DAT](INFO): direction in FSK: [0.998190,0.052313,0.029666]
2025-08-22T05:19:48.837Z,1755839988.837 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:48.838Z,1755839988.838 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:48.847Z,1755839988.847 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:48.848Z,1755839988.848 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:48.994Z,1755839988.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 195.600006 m,
      deltaT: 3.779807 s,
      deltaX: -2.399994 m,
      approachRate: -0.634951 m/s,
      rangeRepo size: 4

2025-08-22T05:19:48.000Z,1755839989.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.499802 m,
      bearing: 95.355984 deg,
      lat: 36.779287 deg,
      lon: -121.859653 deg,
      deltaT: 3.779807 s,
      deltaX: -2.384201 m,
      approachRate: -0.630773 m/s,
      posRepo size: 4

2025-08-22T05:19:49.001Z,1755839989.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:49.007Z,1755839989.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 188.030807 m,
      bearing: 96.053212 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013651 deg/s,
      cmd heading: 92.884139 deg,
      new cmd heading: 92.871366 deg.

2025-08-22T05:19:49.008Z,1755839989.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620911 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:49.323Z,1755839989.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:49.326Z,1755839989.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 187.800827 m,
      bearing: 96.048577 deg,
      approach rate: -0.696149 m/s,
      LOS rate: -0.014048 deg/s,
      cmd heading: 92.871366 deg,
      new cmd heading: 92.862084 deg.

2025-08-22T05:19:49.329Z,1755839989.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620749 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:49.747Z,1755839989.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:49.750Z,1755839989.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 187.516800 m,
      bearing: 96.042683 deg,
      approach rate: -0.669946 m/s,
      LOS rate: -0.013925 deg/s,
      cmd heading: 92.862084 deg,
      new cmd heading: 92.850277 deg.

2025-08-22T05:19:49.751Z,1755839989.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620543 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:50.129Z,1755839990.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:50.132Z,1755839990.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 187.259628 m,
      bearing: 96.037245 deg,
      approach rate: -0.672768 m/s,
      LOS rate: -0.014245 deg/s,
      cmd heading: 92.850275 deg,
      new cmd heading: 92.839384 deg.

2025-08-22T05:19:50.133Z,1755839990.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620353 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:50.553Z,1755839990.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:50.555Z,1755839990.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:50.561Z,1755839990.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 186.981262 m,
      bearing: 96.032270 deg,
      approach rate: -0.654734 m/s,
      LOS rate: -0.011718 deg/s,
      cmd heading: 92.839380 deg,
      new cmd heading: 92.829417 deg.

2025-08-22T05:19:50.562Z,1755839990.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620179 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:50.589Z,1755839990.589 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:50.589Z,1755839990.589 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:50.589Z,1755839990.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:50.840Z,1755839990.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004368
2025-08-22T05:19:50.929Z,1755839990.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:50.932Z,1755839990.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 186.714874 m,
      bearing: 96.027401 deg,
      approach rate: -0.711280 m/s,
      LOS rate: -0.013021 deg/s,
      cmd heading: 92.829415 deg,
      new cmd heading: 92.819662 deg.

2025-08-22T05:19:50.933Z,1755839990.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620009 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:51.093Z,1755839991.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257132
2025-08-22T05:19:51.324Z,1755839991.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:51.326Z,1755839991.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 186.446091 m,
      bearing: 96.022370 deg,
      approach rate: -0.681733 m/s,
      LOS rate: -0.012778 deg/s,
      cmd heading: 92.819662 deg,
      new cmd heading: 92.809586 deg.

2025-08-22T05:19:51.327Z,1755839991.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619833 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:51.344Z,1755839991.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508435
2025-08-22T05:19:51.598Z,1755839991.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761653
2025-08-22T05:19:51.774Z,1755839991.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:51.793Z,1755839991.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 186.155685 m,
      bearing: 96.015891 deg,
      approach rate: -0.672641 m/s,
      LOS rate: -0.015029 deg/s,
      cmd heading: 92.809587 deg,
      new cmd heading: 92.796610 deg.

2025-08-22T05:19:51.794Z,1755839991.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619606 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:51.849Z,1755839991.849 [DAT](INFO): DAT read: Rx Time:05:19:50.6022

2025-08-22T05:19:51.850Z,1755839991.850 [DAT](INFO): Rx dataTimestamp_ set to:1755839991.849465
2025-08-22T05:19:51.850Z,1755839991.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014458
2025-08-22T05:19:52.101Z,1755839992.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264458
2025-08-22T05:19:52.253Z,1755839992.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.50 m.
2025-08-22T05:19:52.260Z,1755839992.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.499802 m,
      nav range: 185.834030 m,
      bearing: 96.008586 deg,
      approach rate: -0.645583 m/s,
      LOS rate: -0.014688 deg/s,
      cmd heading: 92.796610 deg,
      new cmd heading: 92.781974 deg.

2025-08-22T05:19:52.261Z,1755839992.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619351 target range: 194.499802 and range: 195.60 m.
2025-08-22T05:19:52.377Z,1755839992.377 [DAT](INFO): DAT read: 05:19:50.6022 LVL= 22192, 26353, 22642, 30659, AGC= 66, IDX= 408,-0.28, 0.181,-1.497, 0.253,-0.268, PHS= 0.551,-1.184, 0.477, RAW= 147.9,   1.9, CAL= 147.1,   1.8, ROT=   2.9,  -1.8

2025-08-22T05:19:52.395Z,1755839992.395 [DAT](INFO): got valid direction response:
 05:19:50.6022 LVL= 22192, 26353, 22642, 30659, AGC= 66, IDX= 408,-0.28, 0.181,-1.497, 0.253,-0.268, PHS= 0.551,-1.184, 0.477, RAW= 147.9,   1.9, CAL= 147.1,   1.8, ROT=   2.9,  -1.8

2025-08-22T05:19:52.401Z,1755839992.401 [DAT](INFO): DAT read: Bearing 247.9,  16.4 (Local)

2025-08-22T05:19:52.401Z,1755839992.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  16.4 (Local)

2025-08-22T05:19:52.437Z,1755839992.437 [DAT](INFO): DAT read: Range 11 to 50 : 193.0 m  (Round-trip  257.4 ms) speed  0.8 m/s

2025-08-22T05:19:52.444Z,1755839992.444 [DAT](INFO): DAT read: user:7420>

2025-08-22T05:19:52.447Z,1755839992.447 [DAT](INFO): DAT read: Tx time:05:19:51.6907

2025-08-22T05:19:52.454Z,1755839992.454 [DAT](INFO): Ping request sent.
2025-08-22T05:19:52.454Z,1755839992.454 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:52.461Z,1755839992.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:52.479Z,1755839992.479 [DAT](INFO): direction in FSK: [0.998227,0.050568,0.031411]
2025-08-22T05:19:52.480Z,1755839992.480 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:52.480Z,1755839992.480 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:52.483Z,1755839992.483 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:52.495Z,1755839992.495 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:52.706Z,1755839992.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 193.000000 m,
      deltaT: 3.530331 s,
      deltaX: -2.600006 m,
      approachRate: -0.736477 m/s,
      rangeRepo size: 4

2025-08-22T05:19:52.712Z,1755839992.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 191.906494 m,
      bearing: 95.703474 deg,
      lat: 36.779296 deg,
      lon: -121.859653 deg,
      deltaT: 3.530331 s,
      deltaX: -2.593307 m,
      approachRate: -0.734579 m/s,
      posRepo size: 4

2025-08-22T05:19:52.713Z,1755839992.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:52.720Z,1755839992.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 185.474823 m,
      bearing: 95.706413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014688 deg/s,
      cmd heading: 92.781973 deg,
      new cmd heading: 92.768702 deg.

2025-08-22T05:19:52.721Z,1755839992.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619119 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:53.142Z,1755839993.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:53.146Z,1755839993.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:53.150Z,1755839993.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 185.170578 m,
      bearing: 95.699253 deg,
      approach rate: -0.691105 m/s,
      LOS rate: -0.016292 deg/s,
      cmd heading: 92.768702 deg,
      new cmd heading: 92.754357 deg.

2025-08-22T05:19:53.152Z,1755839993.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618869 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:53.361Z,1755839993.361 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:53.361Z,1755839993.361 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:53.361Z,1755839993.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:53.612Z,1755839993.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.157980
2025-08-22T05:19:53.630Z,1755839993.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:53.637Z,1755839993.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 184.868576 m,
      bearing: 95.693442 deg,
      approach rate: -0.622566 m/s,
      LOS rate: -0.011999 deg/s,
      cmd heading: 92.754358 deg,
      new cmd heading: 92.742717 deg.

2025-08-22T05:19:53.638Z,1755839993.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618666 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:53.865Z,1755839993.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.410433
2025-08-22T05:19:54.048Z,1755839994.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:54.050Z,1755839994.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 184.567230 m,
      bearing: 95.687613 deg,
      approach rate: -0.722234 m/s,
      LOS rate: -0.013993 deg/s,
      cmd heading: 92.742720 deg,
      new cmd heading: 92.731042 deg.

2025-08-22T05:19:54.052Z,1755839994.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618462 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:54.117Z,1755839994.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.662969
2025-08-22T05:19:54.368Z,1755839994.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.914057
2025-08-22T05:19:54.511Z,1755839994.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:54.514Z,1755839994.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 184.257751 m,
      bearing: 95.681606 deg,
      approach rate: -0.668402 m/s,
      LOS rate: -0.012994 deg/s,
      cmd heading: 92.731040 deg,
      new cmd heading: 92.719007 deg.

2025-08-22T05:19:54.514Z,1755839994.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618252 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:54.621Z,1755839994.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.166752
2025-08-22T05:19:54.872Z,1755839994.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.418214
2025-08-22T05:19:54.936Z,1755839994.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:54.939Z,1755839994.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 183.967926 m,
      bearing: 95.675960 deg,
      approach rate: -0.680770 m/s,
      LOS rate: -0.013284 deg/s,
      cmd heading: 92.719005 deg,
      new cmd heading: 92.707695 deg.

2025-08-22T05:19:54.940Z,1755839994.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618055 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:55.124Z,1755839995.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.670021
2025-08-22T05:19:55.301Z,1755839995.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:55.303Z,1755839995.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:55.306Z,1755839995.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 183.718750 m,
      bearing: 95.671177 deg,
      approach rate: -0.679954 m/s,
      LOS rate: -0.013070 deg/s,
      cmd heading: 92.707694 deg,
      new cmd heading: 92.698115 deg.

2025-08-22T05:19:55.307Z,1755839995.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617887 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:55.376Z,1755839995.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.922250
2025-08-22T05:19:55.628Z,1755839995.628 [DAT](INFO): DAT read: Rx Time:05:19:54.3488

2025-08-22T05:19:55.629Z,1755839995.629 [DAT](INFO): Rx dataTimestamp_ set to:1755839995.628420
2025-08-22T05:19:55.629Z,1755839995.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.175142
2025-08-22T05:19:55.680Z,1755839995.680 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:19:55.754Z,1755839995.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 191.91 m.
2025-08-22T05:19:55.756Z,1755839995.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 191.906494 m,
      nav range: 183.416626 m,
      bearing: 95.665043 deg,
      approach rate: -0.670530 m/s,
      LOS rate: -0.013636 deg/s,
      cmd heading: 92.698118 deg,
      new cmd heading: 92.685830 deg.

2025-08-22T05:19:55.757Z,1755839995.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617673 target range: 191.906494 and range: 193.00 m.
2025-08-22T05:19:55.880Z,1755839995.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.426029
2025-08-22T05:19:56.138Z,1755839996.138 [DAT](INFO): DAT read: 05:19:54.3488 LVL= 26944, 28017, 27474, 30755, AGC= 64, IDX= 406,-0.36, 2.004, 0.306, 2.059, 1.569, PHS= 0.537,-1.218, 0.446, RAW= 147.3,   2.8, CAL= 146.6,   2.8, ROT=   3.4,  -2.8

2025-08-22T05:19:56.139Z,1755839996.139 [DAT](INFO): got valid direction response:
 05:19:54.3488 LVL= 26944, 28017, 27474, 30755, AGC= 64, IDX= 406,-0.36, 2.004, 0.306, 2.059, 1.569, PHS= 0.537,-1.218, 0.446, RAW= 147.3,   2.8, CAL= 146.6,   2.8, ROT=   3.4,  -2.8

2025-08-22T05:19:56.140Z,1755839996.140 [DAT](INFO): DAT read: Bearing 249.3,  16.1 (Local)

2025-08-22T05:19:56.140Z,1755839996.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.3,  16.1 (Local)

2025-08-22T05:19:56.142Z,1755839996.142 [DAT](INFO): DAT read: Range 11 to 50 : 190.5 m  (Round-trip  254.0 ms) speed  0.4 m/s

2025-08-22T05:19:56.142Z,1755839996.142 [DAT](INFO): DAT read: user:7421>

2025-08-22T05:19:56.178Z,1755839996.178 [DAT](INFO): DAT read: Tx time:05:19:55.4407

2025-08-22T05:19:56.178Z,1755839996.178 [DAT](INFO): Ping request sent.
2025-08-22T05:19:56.178Z,1755839996.178 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:56.179Z,1755839996.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:56.180Z,1755839996.180 [DAT](INFO): direction in FSK: [0.997048,0.059236,0.048850]
2025-08-22T05:19:56.181Z,1755839996.181 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:56.181Z,1755839996.181 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:56.216Z,1755839996.216 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:56.217Z,1755839996.217 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:56.268Z,1755839996.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 190.500000 m,
      deltaT: 3.777609 s,
      deltaX: -2.500000 m,
      approachRate: -0.661794 m/s,
      rangeRepo size: 4

2025-08-22T05:19:56.270Z,1755839996.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 189.423187 m,
      bearing: 96.170695 deg,
      lat: 36.779296 deg,
      lon: -121.859653 deg,
      deltaT: 3.777609 s,
      deltaX: -2.483307 m,
      approachRate: -0.657375 m/s,
      posRepo size: 4

2025-08-22T05:19:56.271Z,1755839996.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:56.278Z,1755839996.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 183.089340 m,
      bearing: 95.658375 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013636 deg/s,
      cmd heading: 92.685831 deg,
      new cmd heading: 92.671933 deg.

2025-08-22T05:19:56.278Z,1755839996.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617430 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:56.659Z,1755839996.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:56.666Z,1755839996.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 182.826843 m,
      bearing: 95.653937 deg,
      approach rate: -0.663474 m/s,
      LOS rate: -0.011232 deg/s,
      cmd heading: 92.671932 deg,
      new cmd heading: 92.663044 deg.

2025-08-22T05:19:56.667Z,1755839996.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617275 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:56.684Z,1755839996.684 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:19:56.967Z,1755839996.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:56.970Z,1755839996.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 182.613068 m,
      bearing: 95.650366 deg,
      approach rate: -0.693480 m/s,
      LOS rate: -0.011598 deg/s,
      cmd heading: 92.663045 deg,
      new cmd heading: 92.655895 deg.

2025-08-22T05:19:56.971Z,1755839996.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617150 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:57.372Z,1755839997.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:57.375Z,1755839997.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:57.377Z,1755839997.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 182.345123 m,
      bearing: 95.645853 deg,
      approach rate: -0.657434 m/s,
      LOS rate: -0.011091 deg/s,
      cmd heading: 92.655894 deg,
      new cmd heading: 92.646853 deg.

2025-08-22T05:19:57.378Z,1755839997.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616993 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:57.392Z,1755839997.392 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:19:57.392Z,1755839997.392 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:19:57.392Z,1755839997.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:19:57.644Z,1755839997.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.466102
2025-08-22T05:19:57.805Z,1755839997.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:57.808Z,1755839997.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 182.060379 m,
      bearing: 95.639697 deg,
      approach rate: -0.661086 m/s,
      LOS rate: -0.014313 deg/s,
      cmd heading: 92.646851 deg,
      new cmd heading: 92.634522 deg.

2025-08-22T05:19:57.809Z,1755839997.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616777 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:57.898Z,1755839997.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.719419
2025-08-22T05:19:58.149Z,1755839998.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970768
2025-08-22T05:19:58.219Z,1755839998.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:58.222Z,1755839998.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 181.801758 m,
      bearing: 95.634084 deg,
      approach rate: -0.625538 m/s,
      LOS rate: -0.013597 deg/s,
      cmd heading: 92.634523 deg,
      new cmd heading: 92.623279 deg.

2025-08-22T05:19:58.223Z,1755839998.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616581 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:58.403Z,1755839998.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224810
2025-08-22T05:19:58.648Z,1755839998.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:58.651Z,1755839998.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 181.516861 m,
      bearing: 95.628229 deg,
      approach rate: -0.663234 m/s,
      LOS rate: -0.013652 deg/s,
      cmd heading: 92.623280 deg,
      new cmd heading: 92.611551 deg.

2025-08-22T05:19:58.652Z,1755839998.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474199
2025-08-22T05:19:58.654Z,1755839998.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616377 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:58.904Z,1755839998.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726001
2025-08-22T05:19:59.003Z,1755839999.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:59.006Z,1755839999.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 181.272842 m,
      bearing: 95.623077 deg,
      approach rate: -0.688359 m/s,
      LOS rate: -0.014551 deg/s,
      cmd heading: 92.611553 deg,
      new cmd heading: 92.601236 deg.

2025-08-22T05:19:59.007Z,1755839999.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616197 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:59.157Z,1755839999.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978688
2025-08-22T05:19:59.402Z,1755839999.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:19:59.408Z,1755839999.408 [DAT](INFO): DAT read: Rx Time:05:19:58.0956

2025-08-22T05:19:59.409Z,1755839999.409 [DAT](INFO): Rx dataTimestamp_ set to:1755839999.408573
2025-08-22T05:19:59.409Z,1755839999.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231210
2025-08-22T05:19:59.433Z,1755839999.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:59.440Z,1755839999.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 180.993546 m,
      bearing: 95.617164 deg,
      approach rate: -0.649349 m/s,
      LOS rate: -0.013769 deg/s,
      cmd heading: 92.601239 deg,
      new cmd heading: 92.589395 deg.

2025-08-22T05:19:59.441Z,1755839999.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615990 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:59.661Z,1755839999.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.482381
2025-08-22T05:19:59.879Z,1755839999.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.42 m.
2025-08-22T05:19:59.886Z,1755839999.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 189.423187 m,
      nav range: 180.716492 m,
      bearing: 95.609242 deg,
      approach rate: -0.621577 m/s,
      LOS rate: -0.017802 deg/s,
      cmd heading: 92.589396 deg,
      new cmd heading: 92.573526 deg.

2025-08-22T05:19:59.886Z,1755839999.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615713 target range: 189.423187 and range: 190.50 m.
2025-08-22T05:19:59.918Z,1755839999.918 [DAT](INFO): DAT read: 05:19:58.0956 LVL= 28320, 32753, 31186, 32755, AGC= 68, IDX= 404, 0.04,-2.785, 1.760,-2.745, 3.048, PHS= 0.553,-1.242, 0.447, RAW= 147.0,   2.8, CAL= 146.3,   2.9, ROT=   3.7,  -2.9

2025-08-22T05:19:59.919Z,1755839999.919 [DAT](INFO): got valid direction response:
 05:19:58.0956 LVL= 28320, 32753, 31186, 32755, AGC= 68, IDX= 404, 0.04,-2.785, 1.760,-2.745, 3.048, PHS= 0.553,-1.242, 0.447, RAW= 147.0,   2.8, CAL= 146.3,   2.9, ROT=   3.7,  -2.9

2025-08-22T05:19:59.920Z,1755839999.920 [DAT](INFO): DAT read: Bearing 249.5,  15.2 (Local)

2025-08-22T05:19:59.921Z,1755839999.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.5,  15.2 (Local)

2025-08-22T05:19:59.922Z,1755839999.922 [DAT](INFO): DAT read: Range 11 to 50 : 188.0 m  (Round-trip  250.7 ms) speed  0.5 m/s

2025-08-22T05:19:59.923Z,1755839999.923 [DAT](INFO): DAT read: user:7422>

2025-08-22T05:19:59.924Z,1755839999.924 [DAT](INFO): DAT read: Tx time:05:19:59.1907

2025-08-22T05:19:59.924Z,1755839999.924 [DAT](INFO): Ping request sent.
2025-08-22T05:19:59.924Z,1755839999.924 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:19:59.924Z,1755839999.924 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:19:59.925Z,1755839999.925 [DAT](INFO): direction in FSK: [0.996638,0.064450,0.050593]
2025-08-22T05:19:59.926Z,1755839999.926 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:59.926Z,1755839999.926 [DAT](INFO): publishing direction and range info
2025-08-22T05:19:59.929Z,1755839999.929 [DAT](INFO): publishing transmit ping time
2025-08-22T05:19:59.929Z,1755839999.929 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:00.230Z,1755840000.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 188.000000 m,
      deltaT: 3.780007 s,
      deltaX: -2.500000 m,
      approachRate: -0.661374 m/s,
      rangeRepo size: 4

2025-08-22T05:20:00.232Z,1755840000.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 186.939178 m,
      bearing: 96.713329 deg,
      lat: 36.779284 deg,
      lon: -121.859652 deg,
      deltaT: 3.780007 s,
      deltaX: -2.484009 m,
      approachRate: -0.657144 m/s,
      posRepo size: 4

2025-08-22T05:20:00.233Z,1755840000.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:00.236Z,1755840000.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 180.696777 m,
      bearing: 96.000831 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017802 deg/s,
      cmd heading: 92.573529 deg,
      new cmd heading: 92.561040 deg.

2025-08-22T05:20:00.237Z,1755840000.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615495 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:00.657Z,1755840000.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:00.660Z,1755840000.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 180.410553 m,
      bearing: 95.994108 deg,
      approach rate: -0.669628 m/s,
      LOS rate: -0.015755 deg/s,
      cmd heading: 92.561043 deg,
      new cmd heading: 92.547575 deg.

2025-08-22T05:20:00.661Z,1755840000.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615260 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:01.029Z,1755840001.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:01.032Z,1755840001.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 180.163315 m,
      bearing: 95.988339 deg,
      approach rate: -0.663552 m/s,
      LOS rate: -0.015504 deg/s,
      cmd heading: 92.547574 deg,
      new cmd heading: 92.536021 deg.

2025-08-22T05:20:01.033Z,1755840001.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615058 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:01.431Z,1755840001.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:01.433Z,1755840001.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:01.452Z,1755840001.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 179.896149 m,
      bearing: 95.982151 deg,
      approach rate: -0.661702 m/s,
      LOS rate: -0.015350 deg/s,
      cmd heading: 92.536018 deg,
      new cmd heading: 92.523622 deg.

2025-08-22T05:20:01.453Z,1755840001.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614842 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:01.676Z,1755840001.676 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:01.676Z,1755840001.676 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:01.677Z,1755840001.677 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:01.827Z,1755840001.827 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS9072109,35.0, +11.0,   0.0,1493.5,  0
2025-08-22T05:20:01.843Z,1755840001.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:01.846Z,1755840001.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 179.623123 m,
      bearing: 95.975790 deg,
      approach rate: -0.666433 m/s,
      LOS rate: -0.015550 deg/s,
      cmd heading: 92.523621 deg,
      new cmd heading: 92.510880 deg.

2025-08-22T05:20:01.847Z,1755840001.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614619 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:01.929Z,1755840001.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004998
2025-08-22T05:20:02.181Z,1755840002.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256827
2025-08-22T05:20:02.254Z,1755840002.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:02.260Z,1755840002.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 179.356613 m,
      bearing: 95.969610 deg,
      approach rate: -0.648304 m/s,
      LOS rate: -0.015055 deg/s,
      cmd heading: 92.510882 deg,
      new cmd heading: 92.498504 deg.

2025-08-22T05:20:02.261Z,1755840002.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614403 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:02.432Z,1755840002.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508169
2025-08-22T05:20:02.684Z,1755840002.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760088
2025-08-22T05:20:02.697Z,1755840002.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:02.704Z,1755840002.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 179.073837 m,
      bearing: 95.961933 deg,
      approach rate: -0.637662 m/s,
      LOS rate: -0.017339 deg/s,
      cmd heading: 92.498506 deg,
      new cmd heading: 92.483128 deg.

2025-08-22T05:20:02.705Z,1755840002.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614135 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:02.937Z,1755840002.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012470
2025-08-22T05:20:03.079Z,1755840003.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:03.083Z,1755840003.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 178.815460 m,
      bearing: 95.955003 deg,
      approach rate: -0.677757 m/s,
      LOS rate: -0.018204 deg/s,
      cmd heading: 92.483131 deg,
      new cmd heading: 92.469252 deg.

2025-08-22T05:20:03.104Z,1755840003.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613893 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:03.189Z,1755840003.189 [DAT](INFO): DAT read: Rx Time:05:20:01.8422

2025-08-22T05:20:03.189Z,1755840003.189 [DAT](INFO): Rx dataTimestamp_ set to:1755840003.188951
2025-08-22T05:20:03.190Z,1755840003.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265704
2025-08-22T05:20:03.441Z,1755840003.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516843
2025-08-22T05:20:03.490Z,1755840003.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:03.493Z,1755840003.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 186.94 m.
2025-08-22T05:20:03.496Z,1755840003.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 186.939178 m,
      nav range: 178.539322 m,
      bearing: 95.947588 deg,
      approach rate: -0.666779 m/s,
      LOS rate: -0.017932 deg/s,
      cmd heading: 92.469252 deg,
      new cmd heading: 92.454400 deg.

2025-08-22T05:20:03.497Z,1755840003.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613634 target range: 186.939178 and range: 188.00 m.
2025-08-22T05:20:03.704Z,1755840003.704 [DAT](INFO): DAT read: 05:20:01.8422 LVL= 27248, 30177, 26610, 32755, AGC= 67, IDX= 402, 0.05, 1.609,-0.121, 1.670, 1.217, PHS= 0.493,-1.293, 0.408, RAW= 147.6,   4.5, CAL= 146.9,   4.8, ROT=   3.1,  -4.8

2025-08-22T05:20:03.705Z,1755840003.705 [DAT](INFO): got valid direction response:
 05:20:01.8422 LVL= 27248, 30177, 26610, 32755, AGC= 67, IDX= 402, 0.05, 1.609,-0.121, 1.670, 1.217, PHS= 0.493,-1.293, 0.408, RAW= 147.6,   4.5, CAL= 146.9,   4.8, ROT=   3.1,  -4.8

2025-08-22T05:20:03.706Z,1755840003.706 [DAT](INFO): DAT read: Bearing 251.5,  13.4 (Local)

2025-08-22T05:20:03.707Z,1755840003.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.5,  13.4 (Local)

2025-08-22T05:20:03.709Z,1755840003.709 [DAT](INFO): DAT read: Range 11 to 50 : 185.5 m  (Round-trip  247.4 ms) speed  0.6 m/s

2025-08-22T05:20:03.709Z,1755840003.709 [DAT](INFO): DAT read: user:7423>

2025-08-22T05:20:03.710Z,1755840003.710 [DAT](INFO): DAT read: Tx time:05:20:02.9407

2025-08-22T05:20:03.710Z,1755840003.710 [DAT](INFO): Ping request sent.
2025-08-22T05:20:03.710Z,1755840003.710 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:03.711Z,1755840003.711 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:03.712Z,1755840003.712 [DAT](INFO): direction in FSK: [0.995035,0.053889,0.083678]
2025-08-22T05:20:03.713Z,1755840003.713 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:03.713Z,1755840003.713 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:03.716Z,1755840003.716 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:03.717Z,1755840003.717 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:03.929Z,1755840003.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 185.500000 m,
      deltaT: 3.779980 s,
      deltaX: -2.500000 m,
      approachRate: -0.661379 m/s,
      rangeRepo size: 4

2025-08-22T05:20:03.931Z,1755840003.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 184.453400 m,
      bearing: 95.672909 deg,
      lat: 36.779292 deg,
      lon: -121.859652 deg,
      deltaT: 3.779980 s,
      deltaX: -2.485779 m,
      approachRate: -0.657617 m/s,
      posRepo size: 4

2025-08-22T05:20:03.932Z,1755840003.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:03.934Z,1755840003.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 178.176239 m,
      bearing: 95.686129 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017932 deg/s,
      cmd heading: 92.454397 deg,
      new cmd heading: 92.438817 deg.

2025-08-22T05:20:03.936Z,1755840003.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613362 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:04.390Z,1755840004.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:04.393Z,1755840004.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 177.869446 m,
      bearing: 95.677065 deg,
      approach rate: -0.662861 m/s,
      LOS rate: -0.019617 deg/s,
      cmd heading: 92.438817 deg,
      new cmd heading: 92.420659 deg.

2025-08-22T05:20:04.394Z,1755840004.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613045 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:04.859Z,1755840004.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:04.862Z,1755840004.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 177.560379 m,
      bearing: 95.669044 deg,
      approach rate: -0.659404 m/s,
      LOS rate: -0.017143 deg/s,
      cmd heading: 92.420656 deg,
      new cmd heading: 92.404586 deg.

2025-08-22T05:20:04.863Z,1755840004.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612764 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:05.230Z,1755840005.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:05.233Z,1755840005.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 177.315460 m,
      bearing: 95.662712 deg,
      approach rate: -0.659634 m/s,
      LOS rate: -0.017077 deg/s,
      cmd heading: 92.404584 deg,
      new cmd heading: 92.391903 deg.

2025-08-22T05:20:05.234Z,1755840005.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612543 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:05.692Z,1755840005.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:05.694Z,1755840005.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:05.713Z,1755840005.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 177.009415 m,
      bearing: 95.654775 deg,
      approach rate: -0.659456 m/s,
      LOS rate: -0.017132 deg/s,
      cmd heading: 92.391901 deg,
      new cmd heading: 92.375999 deg.

2025-08-22T05:20:05.714Z,1755840005.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612265 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:05.716Z,1755840005.716 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:05.716Z,1755840005.716 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:05.716Z,1755840005.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:05.968Z,1755840005.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258077
2025-08-22T05:20:06.098Z,1755840006.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:06.106Z,1755840006.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 176.740646 m,
      bearing: 95.648888 deg,
      approach rate: -0.665777 m/s,
      LOS rate: -0.014605 deg/s,
      cmd heading: 92.376000 deg,
      new cmd heading: 92.364208 deg.

2025-08-22T05:20:06.107Z,1755840006.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612060 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:06.220Z,1755840006.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510010
2025-08-22T05:20:06.472Z,1755840006.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761932
2025-08-22T05:20:06.476Z,1755840006.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:06.478Z,1755840006.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 176.499725 m,
      bearing: 95.643612 deg,
      approach rate: -0.644921 m/s,
      LOS rate: -0.014142 deg/s,
      cmd heading: 92.364211 deg,
      new cmd heading: 92.353645 deg.

2025-08-22T05:20:06.487Z,1755840006.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611875 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:06.724Z,1755840006.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014138
2025-08-22T05:20:06.897Z,1755840006.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:06.904Z,1755840006.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 176.214111 m,
      bearing: 95.636640 deg,
      approach rate: -0.670972 m/s,
      LOS rate: -0.016407 deg/s,
      cmd heading: 92.353645 deg,
      new cmd heading: 92.339677 deg.

2025-08-22T05:20:06.907Z,1755840006.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611631 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:06.976Z,1755840006.976 [DAT](INFO): DAT read: Rx Time:05:20:05.5888

2025-08-22T05:20:06.977Z,1755840006.977 [DAT](INFO): Rx dataTimestamp_ set to:1755840006.976527
2025-08-22T05:20:06.977Z,1755840006.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266986
2025-08-22T05:20:07.229Z,1755840007.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518239
2025-08-22T05:20:07.417Z,1755840007.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 184.45 m.
2025-08-22T05:20:07.420Z,1755840007.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 184.453400 m,
      nav range: 175.873993 m,
      bearing: 95.628393 deg,
      approach rate: -0.654489 m/s,
      LOS rate: -0.015899 deg/s,
      cmd heading: 92.339677 deg,
      new cmd heading: 92.323152 deg.

2025-08-22T05:20:07.421Z,1755840007.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611343 target range: 184.453400 and range: 185.50 m.
2025-08-22T05:20:07.487Z,1755840007.487 [DAT](INFO): DAT read: 05:20:05.5888 LVL= 32608, 32753, 30290, 32755, AGC= 64, IDX= 400, 0.06, 2.891, 1.122, 2.922, 2.490, PHS= 0.503,-1.323, 0.388, RAW= 146.8,   4.9, CAL= 146.2,   5.3, ROT=   3.8,  -5.3

2025-08-22T05:20:07.488Z,1755840007.488 [DAT](INFO): got valid direction response:
 05:20:05.5888 LVL= 32608, 32753, 30290, 32755, AGC= 64, IDX= 400, 0.06, 2.891, 1.122, 2.922, 2.490, PHS= 0.503,-1.323, 0.388, RAW= 146.8,   4.9, CAL= 146.2,   5.3, ROT=   3.8,  -5.3

2025-08-22T05:20:07.489Z,1755840007.489 [DAT](INFO): DAT read: Bearing 251.9,  12.7 (Local)

2025-08-22T05:20:07.489Z,1755840007.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.9,  12.7 (Local)

2025-08-22T05:20:07.491Z,1755840007.491 [DAT](INFO): DAT read: Range 11 to 50 : 183.0 m  (Round-trip  244.1 ms) speed  0.6 m/s

2025-08-22T05:20:07.491Z,1755840007.491 [DAT](INFO): DAT read: user:7424>

2025-08-22T05:20:07.492Z,1755840007.492 [DAT](INFO): DAT read: Tx time:05:20:06.6906

2025-08-22T05:20:07.492Z,1755840007.492 [DAT](INFO): Ping request sent.
2025-08-22T05:20:07.493Z,1755840007.493 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:07.493Z,1755840007.493 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:07.494Z,1755840007.494 [DAT](INFO): direction in FSK: [0.993536,0.065991,0.092371]
2025-08-22T05:20:07.494Z,1755840007.494 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:07.494Z,1755840007.494 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:07.498Z,1755840007.498 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:07.498Z,1755840007.498 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:07.824Z,1755840007.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 183.000000 m,
      deltaT: 3.788600 s,
      deltaX: -2.500000 m,
      approachRate: -0.659874 m/s,
      rangeRepo size: 4

2025-08-22T05:20:07.826Z,1755840007.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.969009 m,
      bearing: 96.106429 deg,
      lat: 36.779281 deg,
      lon: -121.859647 deg,
      deltaT: 3.788600 s,
      deltaX: -2.484390 m,
      approachRate: -0.655754 m/s,
      posRepo size: 4

2025-08-22T05:20:07.828Z,1755840007.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:07.830Z,1755840007.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 176.152679 m,
      bearing: 95.970696 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.015899 deg/s,
      cmd heading: 92.323155 deg,
      new cmd heading: 92.310369 deg.

2025-08-22T05:20:07.831Z,1755840007.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611120 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:08.185Z,1755840008.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:08.187Z,1755840008.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:08.190Z,1755840008.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 175.898285 m,
      bearing: 95.965102 deg,
      approach rate: -0.690610 m/s,
      LOS rate: -0.015209 deg/s,
      cmd heading: 92.310369 deg,
      new cmd heading: 92.299164 deg.

2025-08-22T05:20:08.191Z,1755840008.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610924 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:08.236Z,1755840008.236 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:08.236Z,1755840008.236 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:08.237Z,1755840008.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:08.489Z,1755840008.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996524
2025-08-22T05:20:08.592Z,1755840008.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:08.594Z,1755840008.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 175.627426 m,
      bearing: 95.959155 deg,
      approach rate: -0.669437 m/s,
      LOS rate: -0.014720 deg/s,
      cmd heading: 92.299167 deg,
      new cmd heading: 92.287255 deg.

2025-08-22T05:20:08.596Z,1755840008.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610716 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:08.740Z,1755840008.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247696
2025-08-22T05:20:08.992Z,1755840008.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499686
2025-08-22T05:20:09.000Z,1755840009.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:09.019Z,1755840009.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 175.346054 m,
      bearing: 95.954180 deg,
      approach rate: -0.688569 m/s,
      LOS rate: -0.012196 deg/s,
      cmd heading: 92.287255 deg,
      new cmd heading: 92.277288 deg.

2025-08-22T05:20:09.020Z,1755840009.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610543 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:09.245Z,1755840009.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752168
2025-08-22T05:20:09.397Z,1755840009.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:09.399Z,1755840009.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 175.071075 m,
      bearing: 95.949302 deg,
      approach rate: -0.693910 m/s,
      LOS rate: -0.012329 deg/s,
      cmd heading: 92.277290 deg,
      new cmd heading: 92.267519 deg.

2025-08-22T05:20:09.400Z,1755840009.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610372 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:09.496Z,1755840009.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003635
2025-08-22T05:20:09.748Z,1755840009.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255523
2025-08-22T05:20:09.829Z,1755840009.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:09.832Z,1755840009.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 174.779999 m,
      bearing: 95.944311 deg,
      approach rate: -0.673414 m/s,
      LOS rate: -0.011564 deg/s,
      cmd heading: 92.267516 deg,
      new cmd heading: 92.257519 deg.

2025-08-22T05:20:09.833Z,1755840009.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610197 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:10.000Z,1755840010.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507586
2025-08-22T05:20:10.202Z,1755840010.202 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:10.205Z,1755840010.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:10.208Z,1755840010.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 174.527695 m,
      bearing: 95.939955 deg,
      approach rate: -0.670909 m/s,
      LOS rate: -0.011600 deg/s,
      cmd heading: 92.257517 deg,
      new cmd heading: 92.248792 deg.

2025-08-22T05:20:10.209Z,1755840010.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610045 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:10.253Z,1755840010.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760563
2025-08-22T05:20:10.505Z,1755840010.505 [DAT](INFO): DAT read: Rx Time:05:20:09.3355

2025-08-22T05:20:10.507Z,1755840010.507 [DAT](INFO): Rx dataTimestamp_ set to:1755840010.505681
2025-08-22T05:20:10.510Z,1755840010.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017094
2025-08-22T05:20:10.646Z,1755840010.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:10.650Z,1755840010.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 174.235077 m,
      bearing: 95.934894 deg,
      approach rate: -0.663448 m/s,
      LOS rate: -0.011495 deg/s,
      cmd heading: 92.248794 deg,
      new cmd heading: 92.238655 deg.

2025-08-22T05:20:10.651Z,1755840010.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609868 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:10.757Z,1755840010.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264478
2025-08-22T05:20:11.008Z,1755840011.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515794
2025-08-22T05:20:11.049Z,1755840011.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.97 m.
2025-08-22T05:20:11.074Z,1755840011.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.969009 m,
      nav range: 173.980698 m,
      bearing: 95.929916 deg,
      approach rate: -0.681529 m/s,
      LOS rate: -0.013357 deg/s,
      cmd heading: 92.238652 deg,
      new cmd heading: 92.228681 deg.

2025-08-22T05:20:11.083Z,1755840011.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609694 target range: 181.969009 and range: 183.00 m.
2025-08-22T05:20:11.266Z,1755840011.266 [DAT](INFO): DAT read: 05:20:09.3355 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.27, 0.798,-0.958, 0.854, 0.408, PHS= 0.493,-1.320, 0.403, RAW= 147.5,   4.9, CAL= 146.9,   5.2, ROT=   3.1,  -5.2

2025-08-22T05:20:11.267Z,1755840011.267 [DAT](INFO): got valid direction response:
 05:20:09.3355 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.27, 0.798,-0.958, 0.854, 0.408, PHS= 0.493,-1.320, 0.403, RAW= 147.5,   4.9, CAL= 146.9,   5.2, ROT=   3.1,  -5.2

2025-08-22T05:20:11.268Z,1755840011.268 [DAT](INFO): DAT read: Bearing 251.6,  10.0 (Local)

2025-08-22T05:20:11.269Z,1755840011.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.6,  10.0 (Local)

2025-08-22T05:20:11.270Z,1755840011.270 [DAT](INFO): DAT read: Range 11 to 50 : 180.6 m  (Round-trip  240.8 ms) speed  0.5 m/s

2025-08-22T05:20:11.271Z,1755840011.271 [DAT](INFO): DAT read: user:7425>

2025-08-22T05:20:11.272Z,1755840011.272 [DAT](INFO): DAT read: Tx time:05:20:10.4406

2025-08-22T05:20:11.272Z,1755840011.272 [DAT](INFO): Ping request sent.
2025-08-22T05:20:11.272Z,1755840011.272 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:11.273Z,1755840011.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:11.273Z,1755840011.273 [DAT](INFO): direction in FSK: [0.994427,0.053856,0.090633]
2025-08-22T05:20:11.274Z,1755840011.274 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:11.274Z,1755840011.274 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:11.277Z,1755840011.277 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:11.277Z,1755840011.277 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:11.448Z,1755840011.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 180.600006 m,
      deltaT: 3.779668 s,
      deltaX: -2.399994 m,
      approachRate: -0.634975 m/s,
      rangeRepo size: 4

2025-08-22T05:20:11.450Z,1755840011.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 179.585159 m,
      bearing: 95.247619 deg,
      lat: 36.779281 deg,
      lon: -121.859644 deg,
      deltaT: 3.779668 s,
      deltaX: -2.383850 m,
      approachRate: -0.630704 m/s,
      posRepo size: 4

2025-08-22T05:20:11.455Z,1755840011.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:11.458Z,1755840011.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 173.965240 m,
      bearing: 95.915808 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013357 deg/s,
      cmd heading: 92.228680 deg,
      new cmd heading: 92.217351 deg.

2025-08-22T05:20:11.459Z,1755840011.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609496 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:11.908Z,1755840011.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:11.910Z,1755840011.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 173.658981 m,
      bearing: 95.909373 deg,
      approach rate: -0.671583 m/s,
      LOS rate: -0.014135 deg/s,
      cmd heading: 92.217348 deg,
      new cmd heading: 92.204457 deg.

2025-08-22T05:20:11.912Z,1755840011.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609271 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:12.270Z,1755840012.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:12.273Z,1755840012.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:12.276Z,1755840012.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 173.406036 m,
      bearing: 95.904026 deg,
      approach rate: -0.677495 m/s,
      LOS rate: -0.014343 deg/s,
      cmd heading: 92.204460 deg,
      new cmd heading: 92.193750 deg.

2025-08-22T05:20:12.277Z,1755840012.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609084 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:12.520Z,1755840012.520 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:12.521Z,1755840012.521 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:12.521Z,1755840012.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:12.652Z,1755840012.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:12.654Z,1755840012.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 173.142380 m,
      bearing: 95.898388 deg,
      approach rate: -0.696083 m/s,
      LOS rate: -0.014909 deg/s,
      cmd heading: 92.193750 deg,
      new cmd heading: 92.182455 deg.

2025-08-22T05:20:12.656Z,1755840012.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608887 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:12.773Z,1755840012.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500877
2025-08-22T05:20:13.025Z,1755840013.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752405
2025-08-22T05:20:13.094Z,1755840013.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:13.097Z,1755840013.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 172.848999 m,
      bearing: 95.892203 deg,
      approach rate: -0.662658 m/s,
      LOS rate: -0.013992 deg/s,
      cmd heading: 92.182453 deg,
      new cmd heading: 92.170063 deg.

2025-08-22T05:20:13.098Z,1755840013.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608671 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:13.276Z,1755840013.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003864
2025-08-22T05:20:13.458Z,1755840013.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:13.460Z,1755840013.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 172.607910 m,
      bearing: 95.887166 deg,
      approach rate: -0.663539 m/s,
      LOS rate: -0.013883 deg/s,
      cmd heading: 92.170063 deg,
      new cmd heading: 92.159974 deg.

2025-08-22T05:20:13.461Z,1755840013.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608495 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:13.529Z,1755840013.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256707
2025-08-22T05:20:13.783Z,1755840013.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510290
2025-08-22T05:20:13.896Z,1755840013.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:13.899Z,1755840013.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 172.316071 m,
      bearing: 95.881628 deg,
      approach rate: -0.665724 m/s,
      LOS rate: -0.012654 deg/s,
      cmd heading: 92.159975 deg,
      new cmd heading: 92.148880 deg.

2025-08-22T05:20:13.904Z,1755840013.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608301 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:14.033Z,1755840014.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760907
2025-08-22T05:20:14.268Z,1755840014.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:14.271Z,1755840014.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 172.062805 m,
      bearing: 95.876795 deg,
      approach rate: -0.679832 m/s,
      LOS rate: -0.012992 deg/s,
      cmd heading: 92.148882 deg,
      new cmd heading: 92.139203 deg.

2025-08-22T05:20:14.272Z,1755840014.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608132 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:14.285Z,1755840014.285 [DAT](INFO): DAT read: Rx Time:05:20:13.0821

2025-08-22T05:20:14.285Z,1755840014.285 [DAT](INFO): Rx dataTimestamp_ set to:1755840014.284915
2025-08-22T05:20:14.286Z,1755840014.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013443
2025-08-22T05:20:14.537Z,1755840014.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264616
2025-08-22T05:20:14.662Z,1755840014.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:14.664Z,1755840014.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.59 m.
2025-08-22T05:20:14.667Z,1755840014.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 179.585159 m,
      nav range: 171.797104 m,
      bearing: 95.871719 deg,
      approach rate: -0.671244 m/s,
      LOS rate: -0.012843 deg/s,
      cmd heading: 92.139204 deg,
      new cmd heading: 92.129036 deg.

2025-08-22T05:20:14.668Z,1755840014.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607955 target range: 179.585159 and range: 180.60 m.
2025-08-22T05:20:14.792Z,1755840014.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519427
2025-08-22T05:20:15.050Z,1755840015.050 [DAT](INFO): DAT read: 05:20:13.0821 LVL= 28144, 32753, 28626, 32755, AGC= 68, IDX= 411, 0.25, 1.088,-0.699, 1.137, 0.715, PHS= 0.475,-1.368, 0.379, RAW= 147.3,   5.8, CAL= 146.8,   6.2, ROT=   3.2,  -6.2

2025-08-22T05:20:15.054Z,1755840015.054 [DAT](INFO): got valid direction response:
 05:20:13.0821 LVL= 28144, 32753, 28626, 32755, AGC= 68, IDX= 411, 0.25, 1.088,-0.699, 1.137, 0.715, PHS= 0.475,-1.368, 0.379, RAW= 147.3,   5.8, CAL= 146.8,   6.2, ROT=   3.2,  -6.2

2025-08-22T05:20:15.057Z,1755840015.057 [DAT](INFO): DAT read: Bearing 252.8,   8.4 (Local)

2025-08-22T05:20:15.057Z,1755840015.057 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.8,   8.4 (Local)

2025-08-22T05:20:15.060Z,1755840015.060 [DAT](INFO): DAT read: Range 11 to 50 : 178.0 m  (Round-trip  237.4 ms) speed  0.6 m/s

2025-08-22T05:20:15.060Z,1755840015.060 [DAT](INFO): DAT read: user:7426>

2025-08-22T05:20:15.061Z,1755840015.061 [DAT](INFO): DAT read: Tx time:05:20:14.1906

2025-08-22T05:20:15.061Z,1755840015.061 [DAT](INFO): Ping request sent.
2025-08-22T05:20:15.061Z,1755840015.061 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:15.062Z,1755840015.062 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:15.063Z,1755840015.063 [DAT](INFO): direction in FSK: [0.992601,0.055495,0.107999]
2025-08-22T05:20:15.063Z,1755840015.063 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:15.063Z,1755840015.063 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:15.066Z,1755840015.066 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:15.067Z,1755840015.067 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:15.227Z,1755840015.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.000000 m,
      deltaT: 3.780649 s,
      deltaX: -2.600006 m,
      approachRate: -0.687714 m/s,
      rangeRepo size: 4

2025-08-22T05:20:15.230Z,1755840015.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.996506 m,
      bearing: 95.359399 deg,
      lat: 36.779292 deg,
      lon: -121.859637 deg,
      deltaT: 3.780649 s,
      deltaX: -2.588654 m,
      approachRate: -0.684711 m/s,
      posRepo size: 4

2025-08-22T05:20:15.230Z,1755840015.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:15.237Z,1755840015.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 171.905716 m,
      bearing: 95.471445 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012843 deg/s,
      cmd heading: 92.129034 deg,
      new cmd heading: 92.114902 deg.

2025-08-22T05:20:15.238Z,1755840015.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607708 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:15.584Z,1755840015.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:15.587Z,1755840015.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 171.659393 m,
      bearing: 95.464090 deg,
      approach rate: -0.666302 m/s,
      LOS rate: -0.019925 deg/s,
      cmd heading: 92.114902 deg,
      new cmd heading: 92.100170 deg.

2025-08-22T05:20:15.588Z,1755840015.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607451 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:16.009Z,1755840016.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:16.012Z,1755840016.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 171.381516 m,
      bearing: 95.454819 deg,
      approach rate: -0.654713 m/s,
      LOS rate: -0.021880 deg/s,
      cmd heading: 92.100170 deg,
      new cmd heading: 92.081597 deg.

2025-08-22T05:20:16.013Z,1755840016.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607127 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:16.384Z,1755840016.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:16.387Z,1755840016.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 171.135574 m,
      bearing: 95.446560 deg,
      approach rate: -0.655221 m/s,
      LOS rate: -0.022034 deg/s,
      cmd heading: 92.081598 deg,
      new cmd heading: 92.065057 deg.

2025-08-22T05:20:16.388Z,1755840016.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606838 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:16.859Z,1755840016.859 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:16.861Z,1755840016.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:16.865Z,1755840016.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 170.823364 m,
      bearing: 95.436042 deg,
      approach rate: -0.654557 m/s,
      LOS rate: -0.022092 deg/s,
      cmd heading: 92.065056 deg,
      new cmd heading: 92.043981 deg.

2025-08-22T05:20:16.865Z,1755840016.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606470 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:17.056Z,1755840017.056 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:17.056Z,1755840017.056 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:17.057Z,1755840017.057 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:17.199Z,1755840017.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:17.202Z,1755840017.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 170.601608 m,
      bearing: 95.428543 deg,
      approach rate: -0.655976 m/s,
      LOS rate: -0.022211 deg/s,
      cmd heading: 92.043978 deg,
      new cmd heading: 92.028961 deg.

2025-08-22T05:20:17.203Z,1755840017.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606208 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:17.308Z,1755840017.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246791
2025-08-22T05:20:17.560Z,1755840017.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498963
2025-08-22T05:20:17.594Z,1755840017.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:17.597Z,1755840017.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 170.343048 m,
      bearing: 95.419717 deg,
      approach rate: -0.654218 m/s,
      LOS rate: -0.022366 deg/s,
      cmd heading: 92.028958 deg,
      new cmd heading: 92.011279 deg.

2025-08-22T05:20:17.598Z,1755840017.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605900 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:17.815Z,1755840017.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752781
2025-08-22T05:20:18.064Z,1755840018.064 [DAT](INFO): DAT read: Rx Time:05:20:16.8288

2025-08-22T05:20:18.065Z,1755840018.065 [DAT](INFO): Rx dataTimestamp_ set to:1755840018.064523
2025-08-22T05:20:18.065Z,1755840018.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003889
2025-08-22T05:20:18.067Z,1755840018.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:18.070Z,1755840018.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 170.034561 m,
      bearing: 95.409114 deg,
      approach rate: -0.652558 m/s,
      LOS rate: -0.022470 deg/s,
      cmd heading: 92.011281 deg,
      new cmd heading: 91.990037 deg.

2025-08-22T05:20:18.071Z,1755840018.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605529 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:18.316Z,1755840018.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255006
2025-08-22T05:20:18.403Z,1755840018.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:18.421Z,1755840018.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 169.812820 m,
      bearing: 95.401513 deg,
      approach rate: -0.660560 m/s,
      LOS rate: -0.022674 deg/s,
      cmd heading: 91.990040 deg,
      new cmd heading: 91.974817 deg.

2025-08-22T05:20:18.422Z,1755840018.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605263 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:18.572Z,1755840018.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509870
2025-08-22T05:20:18.872Z,1755840018.872 [DAT](INFO): DAT read: 05:20:16.8288 LVL= 32416, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.04,-2.627, 1.875,-2.581,-2.988, PHS= 0.463,-1.375, 0.364, RAW= 147.2,   6.2, CAL= 146.7,   6.6, ROT=   3.3,  -6.6

2025-08-22T05:20:18.873Z,1755840018.873 [DAT](INFO): got valid direction response:
 05:20:16.8288 LVL= 32416, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.04,-2.627, 1.875,-2.581,-2.988, PHS= 0.463,-1.375, 0.364, RAW= 147.2,   6.2, CAL= 146.7,   6.6, ROT=   3.3,  -6.6

2025-08-22T05:20:18.874Z,1755840018.874 [DAT](INFO): DAT read: Bearing 253.4,   7.2 (Local)

2025-08-22T05:20:18.874Z,1755840018.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.4,   7.2 (Local)

2025-08-22T05:20:18.876Z,1755840018.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:18.878Z,1755840018.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-22T05:20:18.884Z,1755840018.884 [DAT](INFO): DAT read: Range 11 to 50 : 175.5 m  (Round-trip  234.0 ms) speed  0.8 m/s

2025-08-22T05:20:18.884Z,1755840018.884 [DAT](INFO): DAT read: user:7427>

2025-08-22T05:20:18.885Z,1755840018.885 [DAT](INFO): DAT read: Tx time:05:20:17.9421

2025-08-22T05:20:18.885Z,1755840018.885 [DAT](INFO): Ping request sent.
2025-08-22T05:20:18.886Z,1755840018.886 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:18.886Z,1755840018.886 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:18.887Z,1755840018.887 [DAT](INFO): direction in FSK: [0.991726,0.057183,0.114937]
2025-08-22T05:20:18.893Z,1755840018.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.996506 m,
      nav range: 169.534943 m,
      bearing: 95.392003 deg,
      approach rate: -0.584978 m/s,
      LOS rate: -0.020053 deg/s,
      cmd heading: 91.974815 deg,
      new cmd heading: 91.955764 deg.

2025-08-22T05:20:18.894Z,1755840018.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604931 target range: 176.996506 and range: 178.00 m.
2025-08-22T05:20:18.899Z,1755840018.899 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:18.900Z,1755840018.900 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:18.903Z,1755840018.903 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:18.903Z,1755840018.903 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:19.287Z,1755840019.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.500000 m,
      deltaT: 3.780676 s,
      deltaX: -2.500000 m,
      approachRate: -0.661257 m/s,
      rangeRepo size: 4

2025-08-22T05:20:19.293Z,1755840019.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.506287 m,
      bearing: 95.492886 deg,
      lat: 36.779292 deg,
      lon: -121.859616 deg,
      deltaT: 3.780676 s,
      deltaX: -2.490219 m,
      approachRate: -0.658670 m/s,
      posRepo size: 4

2025-08-22T05:20:19.294Z,1755840019.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:19.300Z,1755840019.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 171.104309 m,
      bearing: 95.322469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020053 deg/s,
      cmd heading: 91.955766 deg,
      new cmd heading: 91.939393 deg.

2025-08-22T05:20:19.301Z,1755840019.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604645 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:19.655Z,1755840019.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:19.658Z,1755840019.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 170.840866 m,
      bearing: 95.312678 deg,
      approach rate: -0.713532 m/s,
      LOS rate: -0.026561 deg/s,
      cmd heading: 91.939394 deg,
      new cmd heading: 91.919780 deg.

2025-08-22T05:20:19.659Z,1755840019.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604303 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:20.101Z,1755840020.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:20.104Z,1755840020.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 170.538712 m,
      bearing: 95.302870 deg,
      approach rate: -0.677458 m/s,
      LOS rate: -0.022028 deg/s,
      cmd heading: 91.919777 deg,
      new cmd heading: 91.900128 deg.

2025-08-22T05:20:20.105Z,1755840020.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603960 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:20.471Z,1755840020.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:20.473Z,1755840020.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 170.297943 m,
      bearing: 95.295021 deg,
      approach rate: -0.651678 m/s,
      LOS rate: -0.021276 deg/s,
      cmd heading: 91.900127 deg,
      new cmd heading: 91.884406 deg.

2025-08-22T05:20:20.474Z,1755840020.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603685 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:20.935Z,1755840020.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:20.953Z,1755840020.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:20.960Z,1755840020.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 169.976715 m,
      bearing: 95.284323 deg,
      approach rate: -0.665723 m/s,
      LOS rate: -0.022212 deg/s,
      cmd heading: 91.884404 deg,
      new cmd heading: 91.862968 deg.

2025-08-22T05:20:20.961Z,1755840020.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603311 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:21.088Z,1755840021.088 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:21.088Z,1755840021.088 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:21.088Z,1755840021.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:21.279Z,1755840021.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:21.282Z,1755840021.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 169.748093 m,
      bearing: 95.276685 deg,
      approach rate: -0.701797 m/s,
      LOS rate: -0.023479 deg/s,
      cmd heading: 91.862971 deg,
      new cmd heading: 91.847673 deg.

2025-08-22T05:20:21.283Z,1755840021.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603044 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:21.341Z,1755840021.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.455816
2025-08-22T05:20:21.592Z,1755840021.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.706615
2025-08-22T05:20:21.673Z,1755840021.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:21.676Z,1755840021.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 169.485275 m,
      bearing: 95.267984 deg,
      approach rate: -0.667547 m/s,
      LOS rate: -0.022134 deg/s,
      cmd heading: 91.847671 deg,
      new cmd heading: 91.830242 deg.

2025-08-22T05:20:21.677Z,1755840021.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602740 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:21.846Z,1755840021.846 [DAT](INFO): DAT read: Rx Time:05:20:20.5770

2025-08-22T05:20:21.846Z,1755840021.846 [DAT](INFO): Rx dataTimestamp_ set to:1755840021.845794
2025-08-22T05:20:21.847Z,1755840021.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.961003
2025-08-22T05:20:22.096Z,1755840022.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.210642
2025-08-22T05:20:22.114Z,1755840022.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.51 m.
2025-08-22T05:20:22.116Z,1755840022.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.506287 m,
      nav range: 169.191208 m,
      bearing: 95.258150 deg,
      approach rate: -0.666836 m/s,
      LOS rate: -0.022340 deg/s,
      cmd heading: 91.830240 deg,
      new cmd heading: 91.810537 deg.

2025-08-22T05:20:22.121Z,1755840022.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602396 target range: 174.506287 and range: 175.50 m.
2025-08-22T05:20:22.360Z,1755840022.360 [DAT](INFO): DAT read: 05:20:20.5770 LVL= 28336, 32753, 29666, 32755, AGC= 66, IDX= 407,-0.20, 0.983,-0.756, 1.037, 0.691, PHS= 0.394,-1.402, 0.302, RAW= 147.4,   8.1, CAL= 146.9,   8.8, ROT=   3.1,  -8.8

2025-08-22T05:20:22.361Z,1755840022.361 [DAT](INFO): got valid direction response:
 05:20:20.5770 LVL= 28336, 32753, 29666, 32755, AGC= 66, IDX= 407,-0.20, 0.983,-0.756, 1.037, 0.691, PHS= 0.394,-1.402, 0.302, RAW= 147.4,   8.1, CAL= 146.9,   8.8, ROT=   3.1,  -8.8

2025-08-22T05:20:22.362Z,1755840022.362 [DAT](INFO): DAT read: Bearing 255.3,   6.0 (Local)

2025-08-22T05:20:22.363Z,1755840022.363 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,   6.0 (Local)

2025-08-22T05:20:22.364Z,1755840022.364 [DAT](INFO): DAT read: Range 11 to 50 : 173.0 m  (Round-trip  230.7 ms) speed  0.8 m/s

2025-08-22T05:20:22.365Z,1755840022.365 [DAT](INFO): DAT read: user:7428>

2025-08-22T05:20:22.366Z,1755840022.366 [DAT](INFO): DAT read: Tx time:05:20:21.6906

2025-08-22T05:20:22.366Z,1755840022.366 [DAT](INFO): Ping request sent.
2025-08-22T05:20:22.366Z,1755840022.366 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:22.366Z,1755840022.366 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:22.370Z,1755840022.370 [DAT](INFO): direction in FSK: [0.986782,0.053442,0.152986]
2025-08-22T05:20:22.371Z,1755840022.371 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:22.372Z,1755840022.372 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:22.377Z,1755840022.377 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:22.378Z,1755840022.378 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:22.566Z,1755840022.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.000000 m,
      deltaT: 3.527867 s,
      deltaX: -2.500000 m,
      approachRate: -0.708643 m/s,
      rangeRepo size: 4

2025-08-22T05:20:22.573Z,1755840022.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.017365 m,
      bearing: 95.104765 deg,
      lat: 36.779293 deg,
      lon: -121.859616 deg,
      deltaT: 3.527867 s,
      deltaX: -2.488922 m,
      approachRate: -0.705503 m/s,
      posRepo size: 4

2025-08-22T05:20:22.573Z,1755840022.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:22.580Z,1755840022.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 168.898041 m,
      bearing: 95.201204 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022340 deg/s,
      cmd heading: 91.810535 deg,
      new cmd heading: 91.790334 deg.

2025-08-22T05:20:22.581Z,1755840022.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602044 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:23.004Z,1755840023.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:23.006Z,1755840023.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:23.009Z,1755840023.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 168.571991 m,
      bearing: 95.190400 deg,
      approach rate: -0.741034 m/s,
      LOS rate: -0.024603 deg/s,
      cmd heading: 91.790332 deg,
      new cmd heading: 91.768681 deg.

2025-08-22T05:20:23.010Z,1755840023.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601666 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:23.105Z,1755840023.105 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:23.105Z,1755840023.105 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:23.105Z,1755840023.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:23.356Z,1755840023.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990084
2025-08-22T05:20:23.382Z,1755840023.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:23.385Z,1755840023.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 168.311508 m,
      bearing: 95.181687 deg,
      approach rate: -0.692129 m/s,
      LOS rate: -0.023186 deg/s,
      cmd heading: 91.768680 deg,
      new cmd heading: 91.751228 deg.

2025-08-22T05:20:23.386Z,1755840023.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601361 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:23.608Z,1755840023.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242284
2025-08-22T05:20:23.771Z,1755840023.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:23.774Z,1755840023.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 168.042404 m,
      bearing: 95.172672 deg,
      approach rate: -0.691509 m/s,
      LOS rate: -0.023203 deg/s,
      cmd heading: 91.751229 deg,
      new cmd heading: 91.733170 deg.

2025-08-22T05:20:23.775Z,1755840023.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601046 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:23.862Z,1755840023.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495518
2025-08-22T05:20:24.112Z,1755840024.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745908
2025-08-22T05:20:24.208Z,1755840024.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:24.210Z,1755840024.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 167.735352 m,
      bearing: 95.163730 deg,
      approach rate: -0.704163 m/s,
      LOS rate: -0.020544 deg/s,
      cmd heading: 91.733170 deg,
      new cmd heading: 91.715253 deg.

2025-08-22T05:20:24.211Z,1755840024.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600733 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:24.364Z,1755840024.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997979
2025-08-22T05:20:24.582Z,1755840024.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:24.585Z,1755840024.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 167.471619 m,
      bearing: 95.156089 deg,
      approach rate: -0.703458 m/s,
      LOS rate: -0.020414 deg/s,
      cmd heading: 91.715254 deg,
      new cmd heading: 91.699948 deg.

2025-08-22T05:20:24.586Z,1755840024.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600466 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:24.617Z,1755840024.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250799
2025-08-22T05:20:24.868Z,1755840024.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501954
2025-08-22T05:20:25.020Z,1755840025.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:25.024Z,1755840025.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:25.029Z,1755840025.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 167.174911 m,
      bearing: 95.146932 deg,
      approach rate: -0.673091 m/s,
      LOS rate: -0.020810 deg/s,
      cmd heading: 91.699948 deg,
      new cmd heading: 91.681601 deg.

2025-08-22T05:20:25.030Z,1755840025.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600146 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:25.120Z,1755840025.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754137
2025-08-22T05:20:25.372Z,1755840025.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006150
2025-08-22T05:20:25.389Z,1755840025.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:25.392Z,1755840025.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 166.917313 m,
      bearing: 95.138911 deg,
      approach rate: -0.703718 m/s,
      LOS rate: -0.021944 deg/s,
      cmd heading: 91.681602 deg,
      new cmd heading: 91.665537 deg.

2025-08-22T05:20:25.393Z,1755840025.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599865 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:25.624Z,1755840025.624 [DAT](INFO): DAT read: Rx Time:05:20:24.3220

2025-08-22T05:20:25.625Z,1755840025.625 [DAT](INFO): Rx dataTimestamp_ set to:1755840025.624452
2025-08-22T05:20:25.625Z,1755840025.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259066
2025-08-22T05:20:25.811Z,1755840025.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.02 m.
2025-08-22T05:20:25.814Z,1755840025.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.017365 m,
      nav range: 166.638626 m,
      bearing: 95.130250 deg,
      approach rate: -0.686537 m/s,
      LOS rate: -0.021372 deg/s,
      cmd heading: 91.665537 deg,
      new cmd heading: 91.648186 deg.

2025-08-22T05:20:25.815Z,1755840025.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599563 target range: 172.017365 and range: 173.00 m.
2025-08-22T05:20:25.876Z,1755840025.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510090
2025-08-22T05:20:26.134Z,1755840026.134 [DAT](INFO): DAT read: 05:20:24.3220 LVL= 29728, 32753, 29042, 32755, AGC= 67, IDX= 404,-0.27,-1.910, 2.612,-1.854,-2.217, PHS= 0.410,-1.409, 0.319, RAW= 147.5,   7.7, CAL= 147.0,   8.3, ROT=   3.0,  -8.3

2025-08-22T05:20:26.136Z,1755840026.136 [DAT](INFO): got valid direction response:
 05:20:24.3220 LVL= 29728, 32753, 29042, 32755, AGC= 67, IDX= 404,-0.27,-1.910, 2.612,-1.854,-2.217, PHS= 0.410,-1.409, 0.319, RAW= 147.5,   7.7, CAL= 147.0,   8.3, ROT=   3.0,  -8.3

2025-08-22T05:20:26.137Z,1755840026.137 [DAT](INFO): DAT read: Bearing 254.8,   5.1 (Local)

2025-08-22T05:20:26.137Z,1755840026.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.8,   5.1 (Local)

2025-08-22T05:20:26.139Z,1755840026.139 [DAT](INFO): DAT read: Range 11 to 50 : 170.4 m  (Round-trip  227.3 ms) speed  0.4 m/s

2025-08-22T05:20:26.140Z,1755840026.140 [DAT](INFO): DAT read: user:7429>

2025-08-22T05:20:26.141Z,1755840026.141 [DAT](INFO): DAT read: Tx time:05:20:25.4406

2025-08-22T05:20:26.141Z,1755840026.141 [DAT](INFO): Ping request sent.
2025-08-22T05:20:26.141Z,1755840026.141 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:26.142Z,1755840026.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:26.142Z,1755840026.142 [DAT](INFO): direction in FSK: [0.988170,0.051788,0.144356]
2025-08-22T05:20:26.143Z,1755840026.143 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:26.143Z,1755840026.143 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:26.148Z,1755840026.148 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:26.148Z,1755840026.148 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:26.330Z,1755840026.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 170.399994 m,
      deltaT: 3.778824 s,
      deltaX: -2.600006 m,
      approachRate: -0.688046 m/s,
      rangeRepo size: 4

2025-08-22T05:20:26.337Z,1755840026.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.429962 m,
      bearing: 94.992586 deg,
      lat: 36.779295 deg,
      lon: -121.859614 deg,
      deltaT: 3.778824 s,
      deltaX: -2.587402 m,
      approachRate: -0.684711 m/s,
      posRepo size: 4

2025-08-22T05:20:26.338Z,1755840026.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:26.344Z,1755840026.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 166.518158 m,
      bearing: 95.010839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021372 deg/s,
      cmd heading: 91.648189 deg,
      new cmd heading: 91.625624 deg.

2025-08-22T05:20:26.345Z,1755840026.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599169 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:26.681Z,1755840026.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:26.684Z,1755840026.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 166.272385 m,
      bearing: 95.001904 deg,
      approach rate: -0.685419 m/s,
      LOS rate: -0.024955 deg/s,
      cmd heading: 91.625622 deg,
      new cmd heading: 91.607725 deg.

2025-08-22T05:20:26.685Z,1755840026.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.598856 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:26.828Z,1755840026.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:20:27.114Z,1755840027.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:27.116Z,1755840027.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:27.119Z,1755840027.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 165.989990 m,
      bearing: 94.990074 deg,
      approach rate: -0.649596 m/s,
      LOS rate: -0.027259 deg/s,
      cmd heading: 91.607727 deg,
      new cmd heading: 91.584026 deg.

2025-08-22T05:20:27.120Z,1755840027.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.598443 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:27.140Z,1755840027.140 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:27.140Z,1755840027.140 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:27.140Z,1755840027.140 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:27.393Z,1755840027.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251395
2025-08-22T05:20:27.496Z,1755840027.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:27.499Z,1755840027.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 165.742783 m,
      bearing: 94.979696 deg,
      approach rate: -0.650781 m/s,
      LOS rate: -0.027362 deg/s,
      cmd heading: 91.584026 deg,
      new cmd heading: 91.563238 deg.

2025-08-22T05:20:27.500Z,1755840027.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.598080 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:27.644Z,1755840027.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502984
2025-08-22T05:20:27.832Z,1755840027.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:20:27.896Z,1755840027.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754942
2025-08-22T05:20:27.907Z,1755840027.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:27.910Z,1755840027.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 165.474930 m,
      bearing: 94.968426 deg,
      approach rate: -0.652272 m/s,
      LOS rate: -0.027489 deg/s,
      cmd heading: 91.563235 deg,
      new cmd heading: 91.540658 deg.

2025-08-22T05:20:27.911Z,1755840027.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597686 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:28.150Z,1755840028.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008723
2025-08-22T05:20:28.318Z,1755840028.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:28.321Z,1755840028.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 165.206177 m,
      bearing: 94.957658 deg,
      approach rate: -0.652712 m/s,
      LOS rate: -0.026195 deg/s,
      cmd heading: 91.540661 deg,
      new cmd heading: 91.519090 deg.

2025-08-22T05:20:28.322Z,1755840028.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597309 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:28.401Z,1755840028.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260008
2025-08-22T05:20:28.652Z,1755840028.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510910
2025-08-22T05:20:28.723Z,1755840028.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:28.726Z,1755840028.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 164.941833 m,
      bearing: 94.947031 deg,
      approach rate: -0.652986 m/s,
      LOS rate: -0.026291 deg/s,
      cmd heading: 91.519091 deg,
      new cmd heading: 91.497805 deg.

2025-08-22T05:20:28.747Z,1755840028.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596938 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:28.905Z,1755840028.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763303
2025-08-22T05:20:29.135Z,1755840029.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:29.138Z,1755840029.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:29.145Z,1755840029.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 164.680115 m,
      bearing: 94.935819 deg,
      approach rate: -0.631728 m/s,
      LOS rate: -0.027106 deg/s,
      cmd heading: 91.497802 deg,
      new cmd heading: 91.475342 deg.

2025-08-22T05:20:29.147Z,1755840029.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596546 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:29.157Z,1755840029.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015692
2025-08-22T05:20:29.409Z,1755840029.409 [DAT](INFO): DAT read: Rx Time:05:20:28.0687

2025-08-22T05:20:29.409Z,1755840029.409 [DAT](INFO): Rx dataTimestamp_ set to:1755840029.409146
2025-08-22T05:20:29.410Z,1755840029.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268686
2025-08-22T05:20:29.532Z,1755840029.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:29.534Z,1755840029.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 164.414993 m,
      bearing: 94.924472 deg,
      approach rate: -0.673396 m/s,
      LOS rate: -0.028868 deg/s,
      cmd heading: 91.475344 deg,
      new cmd heading: 91.452613 deg.

2025-08-22T05:20:29.552Z,1755840029.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596149 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:29.661Z,1755840029.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519552
2025-08-22T05:20:29.918Z,1755840029.918 [DAT](INFO): DAT read: 05:20:28.0687 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.26,-3.041, 1.496,-3.011, 2.924, PHS= 0.420,-1.383, 0.305, RAW= 146.7,   7.6, CAL= 146.2,   8.2, ROT=   3.8,  -8.2

2025-08-22T05:20:29.920Z,1755840029.920 [DAT](INFO): got valid direction response:
 05:20:28.0687 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403, 0.26,-3.041, 1.496,-3.011, 2.924, PHS= 0.420,-1.383, 0.305, RAW= 146.7,   7.6, CAL= 146.2,   8.2, ROT=   3.8,  -8.2

2025-08-22T05:20:29.921Z,1755840029.921 [DAT](INFO): DAT read: Bearing 254.6,   5.1 (Local)

2025-08-22T05:20:29.922Z,1755840029.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.6,   5.1 (Local)

2025-08-22T05:20:29.923Z,1755840029.923 [DAT](INFO): DAT read: Range 11 to 50 : 168.0 m  (Round-trip  224.1 ms) speed  0.8 m/s

2025-08-22T05:20:29.924Z,1755840029.924 [DAT](INFO): DAT read: user:7430>

2025-08-22T05:20:29.925Z,1755840029.925 [DAT](INFO): DAT read: Tx time:05:20:29.1905

2025-08-22T05:20:29.925Z,1755840029.925 [DAT](INFO): Ping request sent.
2025-08-22T05:20:29.925Z,1755840029.925 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:29.925Z,1755840029.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:29.926Z,1755840029.926 [DAT](INFO): direction in FSK: [0.987600,0.065596,0.142629]
2025-08-22T05:20:29.927Z,1755840029.927 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:29.927Z,1755840029.927 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:29.940Z,1755840029.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.43 m.
2025-08-22T05:20:29.942Z,1755840029.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.429962 m,
      nav range: 164.160004 m,
      bearing: 94.913567 deg,
      approach rate: -0.670881 m/s,
      LOS rate: -0.028736 deg/s,
      cmd heading: 91.452613 deg,
      new cmd heading: 91.430769 deg.

2025-08-22T05:20:29.950Z,1755840029.950 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:29.950Z,1755840029.950 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:29.951Z,1755840029.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595768 target range: 169.429962 and range: 170.40 m.
2025-08-22T05:20:30.395Z,1755840030.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.000000 m,
      deltaT: 3.783861 s,
      deltaX: -2.399994 m,
      approachRate: -0.634271 m/s,
      rangeRepo size: 4

2025-08-22T05:20:30.397Z,1755840030.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.044327 m,
      bearing: 95.758575 deg,
      lat: 36.779293 deg,
      lon: -121.859609 deg,
      deltaT: 3.783861 s,
      deltaX: -2.385635 m,
      approachRate: -0.630476 m/s,
      posRepo size: 4

2025-08-22T05:20:30.398Z,1755840030.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:30.401Z,1755840030.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 164.305420 m,
      bearing: 94.986704 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028736 deg/s,
      cmd heading: 91.430770 deg,
      new cmd heading: 91.403026 deg.

2025-08-22T05:20:30.401Z,1755840030.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595284 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:30.770Z,1755840030.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:30.773Z,1755840030.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 164.061539 m,
      bearing: 94.974698 deg,
      approach rate: -0.648339 m/s,
      LOS rate: -0.031963 deg/s,
      cmd heading: 91.403026 deg,
      new cmd heading: 91.378979 deg.

2025-08-22T05:20:30.774Z,1755840030.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594864 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:31.205Z,1755840031.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:31.208Z,1755840031.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:31.210Z,1755840031.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 163.760757 m,
      bearing: 94.961220 deg,
      approach rate: -0.688161 m/s,
      LOS rate: -0.030894 deg/s,
      cmd heading: 91.378977 deg,
      new cmd heading: 91.351971 deg.

2025-08-22T05:20:31.211Z,1755840031.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594393 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:31.425Z,1755840031.425 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:31.425Z,1755840031.425 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:31.425Z,1755840031.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:31.585Z,1755840031.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:31.587Z,1755840031.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 163.503265 m,
      bearing: 94.949754 deg,
      approach rate: -0.682630 m/s,
      LOS rate: -0.030446 deg/s,
      cmd heading: 91.351970 deg,
      new cmd heading: 91.329002 deg.

2025-08-22T05:20:31.588Z,1755840031.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593992 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:31.677Z,1755840031.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751937
2025-08-22T05:20:31.928Z,1755840031.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003084
2025-08-22T05:20:32.016Z,1755840032.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:32.035Z,1755840032.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 163.233521 m,
      bearing: 94.937702 deg,
      approach rate: -0.627937 m/s,
      LOS rate: -0.028103 deg/s,
      cmd heading: 91.329000 deg,
      new cmd heading: 91.304856 deg.

2025-08-22T05:20:32.049Z,1755840032.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593570 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:32.181Z,1755840032.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255959
2025-08-22T05:20:32.400Z,1755840032.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:32.405Z,1755840032.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 162.953751 m,
      bearing: 94.924809 deg,
      approach rate: -0.724168 m/s,
      LOS rate: -0.033430 deg/s,
      cmd heading: 91.304856 deg,
      new cmd heading: 91.279026 deg.

2025-08-22T05:20:32.406Z,1755840032.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593120 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:32.432Z,1755840032.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507220
2025-08-22T05:20:32.685Z,1755840032.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759613
2025-08-22T05:20:32.785Z,1755840032.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:32.787Z,1755840032.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 162.697830 m,
      bearing: 94.913004 deg,
      approach rate: -0.666076 m/s,
      LOS rate: -0.030771 deg/s,
      cmd heading: 91.279024 deg,
      new cmd heading: 91.255378 deg.

2025-08-22T05:20:32.788Z,1755840032.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592707 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:32.936Z,1755840032.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011160
2025-08-22T05:20:33.188Z,1755840033.188 [DAT](INFO): DAT read: Rx Time:05:20:31.8153

2025-08-22T05:20:33.189Z,1755840033.189 [DAT](INFO): Rx dataTimestamp_ set to:1755840033.188460
2025-08-22T05:20:33.189Z,1755840033.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264191
2025-08-22T05:20:33.220Z,1755840033.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:33.222Z,1755840033.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:33.225Z,1755840033.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 162.407181 m,
      bearing: 94.902004 deg,
      approach rate: -0.664664 m/s,
      LOS rate: -0.025200 deg/s,
      cmd heading: 91.255378 deg,
      new cmd heading: 91.233338 deg.

2025-08-22T05:20:33.226Z,1755840033.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592322 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:33.443Z,1755840033.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518401
2025-08-22T05:20:33.633Z,1755840033.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.04 m.
2025-08-22T05:20:33.636Z,1755840033.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.044327 m,
      nav range: 162.130692 m,
      bearing: 94.891559 deg,
      approach rate: -0.672916 m/s,
      LOS rate: -0.025464 deg/s,
      cmd heading: 91.233337 deg,
      new cmd heading: 91.212411 deg.

2025-08-22T05:20:33.637Z,1755840033.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591957 target range: 167.044327 and range: 168.00 m.
2025-08-22T05:20:33.700Z,1755840033.700 [DAT](INFO): DAT read: 05:20:31.8153 LVL= 26544, 32641, 25474, 32755, AGC= 66, IDX= 400, 0.16,-1.011,-2.788,-0.948,-1.340, PHS= 0.431,-1.403, 0.348, RAW= 147.7,   7.0, CAL= 147.2,   7.5, ROT=   2.8,  -7.5

2025-08-22T05:20:33.701Z,1755840033.701 [DAT](INFO): got valid direction response:
 05:20:31.8153 LVL= 26544, 32641, 25474, 32755, AGC= 66, IDX= 400, 0.16,-1.011,-2.788,-0.948,-1.340, PHS= 0.431,-1.403, 0.348, RAW= 147.7,   7.0, CAL= 147.2,   7.5, ROT=   2.8,  -7.5

2025-08-22T05:20:33.702Z,1755840033.702 [DAT](INFO): DAT read: Bearing 253.5,   3.4 (Local)

2025-08-22T05:20:33.702Z,1755840033.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5,   3.4 (Local)

2025-08-22T05:20:33.704Z,1755840033.704 [DAT](INFO): DAT read: Range 11 to 50 : 165.5 m  (Round-trip  220.7 ms) speed  0.9 m/s

2025-08-22T05:20:33.704Z,1755840033.704 [DAT](INFO): DAT read: user:7431>

2025-08-22T05:20:33.705Z,1755840033.705 [DAT](INFO): DAT read: Tx time:05:20:32.9405

2025-08-22T05:20:33.705Z,1755840033.705 [DAT](INFO): Ping request sent.
2025-08-22T05:20:33.705Z,1755840033.705 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:33.706Z,1755840033.706 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:33.707Z,1755840033.707 [DAT](INFO): direction in FSK: [0.990261,0.048432,0.130526]
2025-08-22T05:20:33.707Z,1755840033.707 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:33.707Z,1755840033.707 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:33.710Z,1755840033.710 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:33.711Z,1755840033.711 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:34.005Z,1755840034.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.500000 m,
      deltaT: 3.780525 s,
      deltaX: -2.500000 m,
      approachRate: -0.661284 m/s,
      rangeRepo size: 4

2025-08-22T05:20:34.032Z,1755840034.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.556412 m,
      bearing: 94.656631 deg,
      lat: 36.779295 deg,
      lon: -121.859607 deg,
      deltaT: 3.780525 s,
      deltaX: -2.487915 m,
      approachRate: -0.658087 m/s,
      posRepo size: 4

2025-08-22T05:20:34.033Z,1755840034.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:34.042Z,1755840034.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 162.041183 m,
      bearing: 94.774716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025464 deg/s,
      cmd heading: 91.212409 deg,
      new cmd heading: 91.193558 deg.

2025-08-22T05:20:34.056Z,1755840034.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591628 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:34.460Z,1755840034.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:34.463Z,1755840034.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 161.737442 m,
      bearing: 94.761831 deg,
      approach rate: -0.664558 m/s,
      LOS rate: -0.028245 deg/s,
      cmd heading: 91.193558 deg,
      new cmd heading: 91.167738 deg.

2025-08-22T05:20:34.465Z,1755840034.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591177 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:34.843Z,1755840034.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:34.846Z,1755840034.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 161.502075 m,
      bearing: 94.751920 deg,
      approach rate: -0.648522 m/s,
      LOS rate: -0.027346 deg/s,
      cmd heading: 91.167739 deg,
      new cmd heading: 91.147890 deg.

2025-08-22T05:20:34.847Z,1755840034.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590831 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:35.249Z,1755840035.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:35.251Z,1755840035.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:35.254Z,1755840035.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 161.223770 m,
      bearing: 94.741203 deg,
      approach rate: -0.650279 m/s,
      LOS rate: -0.025085 deg/s,
      cmd heading: 91.147891 deg,
      new cmd heading: 91.126419 deg.

2025-08-22T05:20:35.255Z,1755840035.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590456 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:35.456Z,1755840035.456 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:35.456Z,1755840035.456 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:35.456Z,1755840035.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:35.637Z,1755840035.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:35.640Z,1755840035.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 160.973267 m,
      bearing: 94.731604 deg,
      approach rate: -0.652018 m/s,
      LOS rate: -0.025024 deg/s,
      cmd heading: 91.126417 deg,
      new cmd heading: 91.107188 deg.

2025-08-22T05:20:35.641Z,1755840035.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590120 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:35.710Z,1755840035.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004217
2025-08-22T05:20:35.960Z,1755840035.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254763
2025-08-22T05:20:36.076Z,1755840036.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:36.102Z,1755840036.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 160.691681 m,
      bearing: 94.720771 deg,
      approach rate: -0.641195 m/s,
      LOS rate: -0.024710 deg/s,
      cmd heading: 91.107190 deg,
      new cmd heading: 91.085487 deg.

2025-08-22T05:20:36.110Z,1755840036.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589742 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:36.212Z,1755840036.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506783
2025-08-22T05:20:36.464Z,1755840036.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758773
2025-08-22T05:20:36.540Z,1755840036.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:36.547Z,1755840036.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 160.395538 m,
      bearing: 94.709350 deg,
      approach rate: -0.635382 m/s,
      LOS rate: -0.024551 deg/s,
      cmd heading: 91.085483 deg,
      new cmd heading: 91.062598 deg.

2025-08-22T05:20:36.548Z,1755840036.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589342 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:36.716Z,1755840036.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010774
2025-08-22T05:20:36.907Z,1755840036.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:36.909Z,1755840036.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 160.115799 m,
      bearing: 94.698523 deg,
      approach rate: -0.763748 m/s,
      LOS rate: -0.029609 deg/s,
      cmd heading: 91.062596 deg,
      new cmd heading: 91.040905 deg.

2025-08-22T05:20:36.910Z,1755840036.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588964 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:36.969Z,1755840036.969 [DAT](INFO): DAT read: Rx Time:05:20:35.5620

2025-08-22T05:20:36.970Z,1755840036.970 [DAT](INFO): Rx dataTimestamp_ set to:1755840036.969253
2025-08-22T05:20:36.970Z,1755840036.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264605
2025-08-22T05:20:37.220Z,1755840037.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514723
2025-08-22T05:20:37.361Z,1755840037.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:37.363Z,1755840037.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.56 m.
2025-08-22T05:20:37.366Z,1755840037.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.556412 m,
      nav range: 159.815628 m,
      bearing: 94.684744 deg,
      approach rate: -0.658047 m/s,
      LOS rate: -0.030266 deg/s,
      cmd heading: 91.040903 deg,
      new cmd heading: 91.013291 deg.

2025-08-22T05:20:37.367Z,1755840037.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588482 target range: 164.556412 and range: 165.50 m.
2025-08-22T05:20:37.478Z,1755840037.478 [DAT](INFO): DAT read: 05:20:35.5620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.45,-0.411,-2.196,-0.364,-0.749, PHS= 0.439,-1.402, 0.340, RAW= 147.3,   7.0, CAL= 146.7,   7.5, ROT=   3.3,  -7.5

2025-08-22T05:20:37.481Z,1755840037.481 [DAT](INFO): got valid direction response:
 05:20:35.5620 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.45,-0.411,-2.196,-0.364,-0.749, PHS= 0.439,-1.402, 0.340, RAW= 147.3,   7.0, CAL= 146.7,   7.5, ROT=   3.3,  -7.5

2025-08-22T05:20:37.482Z,1755840037.482 [DAT](INFO): DAT read: Bearing 253.2,   3.2 (Local)

2025-08-22T05:20:37.482Z,1755840037.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.2,   3.2 (Local)

2025-08-22T05:20:37.484Z,1755840037.484 [DAT](INFO): DAT read: Range 11 to 50 : 162.9 m  (Round-trip  217.3 ms) speed  0.2 m/s

2025-08-22T05:20:37.486Z,1755840037.486 [DAT](INFO): DAT read: user:7432>

2025-08-22T05:20:37.496Z,1755840037.496 [DAT](INFO): DAT read: Tx time:05:20:36.6905

2025-08-22T05:20:37.496Z,1755840037.496 [DAT](INFO): Ping request sent.
2025-08-22T05:20:37.496Z,1755840037.496 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:37.497Z,1755840037.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:37.499Z,1755840037.499 [DAT](INFO): direction in FSK: [0.989801,0.057072,0.130526]
2025-08-22T05:20:37.504Z,1755840037.504 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:37.505Z,1755840037.505 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:37.518Z,1755840037.518 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:37.518Z,1755840037.518 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:37.726Z,1755840037.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.899994 m,
      deltaT: 3.779909 s,
      deltaX: -2.600006 m,
      approachRate: -0.687849 m/s,
      rangeRepo size: 4

2025-08-22T05:20:37.733Z,1755840037.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.968185 m,
      bearing: 95.022511 deg,
      lat: 36.779295 deg,
      lon: -121.859604 deg,
      deltaT: 3.779909 s,
      deltaX: -2.588226 m,
      approachRate: -0.684732 m/s,
      posRepo size: 4

2025-08-22T05:20:37.734Z,1755840037.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:37.742Z,1755840037.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 159.878418 m,
      bearing: 94.665310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030266 deg/s,
      cmd heading: 91.013288 deg,
      new cmd heading: 90.991327 deg.

2025-08-22T05:20:37.743Z,1755840037.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588098 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:38.191Z,1755840038.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:38.193Z,1755840038.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 159.570160 m,
      bearing: 94.650963 deg,
      approach rate: -0.667786 m/s,
      LOS rate: -0.031142 deg/s,
      cmd heading: 90.991329 deg,
      new cmd heading: 90.962579 deg.

2025-08-22T05:20:38.194Z,1755840038.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587597 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:38.573Z,1755840038.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:38.576Z,1755840038.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 159.298508 m,
      bearing: 94.639609 deg,
      approach rate: -0.704723 m/s,
      LOS rate: -0.029504 deg/s,
      cmd heading: 90.962581 deg,
      new cmd heading: 90.939835 deg.

2025-08-22T05:20:38.577Z,1755840038.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587200 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:38.947Z,1755840038.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:38.950Z,1755840038.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 159.057724 m,
      bearing: 94.629512 deg,
      approach rate: -0.643121 m/s,
      LOS rate: -0.027010 deg/s,
      cmd heading: 90.939837 deg,
      new cmd heading: 90.919612 deg.

2025-08-22T05:20:38.951Z,1755840038.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586847 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:39.332Z,1755840039.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:39.334Z,1755840039.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 158.786224 m,
      bearing: 94.615960 deg,
      approach rate: -0.706763 m/s,
      LOS rate: -0.035337 deg/s,
      cmd heading: 90.919612 deg,
      new cmd heading: 90.892463 deg.

2025-08-22T05:20:39.336Z,1755840039.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586373 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:39.718Z,1755840039.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:39.720Z,1755840039.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:39.723Z,1755840039.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 158.525146 m,
      bearing: 94.602809 deg,
      approach rate: -0.671453 m/s,
      LOS rate: -0.033879 deg/s,
      cmd heading: 90.892462 deg,
      new cmd heading: 90.866116 deg.

2025-08-22T05:20:39.724Z,1755840039.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585913 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:39.742Z,1755840039.742 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:39.742Z,1755840039.742 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:39.743Z,1755840039.743 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:39.993Z,1755840039.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496294
2025-08-22T05:20:40.227Z,1755840040.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:40.230Z,1755840040.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 158.197922 m,
      bearing: 94.586263 deg,
      approach rate: -0.650303 m/s,
      LOS rate: -0.032949 deg/s,
      cmd heading: 90.866118 deg,
      new cmd heading: 90.832959 deg.

2025-08-22T05:20:40.232Z,1755840040.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585334 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:40.244Z,1755840040.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747865
2025-08-22T05:20:40.498Z,1755840040.498 [DAT](INFO): DAT read: Rx Time:05:20:39.3087

2025-08-22T05:20:40.498Z,1755840040.498 [DAT](INFO): Rx dataTimestamp_ set to:1755840040.498068
2025-08-22T05:20:40.500Z,1755840040.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003183
2025-08-22T05:20:40.602Z,1755840040.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:40.606Z,1755840040.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 157.922470 m,
      bearing: 94.572930 deg,
      approach rate: -0.726814 m/s,
      LOS rate: -0.035242 deg/s,
      cmd heading: 90.832958 deg,
      new cmd heading: 90.806245 deg.

2025-08-22T05:20:40.607Z,1755840040.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584868 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:40.748Z,1755840040.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251744
2025-08-22T05:20:40.969Z,1755840040.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.97 m.
2025-08-22T05:20:40.972Z,1755840040.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.968185 m,
      nav range: 157.667374 m,
      bearing: 94.560436 deg,
      approach rate: -0.695277 m/s,
      LOS rate: -0.034110 deg/s,
      cmd heading: 90.806245 deg,
      new cmd heading: 90.781215 deg.

2025-08-22T05:20:40.973Z,1755840040.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584431 target range: 161.968185 and range: 162.90 m.
2025-08-22T05:20:41.017Z,1755840041.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520751
2025-08-22T05:20:41.274Z,1755840041.274 [DAT](INFO): DAT read: 05:20:39.3087 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.30, 1.352,-0.400, 1.410, 1.050, PHS= 0.404,-1.406, 0.316, RAW= 147.5,   7.8, CAL= 147.0,   8.5, ROT=   3.0,  -8.5

2025-08-22T05:20:41.275Z,1755840041.275 [DAT](INFO): got valid direction response:
 05:20:39.3087 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 413,-0.30, 1.352,-0.400, 1.410, 1.050, PHS= 0.404,-1.406, 0.316, RAW= 147.5,   7.8, CAL= 147.0,   8.5, ROT=   3.0,  -8.5

2025-08-22T05:20:41.276Z,1755840041.276 [DAT](INFO): DAT read: Bearing 254.3,   2.5 (Local)

2025-08-22T05:20:41.276Z,1755840041.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.3,   2.5 (Local)

2025-08-22T05:20:41.278Z,1755840041.278 [DAT](INFO): DAT read: Range 11 to 50 : 160.5 m  (Round-trip  214.1 ms) speed  0.5 m/s

2025-08-22T05:20:41.279Z,1755840041.279 [DAT](INFO): DAT read: user:7433>

2025-08-22T05:20:41.279Z,1755840041.279 [DAT](INFO): DAT read: Tx time:05:20:40.4405

2025-08-22T05:20:41.280Z,1755840041.280 [DAT](INFO): Ping request sent.
2025-08-22T05:20:41.280Z,1755840041.280 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:41.280Z,1755840041.280 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:41.281Z,1755840041.281 [DAT](INFO): direction in FSK: [0.987660,0.051761,0.147809]
2025-08-22T05:20:41.281Z,1755840041.281 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:41.282Z,1755840041.282 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:41.321Z,1755840041.321 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:41.321Z,1755840041.321 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:41.466Z,1755840041.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.500000 m,
      deltaT: 3.795478 s,
      deltaX: -2.399994 m,
      approachRate: -0.632330 m/s,
      rangeRepo size: 4

2025-08-22T05:20:41.477Z,1755840041.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.562408 m,
      bearing: 95.126125 deg,
      lat: 36.779286 deg,
      lon: -121.859596 deg,
      deltaT: 3.795478 s,
      deltaX: -2.405777 m,
      approachRate: -0.633853 m/s,
      posRepo size: 4

2025-08-22T05:20:41.479Z,1755840041.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:41.492Z,1755840041.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 158.066330 m,
      bearing: 94.910333 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034110 deg/s,
      cmd heading: 90.781212 deg,
      new cmd heading: 90.747387 deg.

2025-08-22T05:20:41.494Z,1755840041.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583841 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:41.785Z,1755840041.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:41.787Z,1755840041.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:41.790Z,1755840041.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 157.843262 m,
      bearing: 94.899776 deg,
      approach rate: -0.692591 m/s,
      LOS rate: -0.032826 deg/s,
      cmd heading: 90.747389 deg,
      new cmd heading: 90.726244 deg.

2025-08-22T05:20:41.791Z,1755840041.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583472 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:42.024Z,1755840042.024 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:42.024Z,1755840042.024 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:42.025Z,1755840042.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:42.241Z,1755840042.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:42.244Z,1755840042.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 157.550293 m,
      bearing: 94.885793 deg,
      approach rate: -0.644908 m/s,
      LOS rate: -0.030839 deg/s,
      cmd heading: 90.726243 deg,
      new cmd heading: 90.698224 deg.

2025-08-22T05:20:42.245Z,1755840042.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582983 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:42.289Z,1755840042.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009003
2025-08-22T05:20:42.545Z,1755840042.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.264633
2025-08-22T05:20:42.626Z,1755840042.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:42.633Z,1755840042.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 157.295746 m,
      bearing: 94.872532 deg,
      approach rate: -0.661390 m/s,
      LOS rate: -0.034510 deg/s,
      cmd heading: 90.698225 deg,
      new cmd heading: 90.671662 deg.

2025-08-22T05:20:42.634Z,1755840042.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582519 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:42.792Z,1755840042.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512318
2025-08-22T05:20:43.008Z,1755840043.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:43.011Z,1755840043.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 157.029190 m,
      bearing: 94.858706 deg,
      approach rate: -0.697843 m/s,
      LOS rate: -0.036260 deg/s,
      cmd heading: 90.671663 deg,
      new cmd heading: 90.643962 deg.

2025-08-22T05:20:43.012Z,1755840043.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582036 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:43.044Z,1755840043.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764362
2025-08-22T05:20:43.297Z,1755840043.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016625
2025-08-22T05:20:43.532Z,1755840043.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:43.535Z,1755840043.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 156.679504 m,
      bearing: 94.840500 deg,
      approach rate: -0.667396 m/s,
      LOS rate: -0.034825 deg/s,
      cmd heading: 90.643960 deg,
      new cmd heading: 90.607466 deg.

2025-08-22T05:20:43.540Z,1755840043.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581399 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:43.549Z,1755840043.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268633
2025-08-22T05:20:43.800Z,1755840043.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520344
2025-08-22T05:20:43.888Z,1755840043.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:43.891Z,1755840043.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:43.893Z,1755840043.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 156.435654 m,
      bearing: 94.827697 deg,
      approach rate: -0.680247 m/s,
      LOS rate: -0.035770 deg/s,
      cmd heading: 90.607466 deg,
      new cmd heading: 90.581820 deg.

2025-08-22T05:20:43.894Z,1755840043.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580951 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:44.054Z,1755840044.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774126
2025-08-22T05:20:44.304Z,1755840044.304 [DAT](INFO): DAT read: Rx Time:05:20:43.0553

2025-08-22T05:20:44.305Z,1755840044.305 [DAT](INFO): Rx dataTimestamp_ set to:1755840044.304577
2025-08-22T05:20:44.305Z,1755840044.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025517
2025-08-22T05:20:44.312Z,1755840044.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:44.314Z,1755840044.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 156.140396 m,
      bearing: 94.813563 deg,
      approach rate: -0.701086 m/s,
      LOS rate: -0.033623 deg/s,
      cmd heading: 90.581819 deg,
      new cmd heading: 90.553498 deg.

2025-08-22T05:20:44.316Z,1755840044.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580457 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:44.556Z,1755840044.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276295
2025-08-22T05:20:44.712Z,1755840044.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.56 m.
2025-08-22T05:20:44.714Z,1755840044.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.562408 m,
      nav range: 155.868103 m,
      bearing: 94.800585 deg,
      approach rate: -0.681181 m/s,
      LOS rate: -0.032524 deg/s,
      cmd heading: 90.553501 deg,
      new cmd heading: 90.527498 deg.

2025-08-22T05:20:44.724Z,1755840044.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580003 target range: 159.562408 and range: 160.50 m.
2025-08-22T05:20:44.841Z,1755840044.841 [DAT](INFO): DAT read: 05:20:43.0553 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.36, 2.143, 0.383, 2.198, 1.840, PHS= 0.404,-1.413, 0.314, RAW= 147.5,   7.9, CAL= 147.0,   8.5, ROT=   3.0,  -8.5

2025-08-22T05:20:44.842Z,1755840044.842 [DAT](INFO): got valid direction response:
 05:20:43.0553 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 410, 0.36, 2.143, 0.383, 2.198, 1.840, PHS= 0.404,-1.413, 0.314, RAW= 147.5,   7.9, CAL= 147.0,   8.5, ROT=   3.0,  -8.5

2025-08-22T05:20:44.844Z,1755840044.844 [DAT](INFO): DAT read: Bearing 254.2,   2.2 (Local)

2025-08-22T05:20:44.844Z,1755840044.844 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.2,   2.2 (Local)

2025-08-22T05:20:44.845Z,1755840044.845 [DAT](INFO): DAT read: Range 11 to 50 : 158.0 m  (Round-trip  210.7 ms) speed  0.1 m/s

2025-08-22T05:20:44.846Z,1755840044.846 [DAT](INFO): DAT read: user:7434>

2025-08-22T05:20:44.848Z,1755840044.848 [DAT](INFO): DAT read: Tx time:05:20:44.1405

2025-08-22T05:20:44.848Z,1755840044.848 [DAT](INFO): Ping request sent.
2025-08-22T05:20:44.849Z,1755840044.849 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:44.849Z,1755840044.849 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:44.850Z,1755840044.850 [DAT](INFO): direction in FSK: [0.987660,0.051761,0.147809]
2025-08-22T05:20:44.851Z,1755840044.851 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:44.860Z,1755840044.860 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:44.863Z,1755840044.863 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:44.872Z,1755840044.872 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:45.101Z,1755840045.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.000000 m,
      deltaT: 3.541834 s,
      deltaX: -2.500000 m,
      approachRate: -0.705849 m/s,
      rangeRepo size: 4

2025-08-22T05:20:45.108Z,1755840045.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.063812 m,
      bearing: 95.021078 deg,
      lat: 36.779281 deg,
      lon: -121.859596 deg,
      deltaT: 3.541834 s,
      deltaX: -2.498596 m,
      approachRate: -0.705453 m/s,
      posRepo size: 4

2025-08-22T05:20:45.109Z,1755840045.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:45.111Z,1755840045.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 155.719513 m,
      bearing: 95.003262 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032524 deg/s,
      cmd heading: 90.527498 deg,
      new cmd heading: 90.502191 deg.

2025-08-22T05:20:45.112Z,1755840045.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579561 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:45.532Z,1755840045.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:45.534Z,1755840045.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 155.428238 m,
      bearing: 94.986934 deg,
      approach rate: -0.676019 m/s,
      LOS rate: -0.037968 deg/s,
      cmd heading: 90.502192 deg,
      new cmd heading: 90.469474 deg.

2025-08-22T05:20:45.551Z,1755840045.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578990 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:45.900Z,1755840045.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:45.902Z,1755840045.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:45.905Z,1755840045.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 155.180069 m,
      bearing: 94.973179 deg,
      approach rate: -0.669089 m/s,
      LOS rate: -0.037144 deg/s,
      cmd heading: 90.469476 deg,
      new cmd heading: 90.441922 deg.

2025-08-22T05:20:45.906Z,1755840045.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578509 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:46.068Z,1755840046.068 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:46.068Z,1755840046.068 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:46.068Z,1755840046.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:46.320Z,1755840046.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471923
2025-08-22T05:20:46.360Z,1755840046.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:46.363Z,1755840046.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 154.888962 m,
      bearing: 94.959699 deg,
      approach rate: -0.635837 m/s,
      LOS rate: -0.029498 deg/s,
      cmd heading: 90.441923 deg,
      new cmd heading: 90.414912 deg.

2025-08-22T05:20:46.364Z,1755840046.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578038 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:46.572Z,1755840046.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723857
2025-08-22T05:20:46.711Z,1755840046.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:46.714Z,1755840046.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 154.632294 m,
      bearing: 94.947990 deg,
      approach rate: -0.732114 m/s,
      LOS rate: -0.033454 deg/s,
      cmd heading: 90.414909 deg,
      new cmd heading: 90.391452 deg.

2025-08-22T05:20:46.714Z,1755840046.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577628 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:46.825Z,1755840046.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976292
2025-08-22T05:20:47.076Z,1755840047.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227819
2025-08-22T05:20:47.126Z,1755840047.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:47.129Z,1755840047.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 154.353607 m,
      bearing: 94.935486 deg,
      approach rate: -0.671573 m/s,
      LOS rate: -0.030185 deg/s,
      cmd heading: 90.391454 deg,
      new cmd heading: 90.366402 deg.

2025-08-22T05:20:47.130Z,1755840047.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577191 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:47.329Z,1755840047.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480424
2025-08-22T05:20:47.547Z,1755840047.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:47.550Z,1755840047.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 154.066559 m,
      bearing: 94.921074 deg,
      approach rate: -0.681238 m/s,
      LOS rate: -0.034267 deg/s,
      cmd heading: 90.366401 deg,
      new cmd heading: 90.337524 deg.

2025-08-22T05:20:47.551Z,1755840047.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576687 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:47.581Z,1755840047.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732371
2025-08-22T05:20:47.832Z,1755840047.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983952
2025-08-22T05:20:47.926Z,1755840047.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:47.928Z,1755840047.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:47.931Z,1755840047.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 153.810196 m,
      bearing: 94.908396 deg,
      approach rate: -0.672803 m/s,
      LOS rate: -0.033328 deg/s,
      cmd heading: 90.337523 deg,
      new cmd heading: 90.312125 deg.

2025-08-22T05:20:47.932Z,1755840047.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576244 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:48.084Z,1755840048.084 [DAT](INFO): DAT read: Rx Time:05:20:46.7521

2025-08-22T05:20:48.085Z,1755840048.085 [DAT](INFO): Rx dataTimestamp_ set to:1755840048.084443
2025-08-22T05:20:48.085Z,1755840048.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236872
2025-08-22T05:20:48.336Z,1755840048.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487855
2025-08-22T05:20:48.384Z,1755840048.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.06 m.
2025-08-22T05:20:48.387Z,1755840048.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.063812 m,
      nav range: 153.526718 m,
      bearing: 94.892791 deg,
      approach rate: -0.628108 m/s,
      LOS rate: -0.034642 deg/s,
      cmd heading: 90.312122 deg,
      new cmd heading: 90.280853 deg.

2025-08-22T05:20:48.388Z,1755840048.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575698 target range: 157.063812 and range: 158.00 m.
2025-08-22T05:20:48.594Z,1755840048.594 [DAT](INFO): DAT read: 05:20:46.7521 LVL= 23856, 32753, 27730, 32755, AGC= 67, IDX= 409, 0.23,-1.923, 2.603,-1.909,-2.210, PHS= 0.389,-1.426, 0.257, RAW= 146.3,   8.9, CAL= 145.8,   9.7, ROT=   4.2,  -9.7

2025-08-22T05:20:48.595Z,1755840048.595 [DAT](INFO): got valid direction response:
 05:20:46.7521 LVL= 23856, 32753, 27730, 32755, AGC= 67, IDX= 409, 0.23,-1.923, 2.603,-1.909,-2.210, PHS= 0.389,-1.426, 0.257, RAW= 146.3,   8.9, CAL= 145.8,   9.7, ROT=   4.2,  -9.7

2025-08-22T05:20:48.596Z,1755840048.596 [DAT](INFO): DAT read: Bearing 254.4,   2.8 (Local)

2025-08-22T05:20:48.596Z,1755840048.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.4,   2.8 (Local)

2025-08-22T05:20:48.598Z,1755840048.598 [DAT](INFO): DAT read: Range 11 to 50 : 155.6 m  (Round-trip  207.5 ms) speed  0.8 m/s

2025-08-22T05:20:48.598Z,1755840048.598 [DAT](INFO): DAT read: user:7435>

2025-08-22T05:20:48.599Z,1755840048.599 [DAT](INFO): DAT read: Tx time:05:20:47.8405

2025-08-22T05:20:48.599Z,1755840048.599 [DAT](INFO): Ping request sent.
2025-08-22T05:20:48.600Z,1755840048.600 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:48.600Z,1755840048.600 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:48.601Z,1755840048.601 [DAT](INFO): direction in FSK: [0.983056,0.072191,0.168489]
2025-08-22T05:20:48.601Z,1755840048.601 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:48.601Z,1755840048.601 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:48.605Z,1755840048.605 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:48.605Z,1755840048.605 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:48.757Z,1755840048.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.600006 m,
      deltaT: 3.778063 s,
      deltaX: -2.399994 m,
      approachRate: -0.635245 m/s,
      rangeRepo size: 4

2025-08-22T05:20:48.763Z,1755840048.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.679962 m,
      bearing: 95.202988 deg,
      lat: 36.779281 deg,
      lon: -121.859596 deg,
      deltaT: 3.778063 s,
      deltaX: -2.383850 m,
      approachRate: -0.630971 m/s,
      posRepo size: 4

2025-08-22T05:20:48.764Z,1755840048.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:48.766Z,1755840048.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 153.280411 m,
      bearing: 94.879378 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034642 deg/s,
      cmd heading: 90.280853 deg,
      new cmd heading: 90.254740 deg.

2025-08-22T05:20:48.772Z,1755840048.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575242 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:49.184Z,1755840049.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:49.191Z,1755840049.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 152.995773 m,
      bearing: 94.863824 deg,
      approach rate: -0.664921 m/s,
      LOS rate: -0.036401 deg/s,
      cmd heading: 90.254741 deg,
      new cmd heading: 90.223577 deg.

2025-08-22T05:20:49.192Z,1755840049.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574698 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:49.560Z,1755840049.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:49.562Z,1755840049.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 152.731674 m,
      bearing: 94.852076 deg,
      approach rate: -0.704161 m/s,
      LOS rate: -0.031380 deg/s,
      cmd heading: 90.223575 deg,
      new cmd heading: 90.200037 deg.

2025-08-22T05:20:49.564Z,1755840049.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574288 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:49.938Z,1755840049.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:49.941Z,1755840049.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:49.944Z,1755840049.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 152.474274 m,
      bearing: 94.840760 deg,
      approach rate: -0.675184 m/s,
      LOS rate: -0.029731 deg/s,
      cmd heading: 90.200038 deg,
      new cmd heading: 90.177369 deg.

2025-08-22T05:20:49.944Z,1755840049.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573892 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:50.100Z,1755840050.100 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:50.100Z,1755840050.100 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:50.100Z,1755840050.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:50.352Z,1755840050.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752691
2025-08-22T05:20:50.408Z,1755840050.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:50.410Z,1755840050.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 152.168839 m,
      bearing: 94.825794 deg,
      approach rate: -0.654419 m/s,
      LOS rate: -0.032130 deg/s,
      cmd heading: 90.177369 deg,
      new cmd heading: 90.147377 deg.

2025-08-22T05:20:50.411Z,1755840050.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573369 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:50.604Z,1755840050.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004439
2025-08-22T05:20:50.781Z,1755840050.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:50.784Z,1755840050.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 151.924576 m,
      bearing: 94.813930 deg,
      approach rate: -0.654277 m/s,
      LOS rate: -0.031831 deg/s,
      cmd heading: 90.147377 deg,
      new cmd heading: 90.123610 deg.

2025-08-22T05:20:50.785Z,1755840050.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572954 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:50.856Z,1755840050.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256734
2025-08-22T05:20:51.108Z,1755840051.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508642
2025-08-22T05:20:51.210Z,1755840051.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:51.214Z,1755840051.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 151.654434 m,
      bearing: 94.800919 deg,
      approach rate: -0.628852 m/s,
      LOS rate: -0.030340 deg/s,
      cmd heading: 90.123608 deg,
      new cmd heading: 90.097541 deg.

2025-08-22T05:20:51.215Z,1755840051.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572499 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:51.360Z,1755840051.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760615
2025-08-22T05:20:51.607Z,1755840051.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:51.610Z,1755840051.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 151.378036 m,
      bearing: 94.786960 deg,
      approach rate: -0.696997 m/s,
      LOS rate: -0.035266 deg/s,
      cmd heading: 90.097544 deg,
      new cmd heading: 90.069575 deg.

2025-08-22T05:20:51.611Z,1755840051.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572011 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:51.613Z,1755840051.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013137
2025-08-22T05:20:51.865Z,1755840051.865 [DAT](INFO): DAT read: Rx Time:05:20:50.4488

2025-08-22T05:20:51.866Z,1755840051.866 [DAT](INFO): Rx dataTimestamp_ set to:1755840051.865318
2025-08-22T05:20:51.866Z,1755840051.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266541
2025-08-22T05:20:52.003Z,1755840052.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:52.005Z,1755840052.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.68 m.
2025-08-22T05:20:52.008Z,1755840052.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.679962 m,
      nav range: 151.111221 m,
      bearing: 94.773497 deg,
      approach rate: -0.669396 m/s,
      LOS rate: -0.033835 deg/s,
      cmd heading: 90.069575 deg,
      new cmd heading: 90.042602 deg.

2025-08-22T05:20:52.009Z,1755840052.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571540 target range: 154.679962 and range: 155.60 m.
2025-08-22T05:20:52.116Z,1755840052.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516647
2025-08-22T05:20:52.377Z,1755840052.377 [DAT](INFO): DAT read: 05:20:50.4488 LVL= 19952, 28369, 21298, 28019, AGC= 69, IDX= 407, 0.01,-0.860,-2.785,-0.876,-1.207, PHS= 0.449,-1.533, 0.287, RAW= 145.8,   8.4, CAL= 145.3,   9.2, ROT=   4.7,  -9.2

2025-08-22T05:20:52.378Z,1755840052.378 [DAT](INFO): got valid direction response:
 05:20:50.4488 LVL= 19952, 28369, 21298, 28019, AGC= 69, IDX= 407, 0.01,-0.860,-2.785,-0.876,-1.207, PHS= 0.449,-1.533, 0.287, RAW= 145.8,   8.4, CAL= 145.3,   9.2, ROT=   4.7,  -9.2

2025-08-22T05:20:52.380Z,1755840052.380 [DAT](INFO): DAT read: Bearing 252.7,   2.7 (Local)

2025-08-22T05:20:52.380Z,1755840052.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.7,   2.7 (Local)

2025-08-22T05:20:52.382Z,1755840052.382 [DAT](INFO): DAT read: Range 11 to 50 : 153.0 m  (Round-trip  204.1 ms) speed  0.5 m/s

2025-08-22T05:20:52.383Z,1755840052.383 [DAT](INFO): DAT read: user:7436>

2025-08-22T05:20:52.387Z,1755840052.387 [DAT](INFO): DAT read: Tx time:05:20:51.5405

2025-08-22T05:20:52.388Z,1755840052.388 [DAT](INFO): Ping request sent.
2025-08-22T05:20:52.388Z,1755840052.388 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:52.388Z,1755840052.388 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:52.389Z,1755840052.389 [DAT](INFO): direction in FSK: [0.983817,0.080884,0.159881]
2025-08-22T05:20:52.389Z,1755840052.389 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:52.390Z,1755840052.390 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:52.433Z,1755840052.433 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:52.433Z,1755840052.433 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:52.573Z,1755840052.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: 3.781509 s,
      deltaX: -2.600006 m,
      approachRate: -0.687558 m/s,
      rangeRepo size: 4

2025-08-22T05:20:52.575Z,1755840052.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.090149 m,
      bearing: 94.939375 deg,
      lat: 36.779280 deg,
      lon: -121.859596 deg,
      deltaT: 3.781509 s,
      deltaX: -2.589813 m,
      approachRate: -0.684862 m/s,
      posRepo size: 4

2025-08-22T05:20:52.580Z,1755840052.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:52.583Z,1755840052.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 150.756348 m,
      bearing: 94.775960 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033835 deg/s,
      cmd heading: 90.042602 deg,
      new cmd heading: 90.004250 deg.

2025-08-22T05:20:52.588Z,1755840052.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570871 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:52.927Z,1755840052.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:52.930Z,1755840052.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 150.508118 m,
      bearing: 94.764498 deg,
      approach rate: -0.699273 m/s,
      LOS rate: -0.032341 deg/s,
      cmd heading: 90.004251 deg,
      new cmd heading: 89.981290 deg.

2025-08-22T05:20:52.944Z,1755840052.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570470 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:53.388Z,1755840053.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:53.391Z,1755840053.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 150.204605 m,
      bearing: 94.750511 deg,
      approach rate: -0.658340 m/s,
      LOS rate: -0.030400 deg/s,
      cmd heading: 89.981288 deg,
      new cmd heading: 89.953257 deg.

2025-08-22T05:20:53.392Z,1755840053.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569981 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:53.747Z,1755840053.747 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +133,   +0,A
2025-08-22T05:20:53.781Z,1755840053.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:53.784Z,1755840053.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 149.945618 m,
      bearing: 94.738531 deg,
      approach rate: -0.658820 m/s,
      LOS rate: -0.030527 deg/s,
      cmd heading: 89.953257 deg,
      new cmd heading: 89.929256 deg.

2025-08-22T05:20:53.785Z,1755840053.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569562 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:54.219Z,1755840054.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:54.249Z,1755840054.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:54.260Z,1755840054.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 149.656311 m,
      bearing: 94.725357 deg,
      approach rate: -0.618569 m/s,
      LOS rate: -0.028223 deg/s,
      cmd heading: 89.929255 deg,
      new cmd heading: 89.902856 deg.

2025-08-22T05:20:54.261Z,1755840054.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569101 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:54.386Z,1755840054.386 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:54.387Z,1755840054.387 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:54.388Z,1755840054.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:54.636Z,1755840054.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248319
2025-08-22T05:20:54.808Z,1755840054.808 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,337.98
2025-08-22T05:20:54.840Z,1755840054.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:54.842Z,1755840054.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 149.259232 m,
      bearing: 94.707229 deg,
      approach rate: -0.691234 m/s,
      LOS rate: -0.031641 deg/s,
      cmd heading: 89.902857 deg,
      new cmd heading: 89.866504 deg.

2025-08-22T05:20:54.844Z,1755840054.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568466 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:54.889Z,1755840054.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500688
2025-08-22T05:20:55.140Z,1755840055.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752316
2025-08-22T05:20:55.283Z,1755840055.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:55.286Z,1755840055.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 148.956772 m,
      bearing: 94.693358 deg,
      approach rate: -0.658548 m/s,
      LOS rate: -0.030262 deg/s,
      cmd heading: 89.866506 deg,
      new cmd heading: 89.838709 deg.

2025-08-22T05:20:55.287Z,1755840055.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567981 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:55.397Z,1755840055.397 [DAT](INFO): DAT read: Rx Time:05:20:54.1453

2025-08-22T05:20:55.399Z,1755840055.399 [DAT](INFO): Rx dataTimestamp_ set to:1755840055.397817
2025-08-22T05:20:55.403Z,1755840055.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014534
2025-08-22T05:20:55.644Z,1755840055.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256365
2025-08-22T05:20:55.744Z,1755840055.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.09 m.
2025-08-22T05:20:55.746Z,1755840055.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.090149 m,
      nav range: 148.645096 m,
      bearing: 94.678230 deg,
      approach rate: -0.682515 m/s,
      LOS rate: -0.033198 deg/s,
      cmd heading: 89.838708 deg,
      new cmd heading: 89.808387 deg.

2025-08-22T05:20:55.748Z,1755840055.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567452 target range: 152.090149 and range: 153.00 m.
2025-08-22T05:20:55.921Z,1755840055.921 [DAT](INFO): DAT read: 05:20:54.1453 LVL= 26656, 32753, 26418, 32627, AGC= 69, IDX= 404,-0.23, 0.338,-1.588, 0.233,-0.048, PHS= 0.487,-1.495, 0.237, RAW= 143.3,   8.3, CAL= 142.9,   9.1, ROT=   7.1,  -9.1

2025-08-22T05:20:55.922Z,1755840055.922 [DAT](INFO): got valid direction response:
 05:20:54.1453 LVL= 26656, 32753, 26418, 32627, AGC= 69, IDX= 404,-0.23, 0.338,-1.588, 0.233,-0.048, PHS= 0.487,-1.495, 0.237, RAW= 143.3,   8.3, CAL= 142.9,   9.1, ROT=   7.1,  -9.1

2025-08-22T05:20:55.923Z,1755840055.923 [DAT](INFO): DAT read: Bearing 252.1,   4.2 (Local)

2025-08-22T05:20:55.931Z,1755840055.931 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,   4.2 (Local)

2025-08-22T05:20:55.944Z,1755840055.944 [DAT](INFO): DAT read: Range 11 to 50 : 150.5 m  (Round-trip  200.7 ms) speed  0.8 m/s

2025-08-22T05:20:55.945Z,1755840055.945 [DAT](INFO): DAT read: user:7437>

2025-08-22T05:20:55.947Z,1755840055.947 [DAT](INFO): DAT read: Tx time:05:20:55.2404

2025-08-22T05:20:55.947Z,1755840055.947 [DAT](INFO): Ping request sent.
2025-08-22T05:20:55.957Z,1755840055.957 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:55.958Z,1755840055.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:55.959Z,1755840055.959 [DAT](INFO): direction in FSK: [0.979842,0.122046,0.158158]
2025-08-22T05:20:55.967Z,1755840055.967 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:55.968Z,1755840055.968 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:56.001Z,1755840056.001 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:56.001Z,1755840056.001 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:56.126Z,1755840056.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.500000 m,
      deltaT: 3.528381 s,
      deltaX: -2.500000 m,
      approachRate: -0.708540 m/s,
      rangeRepo size: 4

2025-08-22T05:20:56.132Z,1755840056.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.599258 m,
      bearing: 97.031695 deg,
      lat: 36.779276 deg,
      lon: -121.859596 deg,
      deltaT: 3.528381 s,
      deltaX: -2.490891 m,
      approachRate: -0.705958 m/s,
      posRepo size: 4

2025-08-22T05:20:56.133Z,1755840056.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:56.140Z,1755840056.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 148.337189 m,
      bearing: 94.840892 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033198 deg/s,
      cmd heading: 89.808388 deg,
      new cmd heading: 89.782781 deg.

2025-08-22T05:20:56.141Z,1755840056.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567005 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:56.534Z,1755840056.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:56.536Z,1755840056.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:56.539Z,1755840056.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 148.055740 m,
      bearing: 94.828122 deg,
      approach rate: -0.684866 m/s,
      LOS rate: -0.031134 deg/s,
      cmd heading: 89.782782 deg,
      new cmd heading: 89.757193 deg.

2025-08-22T05:20:56.540Z,1755840056.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566559 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:56.652Z,1755840056.652 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:20:56.652Z,1755840056.652 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:20:56.652Z,1755840056.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:20:56.904Z,1755840056.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957250
2025-08-22T05:20:56.909Z,1755840056.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:56.912Z,1755840056.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 147.789383 m,
      bearing: 94.816148 deg,
      approach rate: -0.713844 m/s,
      LOS rate: -0.032147 deg/s,
      cmd heading: 89.757196 deg,
      new cmd heading: 89.733206 deg.

2025-08-22T05:20:56.913Z,1755840056.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566140 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:57.157Z,1755840057.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.209892
2025-08-22T05:20:57.320Z,1755840057.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:57.322Z,1755840057.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 147.517670 m,
      bearing: 94.804004 deg,
      approach rate: -0.662153 m/s,
      LOS rate: -0.029650 deg/s,
      cmd heading: 89.733208 deg,
      new cmd heading: 89.708875 deg.

2025-08-22T05:20:57.332Z,1755840057.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565715 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:57.412Z,1755840057.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464615
2025-08-22T05:20:57.664Z,1755840057.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716897
2025-08-22T05:20:57.785Z,1755840057.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:57.788Z,1755840057.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 147.189865 m,
      bearing: 94.787599 deg,
      approach rate: -0.704137 m/s,
      LOS rate: -0.035317 deg/s,
      cmd heading: 89.708873 deg,
      new cmd heading: 89.675989 deg.

2025-08-22T05:20:57.789Z,1755840057.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565141 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:57.913Z,1755840057.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.965747
2025-08-22T05:20:57.964Z,1755840057.964 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:20:58.149Z,1755840058.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:58.153Z,1755840058.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 146.943787 m,
      bearing: 94.775291 deg,
      approach rate: -0.677451 m/s,
      LOS rate: -0.033941 deg/s,
      cmd heading: 89.675992 deg,
      new cmd heading: 89.651334 deg.

2025-08-22T05:20:58.154Z,1755840058.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564711 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:58.165Z,1755840058.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.217661
2025-08-22T05:20:58.421Z,1755840058.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473451
2025-08-22T05:20:58.586Z,1755840058.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:20:58.588Z,1755840058.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:58.591Z,1755840058.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 146.644714 m,
      bearing: 94.762025 deg,
      approach rate: -0.679849 m/s,
      LOS rate: -0.030216 deg/s,
      cmd heading: 89.651335 deg,
      new cmd heading: 89.624750 deg.

2025-08-22T05:20:58.592Z,1755840058.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564247 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:58.669Z,1755840058.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.721858
2025-08-22T05:20:58.920Z,1755840058.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973075
2025-08-22T05:20:58.968Z,1755840058.968 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:20:58.990Z,1755840058.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:58.997Z,1755840058.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 146.381912 m,
      bearing: 94.750574 deg,
      approach rate: -0.654473 m/s,
      LOS rate: -0.028570 deg/s,
      cmd heading: 89.624752 deg,
      new cmd heading: 89.601808 deg.

2025-08-22T05:20:58.998Z,1755840058.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563847 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:59.173Z,1755840059.173 [DAT](INFO): DAT read: Rx Time:05:20:57.8420

2025-08-22T05:20:59.174Z,1755840059.174 [DAT](INFO): Rx dataTimestamp_ set to:1755840059.173407
2025-08-22T05:20:59.175Z,1755840059.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227513
2025-08-22T05:20:59.369Z,1755840059.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.60 m.
2025-08-22T05:20:59.372Z,1755840059.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.599258 m,
      nav range: 146.119034 m,
      bearing: 94.739070 deg,
      approach rate: -0.693774 m/s,
      LOS rate: -0.030415 deg/s,
      cmd heading: 89.601809 deg,
      new cmd heading: 89.578760 deg.

2025-08-22T05:20:59.373Z,1755840059.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563444 target range: 149.599258 and range: 150.50 m.
2025-08-22T05:20:59.427Z,1755840059.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479728
2025-08-22T05:20:59.682Z,1755840059.682 [DAT](INFO): DAT read: 05:20:57.8420 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.36, 2.360, 0.510, 2.250, 1.969, PHS= 0.493,-1.414, 0.237, RAW= 142.9,   7.7, CAL= 142.5,   8.4, ROT=   7.5,  -8.4

2025-08-22T05:20:59.683Z,1755840059.683 [DAT](INFO): got valid direction response:
 05:20:57.8420 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 403,-0.36, 2.360, 0.510, 2.250, 1.969, PHS= 0.493,-1.414, 0.237, RAW= 142.9,   7.7, CAL= 142.5,   8.4, ROT=   7.5,  -8.4

2025-08-22T05:20:59.684Z,1755840059.684 [DAT](INFO): DAT read: Bearing 250.9,   4.6 (Local)

2025-08-22T05:20:59.684Z,1755840059.684 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.9,   4.6 (Local)

2025-08-22T05:20:59.686Z,1755840059.686 [DAT](INFO): DAT read: Range 11 to 50 : 148.1 m  (Round-trip  197.5 ms) speed  0.5 m/s

2025-08-22T05:20:59.687Z,1755840059.687 [DAT](INFO): DAT read: user:7438>

2025-08-22T05:20:59.687Z,1755840059.687 [DAT](INFO): DAT read: Tx time:05:20:58.9404

2025-08-22T05:20:59.688Z,1755840059.688 [DAT](INFO): Ping request sent.
2025-08-22T05:20:59.688Z,1755840059.688 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:20:59.688Z,1755840059.688 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:20:59.689Z,1755840059.689 [DAT](INFO): direction in FSK: [0.980809,0.129126,0.146083]
2025-08-22T05:20:59.689Z,1755840059.689 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:59.689Z,1755840059.689 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:59.693Z,1755840059.693 [DAT](INFO): publishing transmit ping time
2025-08-22T05:20:59.693Z,1755840059.693 [DAT](INFO): publishing direction and range info
2025-08-22T05:20:59.874Z,1755840059.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.100006 m,
      deltaT: 3.778146 s,
      deltaX: -2.399994 m,
      approachRate: -0.635231 m/s,
      rangeRepo size: 4

2025-08-22T05:20:59.884Z,1755840059.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.213394 m,
      bearing: 97.015585 deg,
      lat: 36.779273 deg,
      lon: -121.859595 deg,
      deltaT: 3.778146 s,
      deltaX: -2.385864 m,
      approachRate: -0.631491 m/s,
      posRepo size: 4

2025-08-22T05:20:59.885Z,1755840059.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:20:59.896Z,1755840059.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 145.935898 m,
      bearing: 94.857192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030415 deg/s,
      cmd heading: 89.578757 deg,
      new cmd heading: 89.548062 deg.

2025-08-22T05:20:59.897Z,1755840059.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562909 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:00.190Z,1755840060.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:00.197Z,1755840060.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 145.727661 m,
      bearing: 94.847676 deg,
      approach rate: -0.657728 m/s,
      LOS rate: -0.030100 deg/s,
      cmd heading: 89.548063 deg,
      new cmd heading: 89.529003 deg.

2025-08-22T05:21:00.198Z,1755840060.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562576 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:00.595Z,1755840060.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:00.597Z,1755840060.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:00.600Z,1755840060.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 145.443878 m,
      bearing: 94.835251 deg,
      approach rate: -0.696487 m/s,
      LOS rate: -0.030554 deg/s,
      cmd heading: 89.529006 deg,
      new cmd heading: 89.504108 deg.

2025-08-22T05:21:00.601Z,1755840060.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562141 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:00.685Z,1755840060.685 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:00.685Z,1755840060.685 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:00.685Z,1755840060.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:00.936Z,1755840060.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248397
2025-08-22T05:21:00.996Z,1755840060.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:00.998Z,1755840060.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 145.181091 m,
      bearing: 94.824000 deg,
      approach rate: -0.659329 m/s,
      LOS rate: -0.028281 deg/s,
      cmd heading: 89.504110 deg,
      new cmd heading: 89.481566 deg.

2025-08-22T05:21:00.000Z,1755840061.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561748 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:01.188Z,1755840061.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500324
2025-08-22T05:21:01.401Z,1755840061.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:01.404Z,1755840061.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 144.923492 m,
      bearing: 94.812930 deg,
      approach rate: -0.658422 m/s,
      LOS rate: -0.028344 deg/s,
      cmd heading: 89.481564 deg,
      new cmd heading: 89.459386 deg.

2025-08-22T05:21:01.405Z,1755840061.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561361 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:01.456Z,1755840061.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766856
2025-08-22T05:21:01.700Z,1755840061.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012441
2025-08-22T05:21:01.820Z,1755840061.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:01.823Z,1755840061.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 144.635193 m,
      bearing: 94.800762 deg,
      approach rate: -0.665897 m/s,
      LOS rate: -0.028161 deg/s,
      cmd heading: 89.459386 deg,
      new cmd heading: 89.435002 deg.

2025-08-22T05:21:01.824Z,1755840061.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560935 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:01.954Z,1755840061.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265894
2025-08-22T05:21:02.196Z,1755840062.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:02.199Z,1755840062.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 144.384537 m,
      bearing: 94.790463 deg,
      approach rate: -0.666687 m/s,
      LOS rate: -0.027440 deg/s,
      cmd heading: 89.435002 deg,
      new cmd heading: 89.414369 deg.

2025-08-22T05:21:02.200Z,1755840062.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560575 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:02.205Z,1755840062.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516798
2025-08-22T05:21:02.459Z,1755840062.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909
2025-08-22T05:21:02.618Z,1755840062.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:02.620Z,1755840062.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:02.623Z,1755840062.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 144.107620 m,
      bearing: 94.779724 deg,
      approach rate: -0.653059 m/s,
      LOS rate: -0.025375 deg/s,
      cmd heading: 89.414368 deg,
      new cmd heading: 89.392849 deg.

2025-08-22T05:21:02.624Z,1755840062.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560199 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:02.711Z,1755840062.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023087
2025-08-22T05:21:02.962Z,1755840062.962 [DAT](INFO): DAT read: Rx Time:05:21:01.5388

2025-08-22T05:21:02.964Z,1755840062.964 [DAT](INFO): Rx dataTimestamp_ set to:1755840062.962407
2025-08-22T05:21:02.966Z,1755840062.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277875
2025-08-22T05:21:03.020Z,1755840063.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:03.023Z,1755840063.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 143.845398 m,
      bearing: 94.769545 deg,
      approach rate: -0.655480 m/s,
      LOS rate: -0.025491 deg/s,
      cmd heading: 89.392846 deg,
      new cmd heading: 89.372451 deg.

2025-08-22T05:21:03.036Z,1755840063.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559844 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:03.212Z,1755840063.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524444
2025-08-22T05:21:03.413Z,1755840063.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.21 m.
2025-08-22T05:21:03.423Z,1755840063.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.213394 m,
      nav range: 143.599258 m,
      bearing: 94.759999 deg,
      approach rate: -0.626603 m/s,
      LOS rate: -0.024344 deg/s,
      cmd heading: 89.372452 deg,
      new cmd heading: 89.353326 deg.

2025-08-22T05:21:03.424Z,1755840063.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559510 target range: 147.213394 and range: 148.10 m.
2025-08-22T05:21:03.486Z,1755840063.486 [DAT](INFO): DAT read: 05:21:01.5388 LVL= 25216, 32753, 25378, 32755, AGC= 68, IDX= 402,-0.01, 0.361,-1.503, 0.239,-0.016, PHS= 0.479,-1.442, 0.211, RAW= 142.6,   8.4, CAL= 142.2,   9.2, ROT=   7.8,  -9.2

2025-08-22T05:21:03.503Z,1755840063.503 [DAT](INFO): got valid direction response:
 05:21:01.5388 LVL= 25216, 32753, 25378, 32755, AGC= 68, IDX= 402,-0.01, 0.361,-1.503, 0.239,-0.016, PHS= 0.479,-1.442, 0.211, RAW= 142.6,   8.4, CAL= 142.2,   9.2, ROT=   7.8,  -9.2

2025-08-22T05:21:03.524Z,1755840063.524 [DAT](INFO): DAT read: Bearing 251.4,   4.4 (Local)

2025-08-22T05:21:03.525Z,1755840063.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.4,   4.4 (Local)

2025-08-22T05:21:03.526Z,1755840063.526 [DAT](INFO): DAT read: Range 11 to 50 : 145.7 m  (Round-trip  194.3 ms) speed  0.5 m/s

2025-08-22T05:21:03.527Z,1755840063.527 [DAT](INFO): DAT read: user:7439>

2025-08-22T05:21:03.536Z,1755840063.536 [DAT](INFO): DAT read: Tx time:05:21:02.6404

2025-08-22T05:21:03.536Z,1755840063.536 [DAT](INFO): Ping request sent.
2025-08-22T05:21:03.537Z,1755840063.537 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:03.537Z,1755840063.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:03.538Z,1755840063.538 [DAT](INFO): direction in FSK: [0.978003,0.133970,0.159881]
2025-08-22T05:21:03.538Z,1755840063.538 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:03.538Z,1755840063.538 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:03.558Z,1755840063.558 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:03.558Z,1755840063.558 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:03.849Z,1755840063.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.699997 m,
      deltaT: 3.791898 s,
      deltaX: -2.400009 m,
      approachRate: -0.632931 m/s,
      rangeRepo size: 4

2025-08-22T05:21:03.856Z,1755840063.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.834991 m,
      bearing: 96.664171 deg,
      lat: 36.779229 deg,
      lon: -121.859595 deg,
      deltaT: 3.791898 s,
      deltaX: -2.378403 m,
      approachRate: -0.627233 m/s,
      posRepo size: 4

2025-08-22T05:21:03.856Z,1755840063.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:03.859Z,1755840063.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 143.818146 m,
      bearing: 96.676682 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024344 deg/s,
      cmd heading: 89.353327 deg,
      new cmd heading: 89.332116 deg.

2025-08-22T05:21:03.864Z,1755840063.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559140 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:04.205Z,1755840064.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:04.208Z,1755840064.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 143.560181 m,
      bearing: 96.668235 deg,
      approach rate: -0.723477 m/s,
      LOS rate: -0.023733 deg/s,
      cmd heading: 89.332119 deg,
      new cmd heading: 89.315194 deg.

2025-08-22T05:21:04.209Z,1755840064.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558844 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:04.626Z,1755840064.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:04.628Z,1755840064.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:04.631Z,1755840064.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 143.276245 m,
      bearing: 96.657957 deg,
      approach rate: -0.670966 m/s,
      LOS rate: -0.024335 deg/s,
      cmd heading: 89.315194 deg,
      new cmd heading: 89.294598 deg.

2025-08-22T05:21:04.632Z,1755840064.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558485 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:04.736Z,1755840064.736 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:04.736Z,1755840064.736 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:04.736Z,1755840064.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:04.988Z,1755840064.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.451451
2025-08-22T05:21:05.010Z,1755840065.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:05.025Z,1755840065.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 143.018982 m,
      bearing: 96.648633 deg,
      approach rate: -0.673783 m/s,
      LOS rate: -0.024465 deg/s,
      cmd heading: 89.294601 deg,
      new cmd heading: 89.275919 deg.

2025-08-22T05:21:05.028Z,1755840065.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558159 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:05.241Z,1755840065.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703903
2025-08-22T05:21:05.422Z,1755840065.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:05.424Z,1755840065.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 142.749222 m,
      bearing: 96.638854 deg,
      approach rate: -0.655639 m/s,
      LOS rate: -0.023811 deg/s,
      cmd heading: 89.275920 deg,
      new cmd heading: 89.256326 deg.

2025-08-22T05:21:05.425Z,1755840065.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557817 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:05.497Z,1755840065.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960221
2025-08-22T05:21:05.748Z,1755840065.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211654
2025-08-22T05:21:05.857Z,1755840065.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:05.864Z,1755840065.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 142.448303 m,
      bearing: 96.629929 deg,
      approach rate: -0.690524 m/s,
      LOS rate: -0.020524 deg/s,
      cmd heading: 89.256325 deg,
      new cmd heading: 89.238436 deg.

2025-08-22T05:21:05.865Z,1755840065.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557505 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:06.000Z,1755840066.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463532
2025-08-22T05:21:06.236Z,1755840066.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:06.239Z,1755840066.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 142.184128 m,
      bearing: 96.622061 deg,
      approach rate: -0.697681 m/s,
      LOS rate: -0.020817 deg/s,
      cmd heading: 89.238436 deg,
      new cmd heading: 89.222672 deg.

2025-08-22T05:21:06.240Z,1755840066.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557229 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:06.252Z,1755840066.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715848
2025-08-22T05:21:06.505Z,1755840066.505 [DAT](INFO): DAT read: Rx Time:05:21:05.2355

2025-08-22T05:21:06.506Z,1755840066.506 [DAT](INFO): Rx dataTimestamp_ set to:1755840066.505421
2025-08-22T05:21:06.506Z,1755840066.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969617
2025-08-22T05:21:06.654Z,1755840066.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:06.661Z,1755840066.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.83 m.
2025-08-22T05:21:06.668Z,1755840066.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.834991 m,
      nav range: 141.913177 m,
      bearing: 96.613567 deg,
      approach rate: -0.638062 m/s,
      LOS rate: -0.020042 deg/s,
      cmd heading: 89.222672 deg,
      new cmd heading: 89.205651 deg.

2025-08-22T05:21:06.669Z,1755840066.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556932 target range: 144.834991 and range: 145.70 m.
2025-08-22T05:21:06.756Z,1755840066.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219803
2025-08-22T05:21:07.018Z,1755840067.018 [DAT](INFO): DAT read: 05:21:05.2355 LVL= 25072, 32753, 23010, 32755, AGC= 68, IDX= 400, 0.05, 1.115,-0.761, 0.993, 0.737, PHS= 0.480,-1.453, 0.212, RAW= 142.7,   8.4, CAL= 142.2,   9.2, ROT=   7.8,  -9.2

2025-08-22T05:21:07.019Z,1755840067.019 [DAT](INFO): got valid direction response:
 05:21:05.2355 LVL= 25072, 32753, 23010, 32755, AGC= 68, IDX= 400, 0.05, 1.115,-0.761, 0.993, 0.737, PHS= 0.480,-1.453, 0.212, RAW= 142.7,   8.4, CAL= 142.2,   9.2, ROT=   7.8,  -9.2

2025-08-22T05:21:07.020Z,1755840067.020 [DAT](INFO): DAT read: Bearing 251.5,   4.4 (Local)

2025-08-22T05:21:07.021Z,1755840067.021 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.5,   4.4 (Local)

2025-08-22T05:21:07.022Z,1755840067.022 [DAT](INFO): DAT read: Range 11 to 50 : 143.2 m  (Round-trip  191.0 ms) speed  0.4 m/s

2025-08-22T05:21:07.023Z,1755840067.023 [DAT](INFO): DAT read: user:7440>

2025-08-22T05:21:07.024Z,1755840067.024 [DAT](INFO): DAT read: Tx time:05:21:06.3404

2025-08-22T05:21:07.025Z,1755840067.025 [DAT](INFO): Ping request sent.
2025-08-22T05:21:07.025Z,1755840067.025 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:07.025Z,1755840067.025 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:07.026Z,1755840067.026 [DAT](INFO): direction in FSK: [0.978003,0.133970,0.159881]
2025-08-22T05:21:07.026Z,1755840067.026 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:07.027Z,1755840067.027 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:07.046Z,1755840067.046 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:07.046Z,1755840067.046 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:07.162Z,1755840067.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.199997 m,
      deltaT: 3.541708 s,
      deltaX: -2.500000 m,
      approachRate: -0.705874 m/s,
      rangeRepo size: 4

2025-08-22T05:21:07.170Z,1755840067.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.347824 m,
      bearing: 96.484237 deg,
      lat: 36.779229 deg,
      lon: -121.859594 deg,
      deltaT: 3.541708 s,
      deltaX: -2.487167 m,
      approachRate: -0.702251 m/s,
      posRepo size: 4

2025-08-22T05:21:07.180Z,1755840067.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:07.183Z,1755840067.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 141.664078 m,
      bearing: 96.600029 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020042 deg/s,
      cmd heading: 89.205652 deg,
      new cmd heading: 89.185596 deg.

2025-08-22T05:21:07.188Z,1755840067.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556582 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:07.587Z,1755840067.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:07.590Z,1755840067.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 141.405701 m,
      bearing: 96.591965 deg,
      approach rate: -0.612077 m/s,
      LOS rate: -0.019136 deg/s,
      cmd heading: 89.185598 deg,
      new cmd heading: 89.169442 deg.

2025-08-22T05:21:07.595Z,1755840067.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556300 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:07.988Z,1755840067.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:07.990Z,1755840067.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 141.078613 m,
      bearing: 96.584050 deg,
      approach rate: -0.809230 m/s,
      LOS rate: -0.019627 deg/s,
      cmd heading: 89.169445 deg,
      new cmd heading: 89.153578 deg.

2025-08-22T05:21:07.991Z,1755840067.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556023 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:08.324Z,1755840068.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:08.326Z,1755840068.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 140.847137 m,
      bearing: 96.578465 deg,
      approach rate: -0.688713 m/s,
      LOS rate: -0.016646 deg/s,
      cmd heading: 89.153578 deg,
      new cmd heading: 89.142389 deg.

2025-08-22T05:21:08.327Z,1755840068.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555828 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:08.741Z,1755840068.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:08.744Z,1755840068.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:08.746Z,1755840068.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 140.552261 m,
      bearing: 96.572284 deg,
      approach rate: -0.702151 m/s,
      LOS rate: -0.014749 deg/s,
      cmd heading: 89.142390 deg,
      new cmd heading: 89.130002 deg.

2025-08-22T05:21:08.748Z,1755840068.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555612 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:08.772Z,1755840068.772 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:08.772Z,1755840068.772 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:08.772Z,1755840068.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:09.025Z,1755840069.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000076
2025-08-22T05:21:09.141Z,1755840069.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:09.146Z,1755840069.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 140.279388 m,
      bearing: 96.566597 deg,
      approach rate: -0.686040 m/s,
      LOS rate: -0.014326 deg/s,
      cmd heading: 89.130000 deg,
      new cmd heading: 89.118604 deg.

2025-08-22T05:21:09.148Z,1755840069.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555413 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:09.276Z,1755840069.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251362
2025-08-22T05:21:09.528Z,1755840069.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503233
2025-08-22T05:21:09.551Z,1755840069.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:09.561Z,1755840069.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 139.987473 m,
      bearing: 96.560556 deg,
      approach rate: -0.714307 m/s,
      LOS rate: -0.014813 deg/s,
      cmd heading: 89.118608 deg,
      new cmd heading: 89.106500 deg.

2025-08-22T05:21:09.566Z,1755840069.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555202 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:09.780Z,1755840069.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755332
2025-08-22T05:21:09.982Z,1755840069.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:09.988Z,1755840069.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 139.691956 m,
      bearing: 96.555075 deg,
      approach rate: -0.683515 m/s,
      LOS rate: -0.012705 deg/s,
      cmd heading: 89.106498 deg,
      new cmd heading: 89.095512 deg.

2025-08-22T05:21:09.989Z,1755840069.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555010 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:10.032Z,1755840070.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007536
2025-08-22T05:21:10.284Z,1755840070.284 [DAT](INFO): DAT read: Rx Time:05:21:08.9322

2025-08-22T05:21:10.285Z,1755840070.285 [DAT](INFO): Rx dataTimestamp_ set to:1755840070.284407
2025-08-22T05:21:10.285Z,1755840070.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260346
2025-08-22T05:21:10.369Z,1755840070.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:10.380Z,1755840070.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 139.435593 m,
      bearing: 96.550359 deg,
      approach rate: -0.665959 m/s,
      LOS rate: -0.012272 deg/s,
      cmd heading: 89.095515 deg,
      new cmd heading: 89.086067 deg.

2025-08-22T05:21:10.381Z,1755840070.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554845 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:10.536Z,1755840070.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511413
2025-08-22T05:21:10.779Z,1755840070.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:10.781Z,1755840070.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.35 m.
2025-08-22T05:21:10.805Z,1755840070.805 [DAT](INFO): DAT read: 05:21:08.9322 LVL= 32752, 32753, 29042, 32755, AGC= 71, IDX= 414,-0.19,-0.230,-2.205,-0.384,-0.686, PHS= 0.558,-1.474, 0.258, RAW= 142.1,   7.0, CAL= 141.7,   7.7, ROT=   8.3,  -7.7

2025-08-22T05:21:10.806Z,1755840070.806 [DAT](INFO): got valid direction response:
 05:21:08.9322 LVL= 32752, 32753, 29042, 32755, AGC= 71, IDX= 414,-0.19,-0.230,-2.205,-0.384,-0.686, PHS= 0.558,-1.474, 0.258, RAW= 142.1,   7.0, CAL= 141.7,   7.7, ROT=   8.3,  -7.7

2025-08-22T05:21:10.807Z,1755840070.807 [DAT](INFO): DAT read: Bearing 250.0,   4.7 (Local)

2025-08-22T05:21:10.808Z,1755840070.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.0,   4.7 (Local)

2025-08-22T05:21:10.809Z,1755840070.809 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m  (Round-trip  187.6 ms) speed  0.6 m/s

2025-08-22T05:21:10.810Z,1755840070.810 [DAT](INFO): DAT read: user:7441>

2025-08-22T05:21:10.810Z,1755840070.810 [DAT](INFO): DAT read: Tx time:05:21:10.0404

2025-08-22T05:21:10.811Z,1755840070.811 [DAT](INFO): Ping request sent.
2025-08-22T05:21:10.811Z,1755840070.811 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:10.815Z,1755840070.815 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:10.816Z,1755840070.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.347824 m,
      nav range: 139.157501 m,
      bearing: 96.544787 deg,
      approach rate: -0.671637 m/s,
      LOS rate: -0.013484 deg/s,
      cmd heading: 89.086069 deg,
      new cmd heading: 89.074902 deg.

2025-08-22T05:21:10.817Z,1755840070.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554650 target range: 142.347824 and range: 143.20 m.
2025-08-22T05:21:10.820Z,1755840070.820 [DAT](INFO): direction in FSK: [0.980603,0.143055,0.133986]
2025-08-22T05:21:10.820Z,1755840070.820 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:10.820Z,1755840070.820 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:10.832Z,1755840070.832 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:10.832Z,1755840070.832 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:11.161Z,1755840071.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.699997 m,
      deltaT: 3.778533 s,
      deltaX: -2.500000 m,
      approachRate: -0.661632 m/s,
      rangeRepo size: 4

2025-08-22T05:21:11.181Z,1755840071.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 139.867493 m,
      bearing: 96.901721 deg,
      lat: 36.779225 deg,
      lon: -121.859594 deg,
      deltaT: 3.778533 s,
      deltaX: -2.480331 m,
      approachRate: -0.656427 m/s,
      posRepo size: 4

2025-08-22T05:21:11.181Z,1755840071.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:11.188Z,1755840071.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 138.942947 m,
      bearing: 96.732196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.013484 deg/s,
      cmd heading: 89.074901 deg,
      new cmd heading: 89.064698 deg.

2025-08-22T05:21:11.189Z,1755840071.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554472 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:11.569Z,1755840071.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:11.577Z,1755840071.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 138.664688 m,
      bearing: 96.726964 deg,
      approach rate: -0.680045 m/s,
      LOS rate: -0.012812 deg/s,
      cmd heading: 89.064697 deg,
      new cmd heading: 89.054212 deg.

2025-08-22T05:21:11.585Z,1755840071.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554289 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:11.000Z,1755840072.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:12.002Z,1755840072.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 138.363586 m,
      bearing: 96.719695 deg,
      approach rate: -0.699076 m/s,
      LOS rate: -0.016913 deg/s,
      cmd heading: 89.054213 deg,
      new cmd heading: 89.039643 deg.

2025-08-22T05:21:12.028Z,1755840072.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554035 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:12.372Z,1755840072.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:12.375Z,1755840072.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 138.112762 m,
      bearing: 96.713615 deg,
      approach rate: -0.672741 m/s,
      LOS rate: -0.016336 deg/s,
      cmd heading: 89.039644 deg,
      new cmd heading: 89.027462 deg.

2025-08-22T05:21:12.377Z,1755840072.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553822 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:12.799Z,1755840072.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:12.801Z,1755840072.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:12.804Z,1755840072.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 137.824829 m,
      bearing: 96.710805 deg,
      approach rate: -0.671117 m/s,
      LOS rate: -0.006563 deg/s,
      cmd heading: 89.027466 deg,
      new cmd heading: 89.021834 deg.

2025-08-22T05:21:12.805Z,1755840072.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553724 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:12.808Z,1755840072.808 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:12.808Z,1755840072.808 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:12.808Z,1755840072.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:13.060Z,1755840073.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249624
2025-08-22T05:21:13.192Z,1755840073.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:13.195Z,1755840073.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 137.561676 m,
      bearing: 96.708242 deg,
      approach rate: -0.673052 m/s,
      LOS rate: -0.006570 deg/s,
      cmd heading: 89.021837 deg,
      new cmd heading: 89.016700 deg.

2025-08-22T05:21:13.196Z,1755840073.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553635 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:13.312Z,1755840073.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501319
2025-08-22T05:21:13.564Z,1755840073.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753600
2025-08-22T05:21:13.577Z,1755840073.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:13.580Z,1755840073.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 137.303070 m,
      bearing: 96.705751 deg,
      approach rate: -0.672006 m/s,
      LOS rate: -0.006484 deg/s,
      cmd heading: 89.016701 deg,
      new cmd heading: 89.011711 deg.

2025-08-22T05:21:13.581Z,1755840073.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553547 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:13.819Z,1755840073.819 [DAT](INFO): DAT read: Rx Time:05:21:12.6287

2025-08-22T05:21:13.820Z,1755840073.820 [DAT](INFO): Rx dataTimestamp_ set to:1755840073.819389
2025-08-22T05:21:13.820Z,1755840073.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009400
2025-08-22T05:21:14.007Z,1755840074.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:14.010Z,1755840074.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 137.016235 m,
      bearing: 96.700556 deg,
      approach rate: -0.667592 m/s,
      LOS rate: -0.012118 deg/s,
      cmd heading: 89.011708 deg,
      new cmd heading: 89.001295 deg.

2025-08-22T05:21:14.011Z,1755840074.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553366 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:14.069Z,1755840074.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257936
2025-08-22T05:21:14.320Z,1755840074.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509337
2025-08-22T05:21:14.462Z,1755840074.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.87 m.
2025-08-22T05:21:14.465Z,1755840074.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 139.867493 m,
      nav range: 136.712341 m,
      bearing: 96.695017 deg,
      approach rate: -0.668043 m/s,
      LOS rate: -0.012202 deg/s,
      cmd heading: 89.001292 deg,
      new cmd heading: 88.990191 deg.

2025-08-22T05:21:14.466Z,1755840074.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553172 target range: 139.867493 and range: 140.70 m.
2025-08-22T05:21:14.583Z,1755840074.583 [DAT](INFO): DAT read: 05:21:12.6287 LVL= 24160, 29105, 25490, 32755, AGC= 68, IDX= 411, 0.30, 0.191,-1.682, 0.069,-0.215, PHS= 0.509,-1.422, 0.240, RAW= 142.6,   7.5, CAL= 142.2,   8.2, ROT=   7.8,  -8.2

2025-08-22T05:21:14.584Z,1755840074.584 [DAT](INFO): got valid direction response:
 05:21:12.6287 LVL= 24160, 29105, 25490, 32755, AGC= 68, IDX= 411, 0.30, 0.191,-1.682, 0.069,-0.215, PHS= 0.509,-1.422, 0.240, RAW= 142.6,   7.5, CAL= 142.2,   8.2, ROT=   7.8,  -8.2

2025-08-22T05:21:14.585Z,1755840074.585 [DAT](INFO): DAT read: Bearing 250.9,   4.1 (Local)

2025-08-22T05:21:14.586Z,1755840074.586 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.9,   4.1 (Local)

2025-08-22T05:21:14.588Z,1755840074.588 [DAT](INFO): DAT read: Range 11 to 50 : 138.1 m  (Round-trip  184.2 ms) speed  0.8 m/s

2025-08-22T05:21:14.588Z,1755840074.588 [DAT](INFO): DAT read: user:7442>

2025-08-22T05:21:14.589Z,1755840074.589 [DAT](INFO): DAT read: Tx time:05:21:13.7418

2025-08-22T05:21:14.589Z,1755840074.589 [DAT](INFO): Ping request sent.
2025-08-22T05:21:14.589Z,1755840074.589 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:14.590Z,1755840074.590 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:14.591Z,1755840074.591 [DAT](INFO): direction in FSK: [0.980619,0.134328,0.142629]
2025-08-22T05:21:14.591Z,1755840074.591 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:14.591Z,1755840074.591 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:14.594Z,1755840074.594 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:14.595Z,1755840074.595 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:14.874Z,1755840074.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.100006 m,
      deltaT: 3.783939 s,
      deltaX: -2.599991 m,
      approachRate: -0.687112 m/s,
      rangeRepo size: 4

2025-08-22T05:21:14.880Z,1755840074.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.283890 m,
      bearing: 96.283727 deg,
      lat: 36.779229 deg,
      lon: -121.859592 deg,
      deltaT: 3.783939 s,
      deltaX: -2.583603 m,
      approachRate: -0.682781 m/s,
      posRepo size: 4

2025-08-22T05:21:14.881Z,1755840074.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:14.888Z,1755840074.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 136.608490 m,
      bearing: 96.483311 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012202 deg/s,
      cmd heading: 88.990193 deg,
      new cmd heading: 88.980156 deg.

2025-08-22T05:21:14.889Z,1755840074.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552997 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:15.216Z,1755840075.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:15.218Z,1755840075.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:15.238Z,1755840075.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 136.370682 m,
      bearing: 96.477690 deg,
      approach rate: -0.689207 m/s,
      LOS rate: -0.016320 deg/s,
      cmd heading: 88.980153 deg,
      new cmd heading: 88.968890 deg.

2025-08-22T05:21:15.240Z,1755840075.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552800 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:15.328Z,1755840075.328 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:15.328Z,1755840075.328 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:15.328Z,1755840075.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:15.580Z,1755840075.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990773
2025-08-22T05:21:15.637Z,1755840075.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:15.653Z,1755840075.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 136.098755 m,
      bearing: 96.471296 deg,
      approach rate: -0.652056 m/s,
      LOS rate: -0.015363 deg/s,
      cmd heading: 88.968890 deg,
      new cmd heading: 88.956076 deg.

2025-08-22T05:21:15.657Z,1755840075.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552576 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:15.833Z,1755840075.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243192
2025-08-22T05:21:16.062Z,1755840076.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:16.065Z,1755840076.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 135.814026 m,
      bearing: 96.462948 deg,
      approach rate: -0.666683 m/s,
      LOS rate: -0.019587 deg/s,
      cmd heading: 88.956076 deg,
      new cmd heading: 88.939346 deg.

2025-08-22T05:21:16.066Z,1755840076.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552284 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:16.085Z,1755840076.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495248
2025-08-22T05:21:16.337Z,1755840076.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747442
2025-08-22T05:21:16.476Z,1755840076.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:16.479Z,1755840076.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 135.546402 m,
      bearing: 96.455108 deg,
      approach rate: -0.647622 m/s,
      LOS rate: -0.019010 deg/s,
      cmd heading: 88.939349 deg,
      new cmd heading: 88.923637 deg.

2025-08-22T05:21:16.489Z,1755840076.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552010 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:16.589Z,1755840076.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999070
2025-08-22T05:21:16.840Z,1755840076.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250895
2025-08-22T05:21:16.984Z,1755840076.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:16.987Z,1755840076.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 135.231400 m,
      bearing: 96.447286 deg,
      approach rate: -0.640391 m/s,
      LOS rate: -0.015939 deg/s,
      cmd heading: 88.923640 deg,
      new cmd heading: 88.907959 deg.

2025-08-22T05:21:17.000Z,1755840077.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551737 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:17.092Z,1755840077.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502787
2025-08-22T05:21:17.346Z,1755840077.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756587
2025-08-22T05:21:17.473Z,1755840077.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:17.475Z,1755840077.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:17.478Z,1755840077.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 134.869843 m,
      bearing: 96.438255 deg,
      approach rate: -0.712005 m/s,
      LOS rate: -0.017832 deg/s,
      cmd heading: 88.907958 deg,
      new cmd heading: 88.889847 deg.

2025-08-22T05:21:17.492Z,1755840077.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551420 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:17.596Z,1755840077.596 [DAT](INFO): DAT read: Rx Time:05:21:16.3271

2025-08-22T05:21:17.597Z,1755840077.597 [DAT](INFO): Rx dataTimestamp_ set to:1755840077.596464
2025-08-22T05:21:17.597Z,1755840077.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007887
2025-08-22T05:21:17.849Z,1755840077.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259400
2025-08-22T05:21:18.009Z,1755840078.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.28 m.
2025-08-22T05:21:18.013Z,1755840078.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.283890 m,
      nav range: 134.511337 m,
      bearing: 96.427720 deg,
      approach rate: -0.671363 m/s,
      LOS rate: -0.019781 deg/s,
      cmd heading: 88.889844 deg,
      new cmd heading: 88.868718 deg.

2025-08-22T05:21:18.014Z,1755840078.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551052 target range: 137.283890 and range: 138.10 m.
2025-08-22T05:21:18.107Z,1755840078.107 [DAT](INFO): DAT read: 05:21:16.3271 LVL= 24272, 28273, 24562, 32755, AGC= 66, IDX= 411, 0.22,-2.534, 1.931,-2.696,-2.918, PHS= 0.486,-1.389, 0.178, RAW= 141.2,   8.4, CAL= 140.8,   9.2, ROT=   9.2,  -9.2

2025-08-22T05:21:18.108Z,1755840078.108 [DAT](INFO): got valid direction response:
 05:21:16.3271 LVL= 24272, 28273, 24562, 32755, AGC= 66, IDX= 411, 0.22,-2.534, 1.931,-2.696,-2.918, PHS= 0.486,-1.389, 0.178, RAW= 141.2,   8.4, CAL= 140.8,   9.2, ROT=   9.2,  -9.2

2025-08-22T05:21:18.109Z,1755840078.109 [DAT](INFO): DAT read: Bearing 252.2,   5.6 (Local)

2025-08-22T05:21:18.109Z,1755840078.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.2,   5.6 (Local)

2025-08-22T05:21:18.111Z,1755840078.111 [DAT](INFO): DAT read: Range 11 to 50 : 135.8 m  (Round-trip  181.1 ms) speed  0.8 m/s

2025-08-22T05:21:18.112Z,1755840078.112 [DAT](INFO): DAT read: user:7443>

2025-08-22T05:21:18.113Z,1755840078.113 [DAT](INFO): DAT read: Tx time:05:21:17.4403

2025-08-22T05:21:18.113Z,1755840078.113 [DAT](INFO): Ping request sent.
2025-08-22T05:21:18.113Z,1755840078.113 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:18.113Z,1755840078.113 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:18.114Z,1755840078.114 [DAT](INFO): direction in FSK: [0.974438,0.157825,0.159881]
2025-08-22T05:21:18.114Z,1755840078.114 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:18.115Z,1755840078.115 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:18.122Z,1755840078.122 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:18.122Z,1755840078.122 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:18.515Z,1755840078.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.800003 m,
      deltaT: 3.528340 s,
      deltaX: -2.300003 m,
      approachRate: -0.651865 m/s,
      rangeRepo size: 4

2025-08-22T05:21:18.517Z,1755840078.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 134.991684 m,
      bearing: 97.611255 deg,
      lat: 36.779229 deg,
      lon: -121.859592 deg,
      deltaT: 3.528340 s,
      deltaX: -2.292206 m,
      approachRate: -0.649656 m/s,
      posRepo size: 4

2025-08-22T05:21:18.518Z,1755840078.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:18.521Z,1755840078.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 134.175018 m,
      bearing: 96.417710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019781 deg/s,
      cmd heading: 88.868718 deg,
      new cmd heading: 88.848740 deg.

2025-08-22T05:21:18.521Z,1755840078.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550703 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:18.986Z,1755840078.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:18.993Z,1755840078.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 133.870407 m,
      bearing: 96.410372 deg,
      approach rate: -0.645965 m/s,
      LOS rate: -0.015597 deg/s,
      cmd heading: 88.848740 deg,
      new cmd heading: 88.834030 deg.

2025-08-22T05:21:18.994Z,1755840078.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550446 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:19.356Z,1755840079.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:19.358Z,1755840079.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 133.612564 m,
      bearing: 96.404152 deg,
      approach rate: -0.696434 m/s,
      LOS rate: -0.016831 deg/s,
      cmd heading: 88.834028 deg,
      new cmd heading: 88.821565 deg.

2025-08-22T05:21:19.361Z,1755840079.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550229 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:19.825Z,1755840079.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:19.827Z,1755840079.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:19.830Z,1755840079.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 133.309265 m,
      bearing: 96.395615 deg,
      approach rate: -0.643992 m/s,
      LOS rate: -0.018169 deg/s,
      cmd heading: 88.821563 deg,
      new cmd heading: 88.804449 deg.

2025-08-22T05:21:19.831Z,1755840079.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549930 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:19.865Z,1755840079.865 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:19.865Z,1755840079.865 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:19.865Z,1755840079.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:20.116Z,1755840080.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003257
2025-08-22T05:21:20.197Z,1755840080.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:20.204Z,1755840080.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 133.060074 m,
      bearing: 96.388571 deg,
      approach rate: -0.673479 m/s,
      LOS rate: -0.019073 deg/s,
      cmd heading: 88.804446 deg,
      new cmd heading: 88.790332 deg.

2025-08-22T05:21:20.205Z,1755840080.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549684 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:20.368Z,1755840080.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255155
2025-08-22T05:21:20.546Z,1755840080.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:20.549Z,1755840080.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 132.810272 m,
      bearing: 96.381377 deg,
      approach rate: -0.715444 m/s,
      LOS rate: -0.020642 deg/s,
      cmd heading: 88.790335 deg,
      new cmd heading: 88.775920 deg.

2025-08-22T05:21:20.550Z,1755840080.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549432 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:20.621Z,1755840080.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508373
2025-08-22T05:21:20.872Z,1755840080.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759216
2025-08-22T05:21:21.032Z,1755840081.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:21.034Z,1755840081.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 132.496948 m,
      bearing: 96.373671 deg,
      approach rate: -0.650717 m/s,
      LOS rate: -0.016041 deg/s,
      cmd heading: 88.775923 deg,
      new cmd heading: 88.760475 deg.

2025-08-22T05:21:21.036Z,1755840081.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549163 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:21.125Z,1755840081.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011755
2025-08-22T05:21:21.353Z,1755840081.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:21.356Z,1755840081.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 132.276108 m,
      bearing: 96.368181 deg,
      approach rate: -0.678738 m/s,
      LOS rate: -0.016901 deg/s,
      cmd heading: 88.760473 deg,
      new cmd heading: 88.749475 deg.

2025-08-22T05:21:21.357Z,1755840081.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548971 target range: 134.991684 and range: 135.80 m.
2025-08-22T05:21:21.376Z,1755840081.376 [DAT](INFO): DAT read: Rx Time:05:21:20.0222

2025-08-22T05:21:21.377Z,1755840081.377 [DAT](INFO): Rx dataTimestamp_ set to:1755840081.376471
2025-08-22T05:21:21.377Z,1755840081.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264303
2025-08-22T05:21:21.629Z,1755840081.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515791
2025-08-22T05:21:21.851Z,1755840081.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:21.888Z,1755840081.888 [DAT](INFO): DAT read: 05:21:20.0222 LVL= 29264, 32753, 30898, 32755, AGC= 68, IDX= 409, 0.06,-2.073, 2.371,-2.223,-2.503, PHS= 0.532,-1.364, 0.237, RAW= 141.7,   6.8, CAL= 141.3,   7.5, ROT=   8.7,  -7.5

2025-08-22T05:21:21.889Z,1755840081.889 [DAT](INFO): got valid direction response:
 05:21:20.0222 LVL= 29264, 32753, 30898, 32755, AGC= 68, IDX= 409, 0.06,-2.073, 2.371,-2.223,-2.503, PHS= 0.532,-1.364, 0.237, RAW= 141.7,   6.8, CAL= 141.3,   7.5, ROT=   8.7,  -7.5

2025-08-22T05:21:21.890Z,1755840081.890 [DAT](INFO): DAT read: Bearing 251.1,   5.5 (Local)

2025-08-22T05:21:21.890Z,1755840081.890 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.1,   5.5 (Local)

2025-08-22T05:21:21.892Z,1755840081.892 [DAT](INFO): DAT read: Range 11 to 50 : 133.3 m  (Round-trip  177.8 ms) speed  0.5 m/s

2025-08-22T05:21:21.893Z,1755840081.893 [DAT](INFO): DAT read: user:7444>

2025-08-22T05:21:21.894Z,1755840081.894 [DAT](INFO): DAT read: Tx time:05:21:21.1403

2025-08-22T05:21:21.894Z,1755840081.894 [DAT](INFO): Ping request sent.
2025-08-22T05:21:21.894Z,1755840081.894 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:21.894Z,1755840081.894 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:21.896Z,1755840081.896 [DAT](INFO): direction in FSK: [0.980037,0.149967,0.130526]
2025-08-22T05:21:21.897Z,1755840081.897 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:21.897Z,1755840081.897 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:21.903Z,1755840081.903 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:21.903Z,1755840081.903 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:21.928Z,1755840081.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.300003 m,
      deltaT: 3.780718 s,
      deltaX: -2.500000 m,
      approachRate: -0.661250 m/s,
      rangeRepo size: 4

2025-08-22T05:21:21.930Z,1755840081.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:21.937Z,1755840081.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 131.943863 m,
      bearing: 96.360073 deg,
      approach rate: -0.592641 m/s,
      LOS rate: -0.014500 deg/s,
      cmd heading: 88.749477 deg,
      new cmd heading: 88.733219 deg.

2025-08-22T05:21:21.938Z,1755840081.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548687 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:22.281Z,1755840082.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:22.284Z,1755840082.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 131.669968 m,
      bearing: 96.353261 deg,
      approach rate: -0.745374 m/s,
      LOS rate: -0.018577 deg/s,
      cmd heading: 88.733221 deg,
      new cmd heading: 88.719568 deg.

2025-08-22T05:21:22.285Z,1755840082.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548449 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:22.679Z,1755840082.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:22.682Z,1755840082.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 131.405106 m,
      bearing: 96.346623 deg,
      approach rate: -0.693334 m/s,
      LOS rate: -0.017412 deg/s,
      cmd heading: 88.719567 deg,
      new cmd heading: 88.706264 deg.

2025-08-22T05:21:22.683Z,1755840082.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548216 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:23.085Z,1755840083.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:23.088Z,1755840083.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 131.118164 m,
      bearing: 96.339377 deg,
      approach rate: -0.679637 m/s,
      LOS rate: -0.017200 deg/s,
      cmd heading: 88.706262 deg,
      new cmd heading: 88.691738 deg.

2025-08-22T05:21:23.089Z,1755840083.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547963 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:23.483Z,1755840083.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:23.486Z,1755840083.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 130.847763 m,
      bearing: 96.332584 deg,
      approach rate: -0.680042 m/s,
      LOS rate: -0.017117 deg/s,
      cmd heading: 88.691741 deg,
      new cmd heading: 88.678129 deg.

2025-08-22T05:21:23.487Z,1755840083.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547725 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:23.889Z,1755840083.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:23.891Z,1755840083.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:23.894Z,1755840083.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 130.573502 m,
      bearing: 96.323458 deg,
      approach rate: -0.671646 m/s,
      LOS rate: -0.022398 deg/s,
      cmd heading: 88.678129 deg,
      new cmd heading: 88.659836 deg.

2025-08-22T05:21:23.896Z,1755840083.896 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:23.896Z,1755840083.896 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:23.897Z,1755840083.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:23.898Z,1755840083.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547406 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:24.150Z,1755840084.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255382
2025-08-22T05:21:24.287Z,1755840084.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:24.290Z,1755840084.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 130.317688 m,
      bearing: 96.314852 deg,
      approach rate: -0.646726 m/s,
      LOS rate: -0.021797 deg/s,
      cmd heading: 88.659837 deg,
      new cmd heading: 88.642593 deg.

2025-08-22T05:21:24.291Z,1755840084.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547105 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:24.402Z,1755840084.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507460
2025-08-22T05:21:24.652Z,1755840084.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758140
2025-08-22T05:21:24.695Z,1755840084.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:24.698Z,1755840084.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 130.032318 m,
      bearing: 96.305213 deg,
      approach rate: -0.698546 m/s,
      LOS rate: -0.023648 deg/s,
      cmd heading: 88.642591 deg,
      new cmd heading: 88.623270 deg.

2025-08-22T05:21:24.699Z,1755840084.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546768 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:24.905Z,1755840084.905 [DAT](INFO): DAT read: Rx Time:05:21:23.7189

2025-08-22T05:21:24.906Z,1755840084.906 [DAT](INFO): Rx dataTimestamp_ set to:1755840084.904965
2025-08-22T05:21:24.907Z,1755840084.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012620
2025-08-22T05:21:25.111Z,1755840085.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:25.114Z,1755840085.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 129.744675 m,
      bearing: 96.297016 deg,
      approach rate: -0.691540 m/s,
      LOS rate: -0.019749 deg/s,
      cmd heading: 88.623269 deg,
      new cmd heading: 88.606840 deg.

2025-08-22T05:21:25.115Z,1755840085.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546481 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:25.157Z,1755840085.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263150
2025-08-22T05:21:25.410Z,1755840085.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515333
2025-08-22T05:21:25.533Z,1755840085.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.99 m.
2025-08-22T05:21:25.536Z,1755840085.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 134.991684 m,
      nav range: 129.458359 m,
      bearing: 96.288822 deg,
      approach rate: -0.678881 m/s,
      LOS rate: -0.019473 deg/s,
      cmd heading: 88.606842 deg,
      new cmd heading: 88.590417 deg.

2025-08-22T05:21:25.537Z,1755840085.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546194 target range: 134.991684 and range: 133.30 m.
2025-08-22T05:21:25.667Z,1755840085.667 [DAT](INFO): DAT read: 05:21:23.7189 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.05, 1.637,-0.239, 1.505, 1.214, PHS= 0.525,-1.408, 0.246, RAW= 142.3,   7.1, CAL= 141.9,   7.8, ROT=   8.1,  -7.8

2025-08-22T05:21:25.668Z,1755840085.668 [DAT](INFO): got valid direction response:
 05:21:23.7189 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 407, 0.05, 1.637,-0.239, 1.505, 1.214, PHS= 0.525,-1.408, 0.246, RAW= 142.3,   7.1, CAL= 141.9,   7.8, ROT=   8.1,  -7.8

2025-08-22T05:21:25.669Z,1755840085.669 [DAT](INFO): DAT read: Bearing 252.3,   5.2 (Local)

2025-08-22T05:21:25.669Z,1755840085.669 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.3,   5.2 (Local)

2025-08-22T05:21:25.671Z,1755840085.671 [DAT](INFO): DAT read: Range 11 to 50 : 130.8 m  (Round-trip  174.5 ms) speed  0.7 m/s

2025-08-22T05:21:25.672Z,1755840085.672 [DAT](INFO): DAT read: user:7445>

2025-08-22T05:21:25.672Z,1755840085.672 [DAT](INFO): DAT read: Tx time:05:21:24.8403

2025-08-22T05:21:25.673Z,1755840085.673 [DAT](INFO): Ping request sent.
2025-08-22T05:21:25.673Z,1755840085.673 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:25.673Z,1755840085.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:25.674Z,1755840085.674 [DAT](INFO): direction in FSK: [0.980864,0.139598,0.135716]
2025-08-22T05:21:25.674Z,1755840085.674 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:25.675Z,1755840085.675 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:25.678Z,1755840085.678 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:25.678Z,1755840085.678 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:26.004Z,1755840086.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.800003 m,
      deltaT: 3.779051 s,
      deltaX: -2.500000 m,
      approachRate: -0.661542 m/s,
      rangeRepo size: 4

2025-08-22T05:21:26.006Z,1755840086.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.022964 m,
      bearing: 96.642999 deg,
      lat: 36.779221 deg,
      lon: -121.859588 deg,
      deltaT: 7.559769 s,
      deltaX: -4.968719 m,
      approachRate: -0.657258 m/s,
      posRepo size: 4

2025-08-22T05:21:26.011Z,1755840086.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:26.014Z,1755840086.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 129.551743 m,
      bearing: 96.681055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019473 deg/s,
      cmd heading: 88.590415 deg,
      new cmd heading: 88.572097 deg.

2025-08-22T05:21:26.015Z,1755840086.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545875 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:26.334Z,1755840086.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:26.336Z,1755840086.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:26.355Z,1755840086.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 129.308319 m,
      bearing: 96.675191 deg,
      approach rate: -0.730357 m/s,
      LOS rate: -0.017629 deg/s,
      cmd heading: 88.572097 deg,
      new cmd heading: 88.560345 deg.

2025-08-22T05:21:26.356Z,1755840086.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545670 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:26.418Z,1755840086.418 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:26.418Z,1755840086.418 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:26.418Z,1755840086.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:26.668Z,1755840086.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995421
2025-08-22T05:21:26.739Z,1755840086.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:26.742Z,1755840086.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 129.030853 m,
      bearing: 96.668564 deg,
      approach rate: -0.689385 m/s,
      LOS rate: -0.016499 deg/s,
      cmd heading: 88.560342 deg,
      new cmd heading: 88.547061 deg.

2025-08-22T05:21:26.743Z,1755840086.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545438 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:26.921Z,1755840086.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248020
2025-08-22T05:21:27.173Z,1755840087.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500559
2025-08-22T05:21:27.185Z,1755840087.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:27.187Z,1755840087.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 128.727127 m,
      bearing: 96.658991 deg,
      approach rate: -0.681667 m/s,
      LOS rate: -0.021537 deg/s,
      cmd heading: 88.547064 deg,
      new cmd heading: 88.527872 deg.

2025-08-22T05:21:27.188Z,1755840087.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545103 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:27.424Z,1755840087.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751375
2025-08-22T05:21:27.549Z,1755840087.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:27.552Z,1755840087.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 128.472214 m,
      bearing: 96.650922 deg,
      approach rate: -0.699804 m/s,
      LOS rate: -0.022194 deg/s,
      cmd heading: 88.527871 deg,
      new cmd heading: 88.511702 deg.

2025-08-22T05:21:27.553Z,1755840087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544821 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:27.676Z,1755840087.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003546
2025-08-22T05:21:27.928Z,1755840087.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255396
2025-08-22T05:21:27.996Z,1755840087.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:27.998Z,1755840087.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 128.175629 m,
      bearing: 96.641494 deg,
      approach rate: -0.663408 m/s,
      LOS rate: -0.021138 deg/s,
      cmd heading: 88.511704 deg,
      new cmd heading: 88.492805 deg.

2025-08-22T05:21:27.000Z,1755840088.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544491 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:28.181Z,1755840088.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508021
2025-08-22T05:21:28.359Z,1755840088.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:28.361Z,1755840088.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:28.364Z,1755840088.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 127.926727 m,
      bearing: 96.633596 deg,
      approach rate: -0.680784 m/s,
      LOS rate: -0.021645 deg/s,
      cmd heading: 88.492805 deg,
      new cmd heading: 88.476978 deg.

2025-08-22T05:21:28.365Z,1755840088.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544215 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:28.432Z,1755840088.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759492
2025-08-22T05:21:28.684Z,1755840088.684 [DAT](INFO): DAT read: Rx Time:05:21:27.4156

2025-08-22T05:21:28.685Z,1755840088.685 [DAT](INFO): Rx dataTimestamp_ set to:1755840088.684434
2025-08-22T05:21:28.685Z,1755840088.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012391
2025-08-22T05:21:28.769Z,1755840088.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.02 m.
2025-08-22T05:21:28.772Z,1755840088.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.022964 m,
      nav range: 127.652985 m,
      bearing: 96.624955 deg,
      approach rate: -0.671919 m/s,
      LOS rate: -0.021257 deg/s,
      cmd heading: 88.476980 deg,
      new cmd heading: 88.459659 deg.

2025-08-22T05:21:28.773Z,1755840088.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543912 target range: 130.022964 and range: 130.80 m.
2025-08-22T05:21:28.936Z,1755840088.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263364
2025-08-22T05:21:29.100Z,1755840089.100 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:21:29.195Z,1755840089.195 [DAT](INFO): DAT read: 05:21:27.4156 LVL= 24736, 30385, 25746, 32755, AGC= 67, IDX= 405, 0.36,-2.388, 2.105,-2.484,-2.777, PHS= 0.491,-1.356, 0.249, RAW= 143.1,   7.1, CAL= 142.6,   7.8, ROT=   7.4,  -7.8

2025-08-22T05:21:29.200Z,1755840089.200 [DAT](INFO): got valid direction response:
 05:21:27.4156 LVL= 24736, 30385, 25746, 32755, AGC= 67, IDX= 405, 0.36,-2.388, 2.105,-2.484,-2.777, PHS= 0.491,-1.356, 0.249, RAW= 143.1,   7.1, CAL= 142.6,   7.8, ROT=   7.4,  -7.8

2025-08-22T05:21:29.201Z,1755840089.201 [DAT](INFO): DAT read: Bearing 253.0,   4.8 (Local)

2025-08-22T05:21:29.201Z,1755840089.201 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.0,   4.8 (Local)

2025-08-22T05:21:29.202Z,1755840089.202 [DAT](INFO): DAT read: Range 11 to 50 : 128.3 m  (Round-trip  171.1 ms) speed  0.8 m/s

2025-08-22T05:21:29.203Z,1755840089.203 [DAT](INFO): DAT read: user:7446>

2025-08-22T05:21:29.204Z,1755840089.204 [DAT](INFO): DAT read: Tx time:05:21:28.5403

2025-08-22T05:21:29.204Z,1755840089.204 [DAT](INFO): Ping request sent.
2025-08-22T05:21:29.204Z,1755840089.204 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:29.205Z,1755840089.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:29.206Z,1755840089.206 [DAT](INFO): direction in FSK: [0.982496,0.127604,0.135716]
2025-08-22T05:21:29.206Z,1755840089.206 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:29.206Z,1755840089.206 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:29.238Z,1755840089.238 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:29.238Z,1755840089.238 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:29.345Z,1755840089.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.300003 m,
      deltaT: 3.528660 s,
      deltaX: -2.500000 m,
      approachRate: -0.708484 m/s,
      rangeRepo size: 4

2025-08-22T05:21:29.347Z,1755840089.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.537979 m,
      bearing: 95.768927 deg,
      lat: 36.779221 deg,
      lon: -121.859589 deg,
      deltaT: 3.528660 s,
      deltaX: -2.484985 m,
      approachRate: -0.704229 m/s,
      posRepo size: 4

2025-08-22T05:21:29.352Z,1755840089.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:29.354Z,1755840089.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 127.193810 m,
      bearing: 96.580955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021257 deg/s,
      cmd heading: 88.459658 deg,
      new cmd heading: 88.435212 deg.

2025-08-22T05:21:29.363Z,1755840089.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543486 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:29.711Z,1755840089.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:29.713Z,1755840089.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 126.930298 m,
      bearing: 96.574126 deg,
      approach rate: -0.718534 m/s,
      LOS rate: -0.018660 deg/s,
      cmd heading: 88.435213 deg,
      new cmd heading: 88.421526 deg.

2025-08-22T05:21:29.714Z,1755840089.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543247 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:30.104Z,1755840090.104 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:21:30.134Z,1755840090.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:30.141Z,1755840090.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 126.655502 m,
      bearing: 96.564432 deg,
      approach rate: -0.648399 m/s,
      LOS rate: -0.022924 deg/s,
      cmd heading: 88.421525 deg,
      new cmd heading: 88.402095 deg.

2025-08-22T05:21:30.142Z,1755840090.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542908 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:30.507Z,1755840090.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:30.509Z,1755840090.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:30.512Z,1755840090.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 126.402023 m,
      bearing: 96.555452 deg,
      approach rate: -0.676662 m/s,
      LOS rate: -0.024019 deg/s,
      cmd heading: 88.402093 deg,
      new cmd heading: 88.384098 deg.

2025-08-22T05:21:30.513Z,1755840090.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542593 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:30.700Z,1755840090.700 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:30.700Z,1755840090.700 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:30.701Z,1755840090.701 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:30.953Z,1755840090.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748030
2025-08-22T05:21:30.961Z,1755840090.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:30.968Z,1755840090.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 126.118973 m,
      bearing: 96.545412 deg,
      approach rate: -0.626495 m/s,
      LOS rate: -0.022273 deg/s,
      cmd heading: 88.384096 deg,
      new cmd heading: 88.363970 deg.

2025-08-22T05:21:30.969Z,1755840090.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542242 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:31.205Z,1755840091.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000600
2025-08-22T05:21:31.320Z,1755840091.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:31.323Z,1755840091.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 125.867767 m,
      bearing: 96.538632 deg,
      approach rate: -0.699405 m/s,
      LOS rate: -0.018914 deg/s,
      cmd heading: 88.363967 deg,
      new cmd heading: 88.350380 deg.

2025-08-22T05:21:31.324Z,1755840091.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542005 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:31.456Z,1755840091.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251645
2025-08-22T05:21:31.700Z,1755840091.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:31.703Z,1755840091.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 125.613342 m,
      bearing: 96.531716 deg,
      approach rate: -0.669457 m/s,
      LOS rate: -0.018235 deg/s,
      cmd heading: 88.350382 deg,
      new cmd heading: 88.336522 deg.

2025-08-22T05:21:31.704Z,1755840091.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541763 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:31.709Z,1755840091.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504083
2025-08-22T05:21:31.960Z,1755840091.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755785
2025-08-22T05:21:32.088Z,1755840092.088 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709085141,3571492.7,  0
2025-08-22T05:21:32.129Z,1755840092.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:32.136Z,1755840092.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 125.343468 m,
      bearing: 96.524415 deg,
      approach rate: -0.629541 m/s,
      LOS rate: -0.017066 deg/s,
      cmd heading: 88.336524 deg,
      new cmd heading: 88.321892 deg.

2025-08-22T05:21:32.137Z,1755840092.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541508 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:32.212Z,1755840092.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007823
2025-08-22T05:21:32.465Z,1755840092.465 [DAT](INFO): DAT read: Rx Time:05:21:31.1123

2025-08-22T05:21:32.465Z,1755840092.465 [DAT](INFO): Rx dataTimestamp_ set to:1755840092.464879
2025-08-22T05:21:32.466Z,1755840092.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261166
2025-08-22T05:21:32.529Z,1755840092.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:32.531Z,1755840092.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.54 m.
2025-08-22T05:21:32.534Z,1755840092.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.537979 m,
      nav range: 125.076180 m,
      bearing: 96.517264 deg,
      approach rate: -0.664397 m/s,
      LOS rate: -0.017815 deg/s,
      cmd heading: 88.321893 deg,
      new cmd heading: 88.307559 deg.

2025-08-22T05:21:32.535Z,1755840092.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541258 target range: 127.537979 and range: 128.30 m.
2025-08-22T05:21:32.716Z,1755840092.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511683
2025-08-22T05:21:32.977Z,1755840092.977 [DAT](INFO): DAT read: 05:21:31.1123 LVL= 27536, 32753, 30994, 32755, AGC= 68, IDX= 403, 0.41,-2.409, 2.006,-2.461,-2.799, PHS= 0.492,-1.433, 0.294, RAW= 144.6,   7.1, CAL= 144.2,   7.8, ROT=   5.8,  -7.8

2025-08-22T05:21:32.979Z,1755840092.979 [DAT](INFO): got valid direction response:
 05:21:31.1123 LVL= 27536, 32753, 30994, 32755, AGC= 68, IDX= 403, 0.41,-2.409, 2.006,-2.461,-2.799, PHS= 0.492,-1.433, 0.294, RAW= 144.6,   7.1, CAL= 144.2,   7.8, ROT=   5.8,  -7.8

2025-08-22T05:21:32.980Z,1755840092.980 [DAT](INFO): DAT read: Bearing 253.8,   3.7 (Local)

2025-08-22T05:21:32.980Z,1755840092.980 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.8,   3.7 (Local)

2025-08-22T05:21:32.981Z,1755840092.981 [DAT](INFO): DAT read: Range 11 to 50 : 125.8 m  (Round-trip  167.8 ms) speed  0.5 m/s

2025-08-22T05:21:32.982Z,1755840092.982 [DAT](INFO): DAT read: user:7447>

2025-08-22T05:21:32.983Z,1755840092.983 [DAT](INFO): DAT read: Tx time:05:21:32.2403

2025-08-22T05:21:33.027Z,1755840093.027 [DAT](INFO): Ping request sent.
2025-08-22T05:21:33.028Z,1755840093.028 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:33.028Z,1755840093.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:33.029Z,1755840093.029 [DAT](INFO): direction in FSK: [0.985676,0.100121,0.135716]
2025-08-22T05:21:33.029Z,1755840093.029 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:33.029Z,1755840093.029 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:33.045Z,1755840093.045 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:33.045Z,1755840093.045 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:33.092Z,1755840093.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.800003 m,
      deltaT: 3.780973 s,
      deltaX: -2.500000 m,
      approachRate: -0.661205 m/s,
      rangeRepo size: 4

2025-08-22T05:21:33.094Z,1755840093.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.053032 m,
      bearing: 94.087268 deg,
      lat: 36.779221 deg,
      lon: -121.859589 deg,
      deltaT: 3.780973 s,
      deltaX: -2.484947 m,
      approachRate: -0.657224 m/s,
      posRepo size: 4

2025-08-22T05:21:33.095Z,1755840093.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:33.101Z,1755840093.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 124.710396 m,
      bearing: 96.507438 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017815 deg/s,
      cmd heading: 88.307557 deg,
      new cmd heading: 88.287752 deg.

2025-08-22T05:21:33.102Z,1755840093.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540912 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:33.517Z,1755840093.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:33.520Z,1755840093.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 124.396873 m,
      bearing: 96.499341 deg,
      approach rate: -0.729037 m/s,
      LOS rate: -0.018875 deg/s,
      cmd heading: 88.287749 deg,
      new cmd heading: 88.271514 deg.

2025-08-22T05:21:33.521Z,1755840093.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540629 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:33.866Z,1755840093.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:33.869Z,1755840093.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 124.157890 m,
      bearing: 96.493281 deg,
      approach rate: -0.684813 m/s,
      LOS rate: -0.017399 deg/s,
      cmd heading: 88.271514 deg,
      new cmd heading: 88.259370 deg.

2025-08-22T05:21:33.870Z,1755840093.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540417 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:34.285Z,1755840094.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:34.288Z,1755840094.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 123.882614 m,
      bearing: 96.487250 deg,
      approach rate: -0.656805 m/s,
      LOS rate: -0.014421 deg/s,
      cmd heading: 88.259370 deg,
      new cmd heading: 88.247282 deg.

2025-08-22T05:21:34.289Z,1755840094.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540206 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:34.658Z,1755840094.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:34.660Z,1755840094.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:34.663Z,1755840094.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 123.636665 m,
      bearing: 96.481826 deg,
      approach rate: -0.655818 m/s,
      LOS rate: -0.014491 deg/s,
      cmd heading: 88.247280 deg,
      new cmd heading: 88.236411 deg.

2025-08-22T05:21:34.664Z,1755840094.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540016 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:34.732Z,1755840094.732 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:34.732Z,1755840094.732 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:34.733Z,1755840094.733 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:34.987Z,1755840094.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958943
2025-08-22T05:21:35.101Z,1755840095.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:35.104Z,1755840095.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 123.338257 m,
      bearing: 96.473648 deg,
      approach rate: -0.676070 m/s,
      LOS rate: -0.018573 deg/s,
      cmd heading: 88.236414 deg,
      new cmd heading: 88.220018 deg.

2025-08-22T05:21:35.105Z,1755840095.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539730 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:35.236Z,1755840095.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.208672
2025-08-22T05:21:35.478Z,1755840095.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:35.481Z,1755840095.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 123.095535 m,
      bearing: 96.467034 deg,
      approach rate: -0.644360 m/s,
      LOS rate: -0.017594 deg/s,
      cmd heading: 88.220021 deg,
      new cmd heading: 88.206766 deg.

2025-08-22T05:21:35.482Z,1755840095.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539498 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:35.488Z,1755840095.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460815
2025-08-22T05:21:35.741Z,1755840095.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713105
2025-08-22T05:21:35.865Z,1755840095.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:35.868Z,1755840095.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 122.822624 m,
      bearing: 96.459574 deg,
      approach rate: -0.704911 m/s,
      LOS rate: -0.019311 deg/s,
      cmd heading: 88.206764 deg,
      new cmd heading: 88.191811 deg.

2025-08-22T05:21:35.869Z,1755840095.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539237 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:35.996Z,1755840095.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.967177
2025-08-22T05:21:36.244Z,1755840096.244 [DAT](INFO): DAT read: Rx Time:05:21:34.8089

2025-08-22T05:21:36.245Z,1755840096.245 [DAT](INFO): Rx dataTimestamp_ set to:1755840096.244533
2025-08-22T05:21:36.245Z,1755840096.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.217837
2025-08-22T05:21:36.314Z,1755840096.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:36.329Z,1755840096.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 122.525406 m,
      bearing: 96.451250 deg,
      approach rate: -0.662715 m/s,
      LOS rate: -0.018605 deg/s,
      cmd heading: 88.191812 deg,
      new cmd heading: 88.175124 deg.

2025-08-22T05:21:36.330Z,1755840096.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538946 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:36.496Z,1755840096.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.468675
2025-08-22T05:21:36.685Z,1755840096.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:36.687Z,1755840096.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.05 m.
2025-08-22T05:21:36.690Z,1755840096.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.053032 m,
      nav range: 122.278534 m,
      bearing: 96.444420 deg,
      approach rate: -0.662033 m/s,
      LOS rate: -0.018354 deg/s,
      cmd heading: 88.175126 deg,
      new cmd heading: 88.161438 deg.

2025-08-22T05:21:36.691Z,1755840096.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538707 target range: 125.053032 and range: 125.80 m.
2025-08-22T05:21:36.755Z,1755840096.755 [DAT](INFO): DAT read: 05:21:34.8089 LVL= 29168, 31137, 29474, 32755, AGC= 68, IDX= 401,-0.41,-0.077,-1.967,-0.149,-0.482, PHS= 0.507,-1.440, 0.289, RAW= 144.1,   7.0, CAL= 143.7,   7.7, ROT=   6.3,  -7.7

2025-08-22T05:21:36.756Z,1755840096.756 [DAT](INFO): got valid direction response:
 05:21:34.8089 LVL= 29168, 31137, 29474, 32755, AGC= 68, IDX= 401,-0.41,-0.077,-1.967,-0.149,-0.482, PHS= 0.507,-1.440, 0.289, RAW= 144.1,   7.0, CAL= 143.7,   7.7, ROT=   6.3,  -7.7

2025-08-22T05:21:36.757Z,1755840096.757 [DAT](INFO): DAT read: Bearing 254.2,   4.1 (Local)

2025-08-22T05:21:36.757Z,1755840096.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.2,   4.1 (Local)

2025-08-22T05:21:36.759Z,1755840096.759 [DAT](INFO): DAT read: Range 11 to 50 : 123.3 m  (Round-trip  164.5 ms) speed  0.8 m/s

2025-08-22T05:21:36.760Z,1755840096.760 [DAT](INFO): DAT read: user:7448>

2025-08-22T05:21:36.760Z,1755840096.760 [DAT](INFO): DAT read: Tx time:05:21:35.8903

2025-08-22T05:21:36.760Z,1755840096.760 [DAT](INFO): Ping request sent.
2025-08-22T05:21:36.761Z,1755840096.761 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:36.761Z,1755840096.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:36.762Z,1755840096.762 [DAT](INFO): direction in FSK: [0.984999,0.108745,0.133986]
2025-08-22T05:21:36.762Z,1755840096.762 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:36.762Z,1755840096.762 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:36.771Z,1755840096.771 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:36.771Z,1755840096.771 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:37.198Z,1755840097.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.300003 m,
      deltaT: 3.778679 s,
      deltaX: -2.500000 m,
      approachRate: -0.661607 m/s,
      rangeRepo size: 4

2025-08-22T05:21:37.205Z,1755840097.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.562080 m,
      bearing: 94.274916 deg,
      lat: 36.779238 deg,
      lon: -121.859588 deg,
      deltaT: 3.778679 s,
      deltaX: -2.490952 m,
      approachRate: -0.659212 m/s,
      posRepo size: 4

2025-08-22T05:21:37.205Z,1755840097.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:37.212Z,1755840097.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 121.840378 m,
      bearing: 95.585048 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018354 deg/s,
      cmd heading: 88.161439 deg,
      new cmd heading: 88.142684 deg.

2025-08-22T05:21:37.213Z,1755840097.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538380 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:37.568Z,1755840097.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:37.571Z,1755840097.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 121.572006 m,
      bearing: 95.577260 deg,
      approach rate: -0.724465 m/s,
      LOS rate: -0.021070 deg/s,
      cmd heading: 88.142683 deg,
      new cmd heading: 88.127072 deg.

2025-08-22T05:21:37.572Z,1755840097.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538108 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:37.978Z,1755840097.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:37.000Z,1755840098.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 121.309807 m,
      bearing: 95.569663 deg,
      approach rate: -0.641685 m/s,
      LOS rate: -0.018631 deg/s,
      cmd heading: 88.127069 deg,
      new cmd heading: 88.111843 deg.

2025-08-22T05:21:38.011Z,1755840098.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537842 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:38.387Z,1755840098.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:38.408Z,1755840098.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 121.021500 m,
      bearing: 95.563986 deg,
      approach rate: -0.703185 m/s,
      LOS rate: -0.013881 deg/s,
      cmd heading: 88.111845 deg,
      new cmd heading: 88.100462 deg.

2025-08-22T05:21:38.409Z,1755840098.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537643 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:38.766Z,1755840098.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:38.769Z,1755840098.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:38.771Z,1755840098.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 120.757912 m,
      bearing: 95.558832 deg,
      approach rate: -0.690124 m/s,
      LOS rate: -0.013523 deg/s,
      cmd heading: 88.100465 deg,
      new cmd heading: 88.090135 deg.

2025-08-22T05:21:38.772Z,1755840098.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537463 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:39.018Z,1755840099.018 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:39.018Z,1755840099.018 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:39.019Z,1755840099.019 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:39.213Z,1755840099.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:39.216Z,1755840099.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 120.459152 m,
      bearing: 95.549932 deg,
      approach rate: -0.671693 m/s,
      LOS rate: -0.020060 deg/s,
      cmd heading: 88.090138 deg,
      new cmd heading: 88.072293 deg.

2025-08-22T05:21:39.217Z,1755840099.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537151 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:39.269Z,1755840099.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508676
2025-08-22T05:21:39.520Z,1755840099.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759639
2025-08-22T05:21:39.595Z,1755840099.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:39.598Z,1755840099.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 120.216141 m,
      bearing: 95.542886 deg,
      approach rate: -0.643695 m/s,
      LOS rate: -0.018701 deg/s,
      cmd heading: 88.072291 deg,
      new cmd heading: 88.058170 deg.

2025-08-22T05:21:39.599Z,1755840099.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536905 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:39.772Z,1755840099.772 [DAT](INFO): DAT read: Rx Time:05:21:38.4557

2025-08-22T05:21:39.773Z,1755840099.773 [DAT](INFO): Rx dataTimestamp_ set to:1755840099.772358
2025-08-22T05:21:39.773Z,1755840099.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012551
2025-08-22T05:21:39.975Z,1755840099.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.56 m.
2025-08-22T05:21:39.977Z,1755840099.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.562080 m,
      nav range: 119.948135 m,
      bearing: 95.535174 deg,
      approach rate: -0.698515 m/s,
      LOS rate: -0.020144 deg/s,
      cmd heading: 88.058173 deg,
      new cmd heading: 88.042715 deg.

2025-08-22T05:21:39.979Z,1755840099.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536635 target range: 122.562080 and range: 123.30 m.
2025-08-22T05:21:40.027Z,1755840100.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265662
2025-08-22T05:21:40.282Z,1755840100.282 [DAT](INFO): DAT read: 05:21:38.4556 LVL= 27440, 30097, 27250, 32755, AGC= 69, IDX= 416, 0.34,-2.769, 1.636,-2.844, 3.100, PHS= 0.516,-1.420, 0.295, RAW= 144.0,   6.7, CAL= 143.6,   7.3, ROT=   6.4,  -7.3

2025-08-22T05:21:40.283Z,1755840100.283 [DAT](INFO): got valid direction response:
 05:21:38.4556 LVL= 27440, 30097, 27250, 32755, AGC= 69, IDX= 416, 0.34,-2.769, 1.636,-2.844, 3.100, PHS= 0.516,-1.420, 0.295, RAW= 144.0,   6.7, CAL= 143.6,   7.3, ROT=   6.4,  -7.3

2025-08-22T05:21:40.287Z,1755840100.287 [DAT](INFO): DAT read: Bearing 254.0,   4.7 (Local)

2025-08-22T05:21:40.287Z,1755840100.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.0,   4.7 (Local)

2025-08-22T05:21:40.289Z,1755840100.289 [DAT](INFO): DAT read: Range 11 to 50 : 120.9 m  (Round-trip  161.3 ms) speed  0.8 m/s

2025-08-22T05:21:40.290Z,1755840100.290 [DAT](INFO): DAT read: user:7449>

2025-08-22T05:21:40.290Z,1755840100.290 [DAT](INFO): DAT read: Tx time:05:21:39.5402

2025-08-22T05:21:40.291Z,1755840100.291 [DAT](INFO): Ping request sent.
2025-08-22T05:21:40.291Z,1755840100.291 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:40.291Z,1755840100.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:40.292Z,1755840100.292 [DAT](INFO): direction in FSK: [0.985713,0.110565,0.127065]
2025-08-22T05:21:40.292Z,1755840100.292 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:40.293Z,1755840100.293 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:40.309Z,1755840100.309 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:40.309Z,1755840100.309 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:40.501Z,1755840100.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.900002 m,
      deltaT: 3.527485 s,
      deltaX: -2.400002 m,
      approachRate: -0.680372 m/s,
      rangeRepo size: 4

2025-08-22T05:21:40.503Z,1755840100.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.176125 m,
      bearing: 94.114143 deg,
      lat: 36.779263 deg,
      lon: -121.859587 deg,
      deltaT: 3.527485 s,
      deltaX: -2.385956 m,
      approachRate: -0.676390 m/s,
      posRepo size: 4

2025-08-22T05:21:40.508Z,1755840100.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:40.510Z,1755840100.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 119.513237 m,
      bearing: 94.201391 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020144 deg/s,
      cmd heading: 88.042716 deg,
      new cmd heading: 88.021552 deg.

2025-08-22T05:21:40.516Z,1755840100.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536266 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:40.829Z,1755840100.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:40.831Z,1755840100.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:40.834Z,1755840100.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 119.277977 m,
      bearing: 94.192777 deg,
      approach rate: -0.711237 m/s,
      LOS rate: -0.026094 deg/s,
      cmd heading: 88.021549 deg,
      new cmd heading: 88.004287 deg.

2025-08-22T05:21:40.835Z,1755840100.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535965 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:41.035Z,1755840101.035 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:41.036Z,1755840101.036 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:41.037Z,1755840101.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:41.255Z,1755840101.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:41.258Z,1755840101.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 118.988518 m,
      bearing: 94.182904 deg,
      approach rate: -0.682199 m/s,
      LOS rate: -0.023324 deg/s,
      cmd heading: 88.004290 deg,
      new cmd heading: 87.984497 deg.

2025-08-22T05:21:41.259Z,1755840101.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535619 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:41.284Z,1755840101.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993395
2025-08-22T05:21:41.536Z,1755840101.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245572
2025-08-22T05:21:41.642Z,1755840101.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:41.645Z,1755840101.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 118.724594 m,
      bearing: 94.173967 deg,
      approach rate: -0.681753 m/s,
      LOS rate: -0.023138 deg/s,
      cmd heading: 87.984496 deg,
      new cmd heading: 87.966581 deg.

2025-08-22T05:21:41.646Z,1755840101.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535306 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:41.788Z,1755840101.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497612
2025-08-22T05:21:42.043Z,1755840102.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751806
2025-08-22T05:21:42.142Z,1755840102.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:42.146Z,1755840102.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 118.386299 m,
      bearing: 94.161965 deg,
      approach rate: -0.676774 m/s,
      LOS rate: -0.024079 deg/s,
      cmd heading: 87.966580 deg,
      new cmd heading: 87.942508 deg.

2025-08-22T05:21:42.148Z,1755840102.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534886 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:42.292Z,1755840102.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001534
2025-08-22T05:21:42.489Z,1755840102.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:42.492Z,1755840102.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 118.151291 m,
      bearing: 94.153559 deg,
      approach rate: -0.677134 m/s,
      LOS rate: -0.024270 deg/s,
      cmd heading: 87.942510 deg,
      new cmd heading: 87.925664 deg.

2025-08-22T05:21:42.493Z,1755840102.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534592 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:42.546Z,1755840102.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254911
2025-08-22T05:21:42.796Z,1755840102.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505518
2025-08-22T05:21:42.908Z,1755840102.908 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:42.910Z,1755840102.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:42.913Z,1755840102.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 117.866890 m,
      bearing: 94.143367 deg,
      approach rate: -0.676168 m/s,
      LOS rate: -0.024289 deg/s,
      cmd heading: 87.925667 deg,
      new cmd heading: 87.905235 deg.

2025-08-22T05:21:42.914Z,1755840102.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534236 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:43.048Z,1755840103.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757508
2025-08-22T05:21:43.303Z,1755840103.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012071
2025-08-22T05:21:43.324Z,1755840103.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:43.326Z,1755840103.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 117.593483 m,
      bearing: 94.130127 deg,
      approach rate: -0.660938 m/s,
      LOS rate: -0.032083 deg/s,
      cmd heading: 87.905238 deg,
      new cmd heading: 87.878695 deg.

2025-08-22T05:21:43.328Z,1755840103.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533773 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:43.552Z,1755840103.552 [DAT](INFO): DAT read: Rx Time:05:21:42.1024

2025-08-22T05:21:43.553Z,1755840103.553 [DAT](INFO): Rx dataTimestamp_ set to:1755840103.552414
2025-08-22T05:21:43.553Z,1755840103.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262568
2025-08-22T05:21:43.701Z,1755840103.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.18 m.
2025-08-22T05:21:43.704Z,1755840103.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.176125 m,
      nav range: 117.344360 m,
      bearing: 94.117820 deg,
      approach rate: -0.659318 m/s,
      LOS rate: -0.032640 deg/s,
      cmd heading: 87.878696 deg,
      new cmd heading: 87.854030 deg.

2025-08-22T05:21:43.705Z,1755840103.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533342 target range: 120.176125 and range: 120.90 m.
2025-08-22T05:21:43.805Z,1755840103.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514191
2025-08-22T05:21:44.104Z,1755840104.104 [DAT](INFO): DAT read: 05:21:42.1024 LVL= 27008, 30001, 28066, 32755, AGC= 68, IDX= 415, 0.12, 2.011, 0.128, 1.991, 1.635, PHS= 0.478,-1.462, 0.312, RAW= 145.6,   7.3, CAL= 145.1,   7.9, ROT=   4.9,  -7.9

2025-08-22T05:21:44.107Z,1755840104.107 [DAT](INFO): got valid direction response:
 05:21:42.1024 LVL= 27008, 30001, 28066, 32755, AGC= 68, IDX= 415, 0.12, 2.011, 0.128, 1.991, 1.635, PHS= 0.478,-1.462, 0.312, RAW= 145.6,   7.3, CAL= 145.1,   7.9, ROT=   4.9,  -7.9

2025-08-22T05:21:44.110Z,1755840104.110 [DAT](INFO): DAT read: Bearing 255.3,   3.2 (Local)

2025-08-22T05:21:44.123Z,1755840104.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,   3.2 (Local)

2025-08-22T05:21:44.125Z,1755840104.125 [DAT](INFO): DAT read: Range 11 to 50 : 118.5 m  (Round-trip  158.1 ms) speed  0.9 m/s

2025-08-22T05:21:44.126Z,1755840104.126 [DAT](INFO): DAT read: user:7450>

2025-08-22T05:21:44.126Z,1755840104.126 [DAT](INFO): DAT read: Tx time:05:21:43.1902

2025-08-22T05:21:44.127Z,1755840104.127 [DAT](INFO): Ping request sent.
2025-08-22T05:21:44.127Z,1755840104.127 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:44.131Z,1755840104.131 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:44.132Z,1755840104.132 [DAT](INFO): direction in FSK: [0.986889,0.084606,0.137445]
2025-08-22T05:21:44.133Z,1755840104.133 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:44.133Z,1755840104.133 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:44.145Z,1755840104.145 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:44.145Z,1755840104.145 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:44.264Z,1755840104.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.500000 m,
      deltaT: 3.781586 s,
      deltaX: -2.400002 m,
      approachRate: -0.634655 m/s,
      rangeRepo size: 4

2025-08-22T05:21:44.267Z,1755840104.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.801033 m,
      bearing: 92.827433 deg,
      lat: 36.779264 deg,
      lon: -121.859586 deg,
      deltaT: 3.781586 s,
      deltaX: -2.375092 m,
      approachRate: -0.628068 m/s,
      posRepo size: 4

2025-08-22T05:21:44.274Z,1755840104.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:44.293Z,1755840104.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 117.092896 m,
      bearing: 94.010383 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032640 deg/s,
      cmd heading: 87.854032 deg,
      new cmd heading: 87.817310 deg.

2025-08-22T05:21:44.294Z,1755840104.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532701 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:44.567Z,1755840104.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:44.570Z,1755840104.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 116.878700 m,
      bearing: 93.999058 deg,
      approach rate: -0.706915 m/s,
      LOS rate: -0.037445 deg/s,
      cmd heading: 87.817313 deg,
      new cmd heading: 87.794621 deg.

2025-08-22T05:21:44.571Z,1755840104.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532305 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:44.978Z,1755840104.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:44.981Z,1755840104.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:44.984Z,1755840104.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 116.607094 m,
      bearing: 93.984452 deg,
      approach rate: -0.655973 m/s,
      LOS rate: -0.035358 deg/s,
      cmd heading: 87.794623 deg,
      new cmd heading: 87.765343 deg.

2025-08-22T05:21:44.985Z,1755840104.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531794 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:45.064Z,1755840105.064 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:45.064Z,1755840105.064 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:45.065Z,1755840105.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:45.316Z,1755840105.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.189740
2025-08-22T05:21:45.416Z,1755840105.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:45.419Z,1755840105.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 116.318626 m,
      bearing: 93.969739 deg,
      approach rate: -0.662198 m/s,
      LOS rate: -0.033859 deg/s,
      cmd heading: 87.765342 deg,
      new cmd heading: 87.735843 deg.

2025-08-22T05:21:45.420Z,1755840105.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531279 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:45.568Z,1755840105.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.441495
2025-08-22T05:21:45.779Z,1755840105.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:45.782Z,1755840105.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 116.073112 m,
      bearing: 93.957010 deg,
      approach rate: -0.677242 m/s,
      LOS rate: -0.035187 deg/s,
      cmd heading: 87.735843 deg,
      new cmd heading: 87.710330 deg.

2025-08-22T05:21:45.783Z,1755840105.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530834 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:45.821Z,1755840105.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.694209
2025-08-22T05:21:46.075Z,1755840106.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.947819
2025-08-22T05:21:46.228Z,1755840106.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:46.230Z,1755840106.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 115.779610 m,
      bearing: 93.939564 deg,
      approach rate: -0.654369 m/s,
      LOS rate: -0.038995 deg/s,
      cmd heading: 87.710332 deg,
      new cmd heading: 87.675351 deg.

2025-08-22T05:21:46.232Z,1755840106.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530224 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:46.324Z,1755840106.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197685
2025-08-22T05:21:46.576Z,1755840106.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449492
2025-08-22T05:21:46.604Z,1755840106.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:46.607Z,1755840106.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 115.547485 m,
      bearing: 93.925754 deg,
      approach rate: -0.616187 m/s,
      LOS rate: -0.036733 deg/s,
      cmd heading: 87.675354 deg,
      new cmd heading: 87.647679 deg.

2025-08-22T05:21:46.618Z,1755840106.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529741 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:46.828Z,1755840106.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701412
2025-08-22T05:21:47.049Z,1755840107.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:47.052Z,1755840107.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:47.054Z,1755840107.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 115.241974 m,
      bearing: 93.907509 deg,
      approach rate: -0.683531 m/s,
      LOS rate: -0.040927 deg/s,
      cmd heading: 87.647679 deg,
      new cmd heading: 87.611093 deg.

2025-08-22T05:21:47.056Z,1755840107.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529102 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:47.080Z,1755840107.080 [DAT](INFO): DAT read: Rx Time:05:21:45.7492

2025-08-22T05:21:47.081Z,1755840107.081 [DAT](INFO): Rx dataTimestamp_ set to:1755840107.080388
2025-08-22T05:21:47.081Z,1755840107.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954470
2025-08-22T05:21:47.333Z,1755840107.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205934
2025-08-22T05:21:47.444Z,1755840107.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.80 m.
2025-08-22T05:21:47.447Z,1755840107.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.801033 m,
      nav range: 114.975883 m,
      bearing: 93.894344 deg,
      approach rate: -0.676696 m/s,
      LOS rate: -0.033558 deg/s,
      cmd heading: 87.611096 deg,
      new cmd heading: 87.584705 deg.

2025-08-22T05:21:47.448Z,1755840107.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528641 target range: 117.801033 and range: 118.50 m.
2025-08-22T05:21:47.590Z,1755840107.590 [DAT](INFO): DAT read: 05:21:45.7492 LVL= 27680, 32753, 29330, 32755, AGC= 67, IDX= 414, 0.17, 2.584, 0.794, 2.594, 2.245, PHS= 0.440,-1.406, 0.304, RAW= 146.2,   7.5, CAL= 145.7,   8.1, ROT=   4.3,  -8.1

2025-08-22T05:21:47.592Z,1755840107.592 [DAT](INFO): got valid direction response:
 05:21:45.7492 LVL= 27680, 32753, 29330, 32755, AGC= 67, IDX= 414, 0.17, 2.584, 0.794, 2.594, 2.245, PHS= 0.440,-1.406, 0.304, RAW= 146.2,   7.5, CAL= 145.7,   8.1, ROT=   4.3,  -8.1

2025-08-22T05:21:47.594Z,1755840107.594 [DAT](INFO): DAT read: Bearing 256.6,   2.6 (Local)

2025-08-22T05:21:47.594Z,1755840107.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,   2.6 (Local)

2025-08-22T05:21:47.597Z,1755840107.597 [DAT](INFO): DAT read: Range 11 to 50 : 116.1 m  (Round-trip  154.8 ms) speed  0.7 m/s

2025-08-22T05:21:47.597Z,1755840107.597 [DAT](INFO): DAT read: user:7451>

2025-08-22T05:21:47.599Z,1755840107.599 [DAT](INFO): DAT read: Tx time:05:21:46.8402

2025-08-22T05:21:47.599Z,1755840107.599 [DAT](INFO): Ping request sent.
2025-08-22T05:21:47.599Z,1755840107.599 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:47.600Z,1755840107.600 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:47.601Z,1755840107.601 [DAT](INFO): direction in FSK: [0.987237,0.074231,0.140901]
2025-08-22T05:21:47.602Z,1755840107.602 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:47.602Z,1755840107.602 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:47.606Z,1755840107.606 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:47.606Z,1755840107.606 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:47.850Z,1755840107.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.099998 m,
      deltaT: 3.526593 s,
      deltaX: -2.400002 m,
      approachRate: -0.680544 m/s,
      rangeRepo size: 4

2025-08-22T05:21:47.865Z,1755840107.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.406830 m,
      bearing: 92.364441 deg,
      lat: 36.779269 deg,
      lon: -121.859584 deg,
      deltaT: 3.526593 s,
      deltaX: -2.394203 m,
      approachRate: -0.678900 m/s,
      posRepo size: 4

2025-08-22T05:21:47.865Z,1755840107.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:47.875Z,1755840107.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 114.831253 m,
      bearing: 93.621741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033558 deg/s,
      cmd heading: 87.584704 deg,
      new cmd heading: 87.557507 deg.

2025-08-22T05:21:47.881Z,1755840107.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528167 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:48.258Z,1755840108.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:48.261Z,1755840108.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 114.540245 m,
      bearing: 93.605506 deg,
      approach rate: -0.712785 m/s,
      LOS rate: -0.039867 deg/s,
      cmd heading: 87.557506 deg,
      new cmd heading: 87.524954 deg.

2025-08-22T05:21:48.262Z,1755840108.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527599 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:48.635Z,1755840108.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:48.638Z,1755840108.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 114.286186 m,
      bearing: 93.591620 deg,
      approach rate: -0.673359 m/s,
      LOS rate: -0.036887 deg/s,
      cmd heading: 87.524954 deg,
      new cmd heading: 87.497119 deg.

2025-08-22T05:21:48.639Z,1755840108.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527113 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:49.045Z,1755840109.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:49.048Z,1755840109.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 114.005898 m,
      bearing: 93.576725 deg,
      approach rate: -0.684411 m/s,
      LOS rate: -0.036459 deg/s,
      cmd heading: 87.497121 deg,
      new cmd heading: 87.467258 deg.

2025-08-22T05:21:49.049Z,1755840109.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.526592 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:49.474Z,1755840109.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:49.476Z,1755840109.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:49.479Z,1755840109.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 113.726974 m,
      bearing: 93.560721 deg,
      approach rate: -0.646234 m/s,
      LOS rate: -0.037171 deg/s,
      cmd heading: 87.467259 deg,
      new cmd heading: 87.435172 deg.

2025-08-22T05:21:49.484Z,1755840109.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.526032 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:49.600Z,1755840109.600 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:49.600Z,1755840109.600 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:49.600Z,1755840109.600 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:49.850Z,1755840109.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:49.857Z,1755840109.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255159
2025-08-22T05:21:49.861Z,1755840109.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 113.465591 m,
      bearing: 93.545905 deg,
      approach rate: -0.700458 m/s,
      LOS rate: -0.039797 deg/s,
      cmd heading: 87.435171 deg,
      new cmd heading: 87.405470 deg.

2025-08-22T05:21:49.862Z,1755840109.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525513 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:50.105Z,1755840110.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505077
2025-08-22T05:21:50.285Z,1755840110.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:50.292Z,1755840110.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 113.182213 m,
      bearing: 93.530902 deg,
      approach rate: -0.651102 m/s,
      LOS rate: -0.034558 deg/s,
      cmd heading: 87.405466 deg,
      new cmd heading: 87.375385 deg.

2025-08-22T05:21:50.296Z,1755840110.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524988 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:50.358Z,1755840110.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757939
2025-08-22T05:21:50.608Z,1755840110.608 [DAT](INFO): DAT read: Rx Time:05:21:49.3958

2025-08-22T05:21:50.609Z,1755840110.609 [DAT](INFO): Rx dataTimestamp_ set to:1755840110.608435
2025-08-22T05:21:50.609Z,1755840110.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009753
2025-08-22T05:21:50.666Z,1755840110.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:50.669Z,1755840110.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 112.913956 m,
      bearing: 93.516654 deg,
      approach rate: -0.703657 m/s,
      LOS rate: -0.037461 deg/s,
      cmd heading: 87.375386 deg,
      new cmd heading: 87.346824 deg.

2025-08-22T05:21:50.670Z,1755840110.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524490 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:50.861Z,1755840110.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261526
2025-08-22T05:21:51.052Z,1755840111.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T05:21:51.055Z,1755840111.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.406830 m,
      nav range: 112.653542 m,
      bearing: 93.502850 deg,
      approach rate: -0.674046 m/s,
      LOS rate: -0.035813 deg/s,
      cmd heading: 87.346822 deg,
      new cmd heading: 87.319150 deg.

2025-08-22T05:21:51.072Z,1755840111.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524007 target range: 115.406830 and range: 116.10 m.
2025-08-22T05:21:51.116Z,1755840111.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515791
2025-08-22T05:21:51.375Z,1755840111.375 [DAT](INFO): DAT read: 05:21:49.3958 LVL= 26896, 30289, 27602, 32755, AGC= 68, IDX= 412,-0.14, 3.067, 1.248, 3.022, 2.697, PHS= 0.472,-1.404, 0.282, RAW= 144.7,   7.3, CAL= 144.3,   8.0, ROT=   5.7,  -8.0

2025-08-22T05:21:51.377Z,1755840111.377 [DAT](INFO): got valid direction response:
 05:21:49.3958 LVL= 26896, 30289, 27602, 32755, AGC= 68, IDX= 412,-0.14, 3.067, 1.248, 3.022, 2.697, PHS= 0.472,-1.404, 0.282, RAW= 144.7,   7.3, CAL= 144.3,   8.0, ROT=   5.7,  -8.0

2025-08-22T05:21:51.379Z,1755840111.379 [DAT](INFO): DAT read: Bearing 256.6,   4.0 (Local)

2025-08-22T05:21:51.379Z,1755840111.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,   4.0 (Local)

2025-08-22T05:21:51.381Z,1755840111.381 [DAT](INFO): DAT read: Range 11 to 50 : 113.6 m  (Round-trip  151.5 ms) speed  0.5 m/s

2025-08-22T05:21:51.381Z,1755840111.381 [DAT](INFO): DAT read: user:7452>

2025-08-22T05:21:51.382Z,1755840111.382 [DAT](INFO): DAT read: Tx time:05:21:50.4902

2025-08-22T05:21:51.382Z,1755840111.382 [DAT](INFO): Ping request sent.
2025-08-22T05:21:51.382Z,1755840111.382 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:51.383Z,1755840111.383 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:51.384Z,1755840111.384 [DAT](INFO): direction in FSK: [0.985372,0.098353,0.139173]
2025-08-22T05:21:51.384Z,1755840111.384 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:51.384Z,1755840111.384 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:51.390Z,1755840111.390 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:51.392Z,1755840111.392 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:51.594Z,1755840111.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.599998 m,
      deltaT: 3.780788 s,
      deltaX: -2.500000 m,
      approachRate: -0.661238 m/s,
      rangeRepo size: 4

2025-08-22T05:21:51.613Z,1755840111.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.930855 m,
      bearing: 93.213122 deg,
      lat: 36.779274 deg,
      lon: -121.859584 deg,
      deltaT: 3.780788 s,
      deltaX: -2.475975 m,
      approachRate: -0.654883 m/s,
      posRepo size: 4

2025-08-22T05:21:51.613Z,1755840111.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:51.620Z,1755840111.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 112.285118 m,
      bearing: 93.212744 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035813 deg/s,
      cmd heading: 87.319146 deg,
      new cmd heading: 87.280409 deg.

2025-08-22T05:21:51.621Z,1755840111.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523331 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:52.044Z,1755840112.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:52.046Z,1755840112.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:52.050Z,1755840112.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 111.968102 m,
      bearing: 93.193188 deg,
      approach rate: -0.699644 m/s,
      LOS rate: -0.043281 deg/s,
      cmd heading: 87.280412 deg,
      new cmd heading: 87.241190 deg.

2025-08-22T05:21:52.051Z,1755840112.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522646 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:52.121Z,1755840112.121 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:52.121Z,1755840112.121 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:52.122Z,1755840112.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:52.374Z,1755840112.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991129
2025-08-22T05:21:52.440Z,1755840112.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:52.442Z,1755840112.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 111.718887 m,
      bearing: 93.178679 deg,
      approach rate: -0.646965 m/s,
      LOS rate: -0.037750 deg/s,
      cmd heading: 87.241193 deg,
      new cmd heading: 87.212110 deg.

2025-08-22T05:21:52.468Z,1755840112.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522138 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:52.625Z,1755840112.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242397
2025-08-22T05:21:52.877Z,1755840112.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494588
2025-08-22T05:21:52.891Z,1755840112.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:52.894Z,1755840112.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 111.385757 m,
      bearing: 93.159099 deg,
      approach rate: -0.724851 m/s,
      LOS rate: -0.042732 deg/s,
      cmd heading: 87.212111 deg,
      new cmd heading: 87.172833 deg.

2025-08-22T05:21:52.895Z,1755840112.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521453 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:53.128Z,1755840113.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745840
2025-08-22T05:21:53.379Z,1755840113.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:53.380Z,1755840113.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997890
2025-08-22T05:21:53.383Z,1755840113.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 111.064819 m,
      bearing: 93.142281 deg,
      approach rate: -0.658309 m/s,
      LOS rate: -0.034595 deg/s,
      cmd heading: 87.172830 deg,
      new cmd heading: 87.139098 deg.

2025-08-22T05:21:53.388Z,1755840113.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520864 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:53.632Z,1755840113.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249655
2025-08-22T05:21:53.737Z,1755840113.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:53.744Z,1755840113.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 110.804527 m,
      bearing: 93.128522 deg,
      approach rate: -0.725905 m/s,
      LOS rate: -0.038462 deg/s,
      cmd heading: 87.139096 deg,
      new cmd heading: 87.111513 deg.

2025-08-22T05:21:53.745Z,1755840113.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520383 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:53.884Z,1755840113.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501832
2025-08-22T05:21:54.131Z,1755840114.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:54.133Z,1755840114.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:54.136Z,1755840114.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753898
2025-08-22T05:21:54.138Z,1755840114.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 110.516190 m,
      bearing: 93.113092 deg,
      approach rate: -0.727850 m/s,
      LOS rate: -0.039052 deg/s,
      cmd heading: 87.111516 deg,
      new cmd heading: 87.080575 deg.

2025-08-22T05:21:54.139Z,1755840114.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519843 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:54.390Z,1755840114.390 [DAT](INFO): DAT read: Rx Time:05:21:53.0426

2025-08-22T05:21:54.391Z,1755840114.391 [DAT](INFO): Rx dataTimestamp_ set to:1755840114.390288
2025-08-22T05:21:54.392Z,1755840114.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009112
2025-08-22T05:21:54.571Z,1755840114.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.93 m.
2025-08-22T05:21:54.574Z,1755840114.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.930855 m,
      nav range: 110.212311 m,
      bearing: 93.096721 deg,
      approach rate: -0.694804 m/s,
      LOS rate: -0.037534 deg/s,
      cmd heading: 87.080575 deg,
      new cmd heading: 87.047743 deg.

2025-08-22T05:21:54.575Z,1755840114.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519270 target range: 112.930855 and range: 113.60 m.
2025-08-22T05:21:54.641Z,1755840114.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258118
2025-08-22T05:21:54.898Z,1755840114.898 [DAT](INFO): DAT read: 05:21:53.0426 LVL= 24704, 26145, 23282, 32755, AGC= 68, IDX= 411, 0.21, 3.076, 1.213, 3.058, 2.684, PHS= 0.494,-1.426, 0.329, RAW= 145.6,   6.6, CAL= 145.1,   7.2, ROT=   4.9,  -7.2

2025-08-22T05:21:54.903Z,1755840114.903 [DAT](INFO): got valid direction response:
 05:21:53.0426 LVL= 24704, 26145, 23282, 32755, AGC= 68, IDX= 411, 0.21, 3.076, 1.213, 3.058, 2.684, PHS= 0.494,-1.426, 0.329, RAW= 145.6,   6.6, CAL= 145.1,   7.2, ROT=   4.9,  -7.2

2025-08-22T05:21:54.904Z,1755840114.904 [DAT](INFO): DAT read: Bearing 256.3,   3.7 (Local)

2025-08-22T05:21:54.904Z,1755840114.904 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.3,   3.7 (Local)

2025-08-22T05:21:54.906Z,1755840114.906 [DAT](INFO): DAT read: Range 11 to 50 : 111.2 m  (Round-trip  148.3 ms) speed  0.5 m/s

2025-08-22T05:21:54.907Z,1755840114.907 [DAT](INFO): DAT read: user:7453>

2025-08-22T05:21:54.908Z,1755840114.908 [DAT](INFO): DAT read: Tx time:05:21:54.1402

2025-08-22T05:21:54.908Z,1755840114.908 [DAT](INFO): Ping request sent.
2025-08-22T05:21:54.908Z,1755840114.908 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:54.908Z,1755840114.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:54.909Z,1755840114.909 [DAT](INFO): direction in FSK: [0.988489,0.084743,0.125333]
2025-08-22T05:21:54.910Z,1755840114.910 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:54.910Z,1755840114.910 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:54.913Z,1755840114.913 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:54.913Z,1755840114.913 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:55.029Z,1755840115.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.199997 m,
      deltaT: 3.527039 s,
      deltaX: -2.400002 m,
      approachRate: -0.680458 m/s,
      rangeRepo size: 4

2025-08-22T05:21:55.031Z,1755840115.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.532867 m,
      bearing: 92.526607 deg,
      lat: 36.779283 deg,
      lon: -121.859583 deg,
      deltaT: 3.527039 s,
      deltaX: -2.397987 m,
      approachRate: -0.679887 m/s,
      posRepo size: 4

2025-08-22T05:21:55.036Z,1755840115.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:55.039Z,1755840115.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 109.906883 m,
      bearing: 92.527989 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037534 deg/s,
      cmd heading: 87.047742 deg,
      new cmd heading: 87.013390 deg.

2025-08-22T05:21:55.048Z,1755840115.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518670 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:55.416Z,1755840115.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:55.418Z,1755840115.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 109.624382 m,
      bearing: 92.509648 deg,
      approach rate: -0.730170 m/s,
      LOS rate: -0.047529 deg/s,
      cmd heading: 87.013393 deg,
      new cmd heading: 86.976616 deg.

2025-08-22T05:21:55.424Z,1755840115.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518028 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:55.781Z,1755840115.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:55.785Z,1755840115.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 109.374954 m,
      bearing: 92.493410 deg,
      approach rate: -0.681000 m/s,
      LOS rate: -0.044432 deg/s,
      cmd heading: 86.976612 deg,
      new cmd heading: 86.944064 deg.

2025-08-22T05:21:55.786Z,1755840115.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517460 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:56.203Z,1755840116.203 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:56.205Z,1755840116.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:56.209Z,1755840116.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 109.087631 m,
      bearing: 92.474665 deg,
      approach rate: -0.677957 m/s,
      LOS rate: -0.044347 deg/s,
      cmd heading: 86.944067 deg,
      new cmd heading: 86.906477 deg.

2025-08-22T05:21:56.210Z,1755840116.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.516804 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:56.404Z,1755840116.404 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:21:56.404Z,1755840116.404 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:21:56.404Z,1755840116.404 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:21:56.643Z,1755840116.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:56.646Z,1755840116.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 108.800781 m,
      bearing: 92.455193 deg,
      approach rate: -0.654826 m/s,
      LOS rate: -0.044569 deg/s,
      cmd heading: 86.906480 deg,
      new cmd heading: 86.867432 deg.

2025-08-22T05:21:56.648Z,1755840116.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.516123 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:56.656Z,1755840116.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748184
2025-08-22T05:21:56.909Z,1755840116.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000507
2025-08-22T05:21:57.000Z,1755840117.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:57.003Z,1755840117.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 108.567818 m,
      bearing: 92.439541 deg,
      approach rate: -0.652853 m/s,
      LOS rate: -0.043957 deg/s,
      cmd heading: 86.867432 deg,
      new cmd heading: 86.836061 deg.

2025-08-22T05:21:57.004Z,1755840117.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515575 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:57.161Z,1755840117.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252855
2025-08-22T05:21:57.412Z,1755840117.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504207
2025-08-22T05:21:57.430Z,1755840117.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:57.433Z,1755840117.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 108.293114 m,
      bearing: 92.421231 deg,
      approach rate: -0.638910 m/s,
      LOS rate: -0.042693 deg/s,
      cmd heading: 86.836061 deg,
      new cmd heading: 86.799348 deg.

2025-08-22T05:21:57.434Z,1755840117.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514934 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:57.664Z,1755840117.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756131
2025-08-22T05:21:57.807Z,1755840117.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:57.810Z,1755840117.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 108.045197 m,
      bearing: 92.404930 deg,
      approach rate: -0.657605 m/s,
      LOS rate: -0.043336 deg/s,
      cmd heading: 86.799349 deg,
      new cmd heading: 86.766673 deg.

2025-08-22T05:21:57.811Z,1755840117.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514364 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:57.916Z,1755840117.916 [DAT](INFO): DAT read: Rx Time:05:21:56.6894

2025-08-22T05:21:57.917Z,1755840117.917 [DAT](INFO): Rx dataTimestamp_ set to:1755840117.916448
2025-08-22T05:21:57.917Z,1755840117.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009156
2025-08-22T05:21:58.172Z,1755840118.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263359
2025-08-22T05:21:58.367Z,1755840118.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:21:58.369Z,1755840118.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.53 m.
2025-08-22T05:21:58.381Z,1755840118.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.532867 m,
      nav range: 107.697395 m,
      bearing: 92.383090 deg,
      approach rate: -0.618423 m/s,
      LOS rate: -0.038959 deg/s,
      cmd heading: 86.766673 deg,
      new cmd heading: 86.722851 deg.

2025-08-22T05:21:58.382Z,1755840118.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513599 target range: 110.532867 and range: 111.20 m.
2025-08-22T05:21:58.424Z,1755840118.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514869
2025-08-22T05:21:58.681Z,1755840118.681 [DAT](INFO): DAT read: 05:21:56.6894 LVL= 30704, 32753, 31010, 32755, AGC= 68, IDX= 410,-0.04,-0.980,-2.810,-0.991,-1.363, PHS= 0.485,-1.402, 0.328, RAW= 145.7,   6.6, CAL= 145.2,   7.1, ROT=   4.8,  -7.1

2025-08-22T05:21:58.683Z,1755840118.683 [DAT](INFO): got valid direction response:
 05:21:56.6894 LVL= 30704, 32753, 31010, 32755, AGC= 68, IDX= 410,-0.04,-0.980,-2.810,-0.991,-1.363, PHS= 0.485,-1.402, 0.328, RAW= 145.7,   6.6, CAL= 145.2,   7.1, ROT=   4.8,  -7.1

2025-08-22T05:21:58.705Z,1755840118.705 [DAT](INFO): DAT read: Bearing 256.6,   3.7 (Local)

2025-08-22T05:21:58.706Z,1755840118.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,   3.7 (Local)

2025-08-22T05:21:58.714Z,1755840118.714 [DAT](INFO): DAT read: Range 11 to 50 : 108.8 m  (Round-trip  145.1 ms) speed  0.6 m/s

2025-08-22T05:21:58.716Z,1755840118.716 [DAT](INFO): DAT read: user:7454>

2025-08-22T05:21:58.716Z,1755840118.716 [DAT](INFO): DAT read: Tx time:05:21:57.7902

2025-08-22T05:21:58.717Z,1755840118.717 [DAT](INFO): Ping request sent.
2025-08-22T05:21:58.717Z,1755840118.717 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:21:58.717Z,1755840118.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:21:58.718Z,1755840118.718 [DAT](INFO): direction in FSK: [0.988852,0.083036,0.123601]
2025-08-22T05:21:58.718Z,1755840118.718 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:58.718Z,1755840118.718 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:58.722Z,1755840118.722 [DAT](INFO): publishing transmit ping time
2025-08-22T05:21:58.722Z,1755840118.722 [DAT](INFO): publishing direction and range info
2025-08-22T05:21:58.881Z,1755840118.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.800003 m,
      deltaT: 3.781142 s,
      deltaX: -2.399994 m,
      approachRate: -0.634727 m/s,
      rangeRepo size: 4

2025-08-22T05:21:58.887Z,1755840118.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.145538 m,
      bearing: 91.567467 deg,
      lat: 36.779286 deg,
      lon: -121.859583 deg,
      deltaT: 3.781142 s,
      deltaX: -2.387329 m,
      approachRate: -0.631378 m/s,
      posRepo size: 4

2025-08-22T05:21:58.888Z,1755840118.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:21:58.891Z,1755840118.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 107.357384 m,
      bearing: 92.195697 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038959 deg/s,
      cmd heading: 86.722850 deg,
      new cmd heading: 86.683036 deg.

2025-08-22T05:21:58.896Z,1755840118.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512904 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:21:59.222Z,1755840119.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:21:59.225Z,1755840119.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 107.111908 m,
      bearing: 92.180430 deg,
      approach rate: -0.719021 m/s,
      LOS rate: -0.044823 deg/s,
      cmd heading: 86.683037 deg,
      new cmd heading: 86.652432 deg.

2025-08-22T05:21:59.226Z,1755840119.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.512370 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:21:59.649Z,1755840119.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:21:59.652Z,1755840119.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 106.838623 m,
      bearing: 92.162597 deg,
      approach rate: -0.640406 m/s,
      LOS rate: -0.041895 deg/s,
      cmd heading: 86.652431 deg,
      new cmd heading: 86.616675 deg.

2025-08-22T05:21:59.653Z,1755840119.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511746 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:00.021Z,1755840120.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:00.024Z,1755840120.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 106.601295 m,
      bearing: 92.147571 deg,
      approach rate: -0.637455 m/s,
      LOS rate: -0.040451 deg/s,
      cmd heading: 86.616675 deg,
      new cmd heading: 86.586555 deg.

2025-08-22T05:22:00.025Z,1755840120.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511220 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:00.224Z,1755840120.224 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:22:00.456Z,1755840120.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:00.458Z,1755840120.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:00.461Z,1755840120.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 106.321350 m,
      bearing: 92.128802 deg,
      approach rate: -0.640918 m/s,
      LOS rate: -0.043084 deg/s,
      cmd heading: 86.586554 deg,
      new cmd heading: 86.548917 deg.

2025-08-22T05:22:00.462Z,1755840120.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510564 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:00.688Z,1755840120.688 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:00.688Z,1755840120.688 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:00.688Z,1755840120.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:00.859Z,1755840120.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:00.878Z,1755840120.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 106.078804 m,
      bearing: 92.112872 deg,
      approach rate: -0.605362 m/s,
      LOS rate: -0.039850 deg/s,
      cmd heading: 86.548920 deg,
      new cmd heading: 86.516987 deg.

2025-08-22T05:22:00.879Z,1755840120.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510006 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:00.941Z,1755840120.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223777
2025-08-22T05:22:01.194Z,1755840121.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477006
2025-08-22T05:22:01.228Z,1755840121.228 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:22:01.237Z,1755840121.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:01.240Z,1755840121.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 105.824120 m,
      bearing: 92.096346 deg,
      approach rate: -0.672599 m/s,
      LOS rate: -0.043748 deg/s,
      cmd heading: 86.516989 deg,
      new cmd heading: 86.483858 deg.

2025-08-22T05:22:01.241Z,1755840121.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509428 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:01.444Z,1755840121.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727444
2025-08-22T05:22:01.661Z,1755840121.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:01.664Z,1755840121.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 105.544891 m,
      bearing: 92.076400 deg,
      approach rate: -0.658616 m/s,
      LOS rate: -0.047171 deg/s,
      cmd heading: 86.483855 deg,
      new cmd heading: 86.443858 deg.

2025-08-22T05:22:01.665Z,1755840121.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508730 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:01.699Z,1755840121.699 [DAT](INFO): DAT read: Rx Time:05:22:00.3363

2025-08-22T05:22:01.699Z,1755840121.699 [DAT](INFO): Rx dataTimestamp_ set to:1755840121.699125
2025-08-22T05:22:01.700Z,1755840121.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983135
2025-08-22T05:22:01.948Z,1755840121.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231416
2025-08-22T05:22:02.041Z,1755840122.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.15 m.
2025-08-22T05:22:02.048Z,1755840122.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.145538 m,
      nav range: 105.297340 m,
      bearing: 92.058711 deg,
      approach rate: -0.651184 m/s,
      LOS rate: -0.046641 deg/s,
      cmd heading: 86.443858 deg,
      new cmd heading: 86.408396 deg.

2025-08-22T05:22:02.055Z,1755840122.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508111 target range: 108.145538 and range: 108.80 m.
2025-08-22T05:22:02.209Z,1755840122.209 [DAT](INFO): DAT read: 05:22:00.3363 LVL= 24368, 30097, 30290, 32755, AGC= 68, IDX= 410, 0.20,-1.413, 3.053,-1.533,-1.806, PHS= 0.495,-1.379, 0.229, RAW= 142.4,   7.5, CAL= 142.0,   8.3, ROT=   8.0,  -8.3

2025-08-22T05:22:02.210Z,1755840122.210 [DAT](INFO): got valid direction response:
 05:22:00.3363 LVL= 24368, 30097, 30290, 32755, AGC= 68, IDX= 410, 0.20,-1.413, 3.053,-1.533,-1.806, PHS= 0.495,-1.379, 0.229, RAW= 142.4,   7.5, CAL= 142.0,   8.3, ROT=   8.0,  -8.3

2025-08-22T05:22:02.212Z,1755840122.212 [DAT](INFO): DAT read: Bearing 256.6,   6.0 (Local)

2025-08-22T05:22:02.212Z,1755840122.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,   6.0 (Local)

2025-08-22T05:22:02.214Z,1755840122.214 [DAT](INFO): DAT read: Range 11 to 50 : 106.4 m  (Round-trip  141.9 ms) speed  0.8 m/s

2025-08-22T05:22:02.214Z,1755840122.214 [DAT](INFO): DAT read: user:7455>

2025-08-22T05:22:02.224Z,1755840122.224 [DAT](INFO): DAT read: Tx time:05:22:01.4402

2025-08-22T05:22:02.224Z,1755840122.224 [DAT](INFO): Ping request sent.
2025-08-22T05:22:02.224Z,1755840122.224 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:02.225Z,1755840122.225 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:02.226Z,1755840122.226 [DAT](INFO): direction in FSK: [0.979896,0.137715,0.144356]
2025-08-22T05:22:02.226Z,1755840122.226 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:02.226Z,1755840122.226 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:02.245Z,1755840122.245 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:02.246Z,1755840122.246 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:02.544Z,1755840122.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.400002 m,
      deltaT: 3.527035 s,
      deltaX: -2.400002 m,
      approachRate: -0.680459 m/s,
      rangeRepo size: 4

2025-08-22T05:22:02.546Z,1755840122.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.766823 m,
      bearing: 93.413919 deg,
      lat: 36.779283 deg,
      lon: -121.859582 deg,
      deltaT: 3.527035 s,
      deltaX: -2.378716 m,
      approachRate: -0.674424 m/s,
      posRepo size: 4

2025-08-22T05:22:02.548Z,1755840122.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:02.550Z,1755840122.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 105.070015 m,
      bearing: 92.207993 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046641 deg/s,
      cmd heading: 86.408395 deg,
      new cmd heading: 86.361970 deg.

2025-08-22T05:22:02.552Z,1755840122.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507301 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:02.864Z,1755840122.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:02.866Z,1755840122.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:02.885Z,1755840122.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 104.831429 m,
      bearing: 92.192728 deg,
      approach rate: -0.729810 m/s,
      LOS rate: -0.046802 deg/s,
      cmd heading: 86.361971 deg,
      new cmd heading: 86.331370 deg.

2025-08-22T05:22:02.886Z,1755840122.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506767 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:02.957Z,1755840122.957 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:02.957Z,1755840122.957 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:02.958Z,1755840122.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:03.208Z,1755840123.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983831
2025-08-22T05:22:03.263Z,1755840123.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:03.286Z,1755840123.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 104.570488 m,
      bearing: 92.175813 deg,
      approach rate: -0.656985 m/s,
      LOS rate: -0.042692 deg/s,
      cmd heading: 86.331371 deg,
      new cmd heading: 86.297458 deg.

2025-08-22T05:22:03.287Z,1755840123.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.506175 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:03.461Z,1755840123.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236214
2025-08-22T05:22:03.676Z,1755840123.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:03.680Z,1755840123.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 104.299805 m,
      bearing: 92.156220 deg,
      approach rate: -0.654629 m/s,
      LOS rate: -0.047507 deg/s,
      cmd heading: 86.297459 deg,
      new cmd heading: 86.258172 deg.

2025-08-22T05:22:03.681Z,1755840123.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505489 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:03.712Z,1755840123.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488027
2025-08-22T05:22:03.964Z,1755840123.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739950
2025-08-22T05:22:04.082Z,1755840124.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:04.085Z,1755840124.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 104.045074 m,
      bearing: 92.137570 deg,
      approach rate: -0.628478 m/s,
      LOS rate: -0.046128 deg/s,
      cmd heading: 86.258172 deg,
      new cmd heading: 86.220779 deg.

2025-08-22T05:22:04.086Z,1755840124.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504836 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:04.216Z,1755840124.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991864
2025-08-22T05:22:04.468Z,1755840124.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244007
2025-08-22T05:22:04.485Z,1755840124.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:04.488Z,1755840124.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 103.773506 m,
      bearing: 92.120508 deg,
      approach rate: -0.672862 m/s,
      LOS rate: -0.042384 deg/s,
      cmd heading: 86.220777 deg,
      new cmd heading: 86.186564 deg.

2025-08-22T05:22:04.489Z,1755840124.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504239 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:04.720Z,1755840124.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496140
2025-08-22T05:22:04.885Z,1755840124.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:04.887Z,1755840124.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:04.890Z,1755840124.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 103.513596 m,
      bearing: 92.104056 deg,
      approach rate: -0.646990 m/s,
      LOS rate: -0.041058 deg/s,
      cmd heading: 86.186564 deg,
      new cmd heading: 86.153577 deg.

2025-08-22T05:22:04.891Z,1755840124.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503664 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:04.973Z,1755840124.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748812
2025-08-22T05:22:05.224Z,1755840125.224 [DAT](INFO): DAT read: Rx Time:05:22:03.9830

2025-08-22T05:22:05.225Z,1755840125.225 [DAT](INFO): Rx dataTimestamp_ set to:1755840125.224429
2025-08-22T05:22:05.225Z,1755840125.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000906
2025-08-22T05:22:05.305Z,1755840125.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:05.312Z,1755840125.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 103.247993 m,
      bearing: 92.087146 deg,
      approach rate: -0.635194 m/s,
      LOS rate: -0.040544 deg/s,
      cmd heading: 86.153575 deg,
      new cmd heading: 86.119669 deg.

2025-08-22T05:22:05.316Z,1755840125.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503072 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:05.477Z,1755840125.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252244
2025-08-22T05:22:05.733Z,1755840125.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508028
2025-08-22T05:22:05.885Z,1755840125.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.77 m.
2025-08-22T05:22:05.888Z,1755840125.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.766823 m,
      nav range: 102.866753 m,
      bearing: 92.061886 deg,
      approach rate: -0.657465 m/s,
      LOS rate: -0.043724 deg/s,
      cmd heading: 86.119670 deg,
      new cmd heading: 86.068962 deg.

2025-08-22T05:22:05.889Z,1755840125.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502187 target range: 105.766823 and range: 106.40 m.
2025-08-22T05:22:05.987Z,1755840125.987 [DAT](INFO): DAT read: 05:22:03.9830 LVL= 24368, 32065, 27346, 32755, AGC= 67, IDX= 409,-0.44, 2.909, 1.030, 2.796, 2.489, PHS= 0.522,-1.414, 0.263, RAW= 142.9,   7.0, CAL= 142.5,   7.7, ROT=   7.5,  -7.7

2025-08-22T05:22:05.988Z,1755840125.988 [DAT](INFO): got valid direction response:
 05:22:03.9830 LVL= 24368, 32065, 27346, 32755, AGC= 67, IDX= 409,-0.44, 2.909, 1.030, 2.796, 2.489, PHS= 0.522,-1.414, 0.263, RAW= 142.9,   7.0, CAL= 142.5,   7.7, ROT=   7.5,  -7.7

2025-08-22T05:22:05.989Z,1755840125.989 [DAT](INFO): DAT read: Bearing 256.3,   4.9 (Local)

2025-08-22T05:22:05.989Z,1755840125.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.3,   4.9 (Local)

2025-08-22T05:22:05.991Z,1755840125.991 [DAT](INFO): DAT read: Range 11 to 50 : 104.0 m  (Round-trip  138.7 ms) speed  0.7 m/s

2025-08-22T05:22:05.992Z,1755840125.992 [DAT](INFO): DAT read: user:7456>

2025-08-22T05:22:05.992Z,1755840125.992 [DAT](INFO): DAT read: Tx time:05:22:05.0901

2025-08-22T05:22:05.993Z,1755840125.993 [DAT](INFO): Ping request sent.
2025-08-22T05:22:05.993Z,1755840125.993 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:05.993Z,1755840125.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:05.994Z,1755840125.994 [DAT](INFO): direction in FSK: [0.982505,0.129349,0.133986]
2025-08-22T05:22:05.994Z,1755840125.994 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:05.995Z,1755840125.995 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:05.998Z,1755840125.998 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:05.999Z,1755840125.999 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:06.258Z,1755840126.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.000000 m,
      deltaT: 3.780443 s,
      deltaX: -2.400002 m,
      approachRate: -0.634847 m/s,
      rangeRepo size: 4

2025-08-22T05:22:06.264Z,1755840126.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.379822 m,
      bearing: 93.072222 deg,
      lat: 36.779274 deg,
      lon: -121.859582 deg,
      deltaT: 3.780443 s,
      deltaX: -2.387001 m,
      approachRate: -0.631408 m/s,
      posRepo size: 4

2025-08-22T05:22:06.265Z,1755840126.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:06.272Z,1755840126.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 102.690842 m,
      bearing: 92.637310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.043724 deg/s,
      cmd heading: 86.068962 deg,
      new cmd heading: 86.036437 deg.

2025-08-22T05:22:06.273Z,1755840126.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501619 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:06.645Z,1755840126.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:06.647Z,1755840126.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 102.427582 m,
      bearing: 92.624521 deg,
      approach rate: -0.679181 m/s,
      LOS rate: -0.033079 deg/s,
      cmd heading: 86.036437 deg,
      new cmd heading: 86.010793 deg.

2025-08-22T05:22:06.648Z,1755840126.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501172 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:07.005Z,1755840127.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:07.007Z,1755840127.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:07.010Z,1755840127.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 102.190620 m,
      bearing: 92.613074 deg,
      approach rate: -0.654074 m/s,
      LOS rate: -0.031670 deg/s,
      cmd heading: 86.010796 deg,
      new cmd heading: 85.987849 deg.

2025-08-22T05:22:07.012Z,1755840127.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500771 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:07.240Z,1755840127.240 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:07.240Z,1755840127.240 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:07.240Z,1755840127.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:07.492Z,1755840127.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499471
2025-08-22T05:22:07.502Z,1755840127.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:07.513Z,1755840127.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 101.889526 m,
      bearing: 92.598662 deg,
      approach rate: -0.608202 m/s,
      LOS rate: -0.029198 deg/s,
      cmd heading: 85.987847 deg,
      new cmd heading: 85.958937 deg.

2025-08-22T05:22:07.514Z,1755840127.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500266 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:07.745Z,1755840127.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751692
2025-08-22T05:22:07.899Z,1755840127.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:07.902Z,1755840127.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 101.609909 m,
      bearing: 92.585158 deg,
      approach rate: -0.705006 m/s,
      LOS rate: -0.034143 deg/s,
      cmd heading: 85.958935 deg,
      new cmd heading: 85.931852 deg.

2025-08-22T05:22:07.903Z,1755840127.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499794 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:07.996Z,1755840127.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003415
2025-08-22T05:22:08.248Z,1755840128.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255381
2025-08-22T05:22:08.272Z,1755840128.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:08.275Z,1755840128.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 101.364319 m,
      bearing: 92.573354 deg,
      approach rate: -0.657110 m/s,
      LOS rate: -0.031658 deg/s,
      cmd heading: 85.931853 deg,
      new cmd heading: 85.908189 deg.

2025-08-22T05:22:08.276Z,1755840128.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499381 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:08.501Z,1755840128.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507694
2025-08-22T05:22:08.709Z,1755840128.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:08.716Z,1755840128.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 101.087486 m,
      bearing: 92.563010 deg,
      approach rate: -0.634566 m/s,
      LOS rate: -0.023775 deg/s,
      cmd heading: 85.908186 deg,
      new cmd heading: 85.887442 deg.

2025-08-22T05:22:08.717Z,1755840128.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499019 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:08.752Z,1755840128.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759492
2025-08-22T05:22:09.004Z,1755840129.004 [DAT](INFO): DAT read: Rx Time:05:22:07.6298

2025-08-22T05:22:09.005Z,1755840129.005 [DAT](INFO): Rx dataTimestamp_ set to:1755840129.004498
2025-08-22T05:22:09.005Z,1755840129.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012437
2025-08-22T05:22:09.094Z,1755840129.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:09.097Z,1755840129.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.38 m.
2025-08-22T05:22:09.100Z,1755840129.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.379822 m,
      nav range: 100.816071 m,
      bearing: 92.552757 deg,
      approach rate: -0.699082 m/s,
      LOS rate: -0.026479 deg/s,
      cmd heading: 85.887443 deg,
      new cmd heading: 85.866882 deg.

2025-08-22T05:22:09.101Z,1755840129.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498660 target range: 103.379822 and range: 104.00 m.
2025-08-22T05:22:09.258Z,1755840129.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265356
2025-08-22T05:22:09.521Z,1755840129.521 [DAT](INFO): DAT read: 05:22:07.6298 LVL= 28400, 32753, 30578, 32755, AGC= 69, IDX= 409, 0.35, 1.191,-0.748, 1.062, 0.749, PHS= 0.544,-1.452, 0.269, RAW= 142.7,   6.9, CAL= 142.3,   7.6, ROT=   7.7,  -7.6

2025-08-22T05:22:09.522Z,1755840129.522 [DAT](INFO): got valid direction response:
 05:22:07.6298 LVL= 28400, 32753, 30578, 32755, AGC= 69, IDX= 409, 0.35, 1.191,-0.748, 1.062, 0.749, PHS= 0.544,-1.452, 0.269, RAW= 142.7,   6.9, CAL= 142.3,   7.6, ROT=   7.7,  -7.6

2025-08-22T05:22:09.523Z,1755840129.523 [DAT](INFO): DAT read: Bearing 256.2,   4.9 (Local)

2025-08-22T05:22:09.524Z,1755840129.524 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.2,   4.9 (Local)

2025-08-22T05:22:09.525Z,1755840129.525 [DAT](INFO): DAT read: Range 11 to 50 : 101.7 m  (Round-trip  135.6 ms) speed  0.9 m/s

2025-08-22T05:22:09.526Z,1755840129.526 [DAT](INFO): DAT read: user:7457>

2025-08-22T05:22:09.527Z,1755840129.527 [DAT](INFO): DAT read: Tx time:05:22:08.7401

2025-08-22T05:22:09.527Z,1755840129.527 [DAT](INFO): Ping request sent.
2025-08-22T05:22:09.532Z,1755840129.532 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:09.532Z,1755840129.532 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:09.533Z,1755840129.533 [DAT](INFO): direction in FSK: [0.982278,0.132809,0.132256]
2025-08-22T05:22:09.533Z,1755840129.533 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:09.534Z,1755840129.534 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:09.537Z,1755840129.537 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:09.537Z,1755840129.537 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:09.638Z,1755840129.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.699997 m,
      deltaT: 3.529206 s,
      deltaX: -2.300003 m,
      approachRate: -0.651706 m/s,
      rangeRepo size: 4

2025-08-22T05:22:09.645Z,1755840129.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.093407 m,
      bearing: 92.925762 deg,
      lat: 36.779267 deg,
      lon: -121.859580 deg,
      deltaT: 3.529206 s,
      deltaX: -2.286415 m,
      approachRate: -0.647855 m/s,
      posRepo size: 4

2025-08-22T05:22:09.646Z,1755840129.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:09.652Z,1755840129.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 100.727325 m,
      bearing: 92.925423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026479 deg/s,
      cmd heading: 85.866884 deg,
      new cmd heading: 85.838231 deg.

2025-08-22T05:22:09.653Z,1755840129.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498160 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:09.913Z,1755840129.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:09.920Z,1755840129.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 100.542778 m,
      bearing: 92.918148 deg,
      approach rate: -0.669859 m/s,
      LOS rate: -0.026455 deg/s,
      cmd heading: 85.838232 deg,
      new cmd heading: 85.823655 deg.

2025-08-22T05:22:09.921Z,1755840129.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497905 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:10.308Z,1755840130.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:10.316Z,1755840130.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 100.283195 m,
      bearing: 92.907953 deg,
      approach rate: -0.665388 m/s,
      LOS rate: -0.026201 deg/s,
      cmd heading: 85.823656 deg,
      new cmd heading: 85.803213 deg.

2025-08-22T05:22:10.318Z,1755840130.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497549 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:10.725Z,1755840130.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:10.728Z,1755840130.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 99.991455 m,
      bearing: 92.897529 deg,
      approach rate: -0.691756 m/s,
      LOS rate: -0.024787 deg/s,
      cmd heading: 85.803213 deg,
      new cmd heading: 85.782306 deg.

2025-08-22T05:22:10.729Z,1755840130.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497184 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:11.091Z,1755840131.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:11.094Z,1755840131.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 99.747490 m,
      bearing: 92.888827 deg,
      approach rate: -0.667146 m/s,
      LOS rate: -0.023855 deg/s,
      cmd heading: 85.782306 deg,
      new cmd heading: 85.764859 deg.

2025-08-22T05:22:11.095Z,1755840131.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496879 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:11.556Z,1755840131.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:11.558Z,1755840131.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:11.561Z,1755840131.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 99.448189 m,
      bearing: 92.878180 deg,
      approach rate: -0.641024 m/s,
      LOS rate: -0.022873 deg/s,
      cmd heading: 85.764862 deg,
      new cmd heading: 85.743502 deg.

2025-08-22T05:22:11.562Z,1755840131.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496506 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:11.777Z,1755840131.777 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:11.777Z,1755840131.777 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:11.778Z,1755840131.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:11.977Z,1755840131.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:11.984Z,1755840131.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 99.169022 m,
      bearing: 92.866648 deg,
      approach rate: -0.665728 m/s,
      LOS rate: -0.027576 deg/s,
      cmd heading: 85.743504 deg,
      new cmd heading: 85.720376 deg.

2025-08-22T05:22:11.985Z,1755840131.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496103 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:12.030Z,1755840132.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502728
2025-08-22T05:22:12.280Z,1755840132.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753216
2025-08-22T05:22:12.327Z,1755840132.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:12.337Z,1755840132.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 98.940804 m,
      bearing: 92.857316 deg,
      approach rate: -0.652820 m/s,
      LOS rate: -0.026756 deg/s,
      cmd heading: 85.720377 deg,
      new cmd heading: 85.701669 deg.

2025-08-22T05:22:12.339Z,1755840132.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495776 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:12.535Z,1755840132.535 [DAT](INFO): DAT read: Rx Time:05:22:11.2768

2025-08-22T05:22:12.536Z,1755840132.536 [DAT](INFO): Rx dataTimestamp_ set to:1755840132.535686
2025-08-22T05:22:12.538Z,1755840132.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010723
2025-08-22T05:22:12.741Z,1755840132.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.09 m.
2025-08-22T05:22:12.748Z,1755840132.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.093407 m,
      nav range: 98.665062 m,
      bearing: 92.845367 deg,
      approach rate: -0.665676 m/s,
      LOS rate: -0.028927 deg/s,
      cmd heading: 85.701669 deg,
      new cmd heading: 85.677704 deg.

2025-08-22T05:22:12.749Z,1755840132.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495358 target range: 101.093407 and range: 101.70 m.
2025-08-22T05:22:12.785Z,1755840132.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257436
2025-08-22T05:22:13.064Z,1755840133.064 [DAT](INFO): DAT read: 05:22:11.2768 LVL= 25616, 32753, 27026, 32755, AGC= 66, IDX= 410, 0.29, 2.641, 0.790, 2.507, 2.223, PHS= 0.520,-1.388, 0.240, RAW= 142.2,   7.1, CAL= 141.8,   7.8, ROT=   8.2,  -7.8

2025-08-22T05:22:13.065Z,1755840133.065 [DAT](INFO): got valid direction response:
 05:22:11.2768 LVL= 25616, 32753, 27026, 32755, AGC= 66, IDX= 410, 0.29, 2.641, 0.790, 2.507, 2.223, PHS= 0.520,-1.388, 0.240, RAW= 142.2,   7.1, CAL= 141.8,   7.8, ROT=   8.2,  -7.8

2025-08-22T05:22:13.066Z,1755840133.066 [DAT](INFO): DAT read: Bearing 256.4,   5.8 (Local)

2025-08-22T05:22:13.066Z,1755840133.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.4,   5.8 (Local)

2025-08-22T05:22:13.068Z,1755840133.068 [DAT](INFO): DAT read: Range 11 to 50 : 99.4 m  (Round-trip  132.6 ms) speed  0.4 m/s

2025-08-22T05:22:13.069Z,1755840133.069 [DAT](INFO): DAT read: user:7458>

2025-08-22T05:22:13.069Z,1755840133.069 [DAT](INFO): DAT read: Tx time:05:22:12.3901

2025-08-22T05:22:13.070Z,1755840133.070 [DAT](INFO): Ping request sent.
2025-08-22T05:22:13.070Z,1755840133.070 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:13.070Z,1755840133.070 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:13.071Z,1755840133.071 [DAT](INFO): direction in FSK: [0.980619,0.141309,0.135716]
2025-08-22T05:22:13.072Z,1755840133.072 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:13.072Z,1755840133.072 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:13.075Z,1755840133.075 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:13.076Z,1755840133.076 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:13.157Z,1755840133.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.400002 m,
      deltaT: 3.529375 s,
      deltaX: -2.299995 m,
      approachRate: -0.651672 m/s,
      rangeRepo size: 4

2025-08-22T05:22:13.164Z,1755840133.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.813026 m,
      bearing: 93.183133 deg,
      lat: 36.779266 deg,
      lon: -121.859580 deg,
      deltaT: 3.529375 s,
      deltaX: -2.280380 m,
      approachRate: -0.646114 m/s,
      posRepo size: 4

2025-08-22T05:22:13.165Z,1755840133.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:13.182Z,1755840133.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 98.415466 m,
      bearing: 92.893214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028927 deg/s,
      cmd heading: 85.677702 deg,
      new cmd heading: 85.653997 deg.

2025-08-22T05:22:13.183Z,1755840133.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494944 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:13.593Z,1755840133.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:13.599Z,1755840133.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:13.602Z,1755840133.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 98.103722 m,
      bearing: 92.880346 deg,
      approach rate: -0.701319 m/s,
      LOS rate: -0.029040 deg/s,
      cmd heading: 85.653994 deg,
      new cmd heading: 85.628177 deg.

2025-08-22T05:22:13.608Z,1755840133.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494494 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:13.792Z,1755840133.792 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:13.792Z,1755840133.792 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:13.792Z,1755840133.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:13.963Z,1755840133.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:13.970Z,1755840133.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 97.873589 m,
      bearing: 92.868805 deg,
      approach rate: -0.626030 m/s,
      LOS rate: -0.031469 deg/s,
      cmd heading: 85.628176 deg,
      new cmd heading: 85.605039 deg.

2025-08-22T05:22:13.971Z,1755840133.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494090 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:14.046Z,1755840134.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975538
2025-08-22T05:22:14.296Z,1755840134.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.226668
2025-08-22T05:22:14.360Z,1755840134.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:14.362Z,1755840134.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 97.604179 m,
      bearing: 92.855306 deg,
      approach rate: -0.679417 m/s,
      LOS rate: -0.034137 deg/s,
      cmd heading: 85.605042 deg,
      new cmd heading: 85.577970 deg.

2025-08-22T05:22:14.363Z,1755840134.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493617 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:14.552Z,1755840134.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481333
2025-08-22T05:22:14.765Z,1755840134.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:14.768Z,1755840134.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 97.341476 m,
      bearing: 92.844328 deg,
      approach rate: -0.647952 m/s,
      LOS rate: -0.027150 deg/s,
      cmd heading: 85.577967 deg,
      new cmd heading: 85.555952 deg.

2025-08-22T05:22:14.769Z,1755840134.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493233 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:14.801Z,1755840134.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731148
2025-08-22T05:22:15.052Z,1755840135.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982613
2025-08-22T05:22:15.249Z,1755840135.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:15.252Z,1755840135.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 97.027740 m,
      bearing: 92.831139 deg,
      approach rate: -0.648448 m/s,
      LOS rate: -0.027347 deg/s,
      cmd heading: 85.555954 deg,
      new cmd heading: 85.529491 deg.

2025-08-22T05:22:15.253Z,1755840135.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492771 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:15.307Z,1755840135.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236886
2025-08-22T05:22:15.558Z,1755840135.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488517
2025-08-22T05:22:15.725Z,1755840135.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:15.727Z,1755840135.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:15.730Z,1755840135.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 96.715790 m,
      bearing: 92.817143 deg,
      approach rate: -0.651749 m/s,
      LOS rate: -0.029337 deg/s,
      cmd heading: 85.529493 deg,
      new cmd heading: 85.501410 deg.

2025-08-22T05:22:15.731Z,1755840135.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492281 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:15.810Z,1755840135.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740125
2025-08-22T05:22:16.061Z,1755840136.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991242
2025-08-22T05:22:16.194Z,1755840136.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:16.197Z,1755840136.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 96.425560 m,
      bearing: 92.804077 deg,
      approach rate: -0.621105 m/s,
      LOS rate: -0.028045 deg/s,
      cmd heading: 85.501408 deg,
      new cmd heading: 85.475198 deg.

2025-08-22T05:22:16.198Z,1755840136.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491824 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:16.314Z,1755840136.314 [DAT](INFO): DAT read: Rx Time:05:22:14.9235

2025-08-22T05:22:16.315Z,1755840136.315 [DAT](INFO): Rx dataTimestamp_ set to:1755840136.314320
2025-08-22T05:22:16.317Z,1755840136.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247465
2025-08-22T05:22:16.567Z,1755840136.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.497273
2025-08-22T05:22:16.724Z,1755840136.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.81 m.
2025-08-22T05:22:16.727Z,1755840136.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.813026 m,
      nav range: 96.087822 m,
      bearing: 92.789748 deg,
      approach rate: -0.637900 m/s,
      LOS rate: -0.027160 deg/s,
      cmd heading: 85.475200 deg,
      new cmd heading: 85.446441 deg.

2025-08-22T05:22:16.733Z,1755840136.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491322 target range: 98.813026 and range: 99.40 m.
2025-08-22T05:22:16.828Z,1755840136.828 [DAT](INFO): DAT read: 05:22:14.9235 LVL= 26960, 32753, 25586, 32755, AGC= 69, IDX= 408,-0.28, 2.575, 0.658, 2.449, 2.132, PHS= 0.546,-1.429, 0.273, RAW= 142.7,   6.6, CAL= 142.3,   7.3, ROT=   7.7,  -7.3

2025-08-22T05:22:16.830Z,1755840136.830 [DAT](INFO): got valid direction response:
 05:22:14.9235 LVL= 26960, 32753, 25586, 32755, AGC= 69, IDX= 408,-0.28, 2.575, 0.658, 2.449, 2.132, PHS= 0.546,-1.429, 0.273, RAW= 142.7,   6.6, CAL= 142.3,   7.3, ROT=   7.7,  -7.3

2025-08-22T05:22:16.832Z,1755840136.832 [DAT](INFO): DAT read: Bearing 256.0,   5.2 (Local)

2025-08-22T05:22:16.833Z,1755840136.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,   5.2 (Local)

2025-08-22T05:22:16.835Z,1755840136.835 [DAT](INFO): DAT read: Range 11 to 50 : 96.9 m  (Round-trip  129.2 ms) speed  0.6 m/s

2025-08-22T05:22:16.840Z,1755840136.840 [DAT](INFO): DAT read: user:7459>

2025-08-22T05:22:16.840Z,1755840136.840 [DAT](INFO): DAT read: Tx time:05:22:16.0401

2025-08-22T05:22:16.841Z,1755840136.841 [DAT](INFO): Ping request sent.
2025-08-22T05:22:16.841Z,1755840136.841 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:16.841Z,1755840136.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:16.842Z,1755840136.842 [DAT](INFO): direction in FSK: [0.982951,0.132900,0.127065]
2025-08-22T05:22:16.842Z,1755840136.842 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:16.842Z,1755840136.842 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:16.850Z,1755840136.850 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:16.850Z,1755840136.850 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:17.085Z,1755840137.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.900002 m,
      deltaT: 3.777735 s,
      deltaX: -2.500000 m,
      approachRate: -0.661772 m/s,
      rangeRepo size: 4

2025-08-22T05:22:17.095Z,1755840137.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 96.328697 m,
      bearing: 92.459241 deg,
      lat: 36.779266 deg,
      lon: -121.859580 deg,
      deltaT: 3.777735 s,
      deltaX: -2.484329 m,
      approachRate: -0.657624 m/s,
      posRepo size: 4

2025-08-22T05:22:17.096Z,1755840137.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:17.099Z,1755840137.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 95.843391 m,
      bearing: 92.779314 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027160 deg/s,
      cmd heading: 85.446438 deg,
      new cmd heading: 85.426860 deg.

2025-08-22T05:22:17.104Z,1755840137.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490980 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:17.468Z,1755840137.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:17.470Z,1755840137.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 95.597588 m,
      bearing: 92.768858 deg,
      approach rate: -0.648420 m/s,
      LOS rate: -0.027653 deg/s,
      cmd heading: 85.426863 deg,
      new cmd heading: 85.405897 deg.

2025-08-22T05:22:17.471Z,1755840137.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490614 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:17.900Z,1755840137.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:17.902Z,1755840137.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:17.905Z,1755840137.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 95.329239 m,
      bearing: 92.756605 deg,
      approach rate: -0.611597 m/s,
      LOS rate: -0.028005 deg/s,
      cmd heading: 85.405894 deg,
      new cmd heading: 85.381319 deg.

2025-08-22T05:22:17.906Z,1755840137.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.490185 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:18.076Z,1755840138.076 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:18.076Z,1755840138.076 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:18.076Z,1755840138.076 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:18.272Z,1755840138.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:18.275Z,1755840138.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 95.102371 m,
      bearing: 92.746683 deg,
      approach rate: -0.612876 m/s,
      LOS rate: -0.026869 deg/s,
      cmd heading: 85.381319 deg,
      new cmd heading: 85.361427 deg.

2025-08-22T05:22:18.276Z,1755840138.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489838 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:18.329Z,1755840138.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488400
2025-08-22T05:22:18.584Z,1755840138.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743252
2025-08-22T05:22:18.694Z,1755840138.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:18.697Z,1755840138.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 94.831169 m,
      bearing: 92.737789 deg,
      approach rate: -0.643792 m/s,
      LOS rate: -0.021173 deg/s,
      cmd heading: 85.361430 deg,
      new cmd heading: 85.343592 deg.

2025-08-22T05:22:18.698Z,1755840138.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489527 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:18.832Z,1755840138.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991675
2025-08-22T05:22:19.077Z,1755840139.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:19.080Z,1755840139.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 94.582169 m,
      bearing: 92.729859 deg,
      approach rate: -0.649628 m/s,
      LOS rate: -0.020742 deg/s,
      cmd heading: 85.343589 deg,
      new cmd heading: 85.327688 deg.

2025-08-22T05:22:19.081Z,1755840139.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489249 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:19.084Z,1755840139.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243636
2025-08-22T05:22:19.337Z,1755840139.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495851
2025-08-22T05:22:19.492Z,1755840139.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:19.494Z,1755840139.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 94.313606 m,
      bearing: 92.721488 deg,
      approach rate: -0.647762 m/s,
      LOS rate: -0.020248 deg/s,
      cmd heading: 85.327689 deg,
      new cmd heading: 85.310899 deg.

2025-08-22T05:22:19.496Z,1755840139.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488956 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:19.589Z,1755840139.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748666
2025-08-22T05:22:19.840Z,1755840139.840 [DAT](INFO): DAT read: Rx Time:05:22:18.5704

2025-08-22T05:22:19.841Z,1755840139.841 [DAT](INFO): Rx dataTimestamp_ set to:1755840139.840374
2025-08-22T05:22:19.841Z,1755840139.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000513
2025-08-22T05:22:19.937Z,1755840139.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:19.939Z,1755840139.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:19.942Z,1755840139.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 94.018135 m,
      bearing: 92.713649 deg,
      approach rate: -0.660421 m/s,
      LOS rate: -0.017577 deg/s,
      cmd heading: 85.310900 deg,
      new cmd heading: 85.295172 deg.

2025-08-22T05:22:19.943Z,1755840139.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488682 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:20.092Z,1755840140.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251742
2025-08-22T05:22:20.342Z,1755840140.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.33 m.
2025-08-22T05:22:20.354Z,1755840140.354 [DAT](INFO): DAT read: 05:22:18.5704 LVL= 25232, 32753, 24482, 32755, AGC= 68, IDX= 408, 0.49,-2.428, 1.929,-2.580,-2.891, PHS= 0.564,-1.418, 0.266, RAW= 142.0,   6.4, CAL= 141.6,   7.1, ROT=   8.4,  -7.1

2025-08-22T05:22:20.355Z,1755840140.355 [DAT](INFO): got valid direction response:
 05:22:18.5704 LVL= 25232, 32753, 24482, 32755, AGC= 68, IDX= 408, 0.49,-2.428, 1.929,-2.580,-2.891, PHS= 0.564,-1.418, 0.266, RAW= 142.0,   6.4, CAL= 141.6,   7.1, ROT=   8.4,  -7.1

2025-08-22T05:22:20.356Z,1755840140.356 [DAT](INFO): DAT read: Bearing 256.0,   5.0 (Local)

2025-08-22T05:22:20.356Z,1755840140.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,   5.0 (Local)

2025-08-22T05:22:20.357Z,1755840140.357 [DAT](INFO): DAT read: Range 11 to 50 : 94.6 m  (Round-trip  126.2 ms) speed  0.5 m/s

2025-08-22T05:22:20.358Z,1755840140.358 [DAT](INFO): DAT read: user:7460>

2025-08-22T05:22:20.359Z,1755840140.359 [DAT](INFO): DAT read: Tx time:05:22:19.6900

2025-08-22T05:22:20.360Z,1755840140.360 [DAT](INFO): Ping request sent.
2025-08-22T05:22:20.360Z,1755840140.360 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:20.360Z,1755840140.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:20.361Z,1755840140.361 [DAT](INFO): direction in FSK: [0.981687,0.144963,0.123601]
2025-08-22T05:22:20.361Z,1755840140.361 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:20.362Z,1755840140.362 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:20.370Z,1755840140.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 96.328697 m,
      nav range: 93.789215 m,
      bearing: 92.707875 deg,
      approach rate: -0.567429 m/s,
      LOS rate: -0.014347 deg/s,
      cmd heading: 85.295170 deg,
      new cmd heading: 85.283594 deg.

2025-08-22T05:22:20.373Z,1755840140.373 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:20.373Z,1755840140.373 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:20.388Z,1755840140.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488479 target range: 96.328697 and range: 96.90 m.
2025-08-22T05:22:20.769Z,1755840140.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.599998 m,
      deltaT: 3.527204 s,
      deltaX: -2.300003 m,
      approachRate: -0.652075 m/s,
      rangeRepo size: 4

2025-08-22T05:22:20.774Z,1755840140.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 94.047539 m,
      bearing: 92.345741 deg,
      lat: 36.779267 deg,
      lon: -121.859579 deg,
      deltaT: 3.527204 s,
      deltaX: -2.281158 m,
      approachRate: -0.646733 m/s,
      posRepo size: 4

2025-08-22T05:22:20.774Z,1755840140.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:20.785Z,1755840140.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 93.521935 m,
      bearing: 92.642972 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.014347 deg/s,
      cmd heading: 85.283593 deg,
      new cmd heading: 85.271439 deg.

2025-08-22T05:22:20.786Z,1755840140.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488267 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:21.193Z,1755840141.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:21.200Z,1755840141.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 93.218521 m,
      bearing: 92.640426 deg,
      approach rate: -0.710648 m/s,
      LOS rate: -0.005982 deg/s,
      cmd heading: 85.271442 deg,
      new cmd heading: 85.266334 deg.

2025-08-22T05:22:21.201Z,1755840141.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488178 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:21.567Z,1755840141.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:21.570Z,1755840141.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 92.954025 m,
      bearing: 92.638320 deg,
      approach rate: -0.707310 m/s,
      LOS rate: -0.005647 deg/s,
      cmd heading: 85.266333 deg,
      new cmd heading: 85.262110 deg.

2025-08-22T05:22:21.571Z,1755840141.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488105 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:22.016Z,1755840142.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:22.018Z,1755840142.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:22.021Z,1755840142.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 92.659256 m,
      bearing: 92.637128 deg,
      approach rate: -0.652828 m/s,
      LOS rate: -0.002649 deg/s,
      cmd heading: 85.262112 deg,
      new cmd heading: 85.259720 deg.

2025-08-22T05:22:22.022Z,1755840142.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488063 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:22.108Z,1755840142.108 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:22.108Z,1755840142.108 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:22.108Z,1755840142.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:22.360Z,1755840142.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000321
2025-08-22T05:22:22.420Z,1755840142.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:22.423Z,1755840142.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 92.386276 m,
      bearing: 92.636010 deg,
      approach rate: -0.679575 m/s,
      LOS rate: -0.002791 deg/s,
      cmd heading: 85.259721 deg,
      new cmd heading: 85.257479 deg.

2025-08-22T05:22:22.440Z,1755840142.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488024 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:22.614Z,1755840142.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254539
2025-08-22T05:22:22.831Z,1755840142.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:22.838Z,1755840142.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 92.123878 m,
      bearing: 92.635971 deg,
      approach rate: -0.638655 m/s,
      LOS rate: -0.000097 deg/s,
      cmd heading: 85.257481 deg,
      new cmd heading: 85.257402 deg.

2025-08-22T05:22:22.839Z,1755840142.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488022 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:22.864Z,1755840142.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504351
2025-08-22T05:22:23.116Z,1755840143.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756528
2025-08-22T05:22:23.203Z,1755840143.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:23.206Z,1755840143.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 91.854218 m,
      bearing: 92.635810 deg,
      approach rate: -0.725256 m/s,
      LOS rate: -0.000432 deg/s,
      cmd heading: 85.257399 deg,
      new cmd heading: 85.257078 deg.

2025-08-22T05:22:23.207Z,1755840143.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488017 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:23.368Z,1755840143.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008251
2025-08-22T05:22:23.621Z,1755840143.621 [DAT](INFO): DAT read: Rx Time:05:22:22.2171

2025-08-22T05:22:23.622Z,1755840143.622 [DAT](INFO): Rx dataTimestamp_ set to:1755840143.621267
2025-08-22T05:22:23.622Z,1755840143.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262520
2025-08-22T05:22:23.784Z,1755840143.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.05 m.
2025-08-22T05:22:23.790Z,1755840143.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 94.047539 m,
      nav range: 91.459808 m,
      bearing: 92.630490 deg,
      approach rate: -0.679176 m/s,
      LOS rate: -0.009201 deg/s,
      cmd heading: 85.257078 deg,
      new cmd heading: 85.246392 deg.

2025-08-22T05:22:23.793Z,1755840143.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487830 target range: 94.047539 and range: 94.60 m.
2025-08-22T05:22:23.872Z,1755840143.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512431
2025-08-22T05:22:24.130Z,1755840144.130 [DAT](INFO): DAT read: 05:22:22.2171 LVL= 28352, 32193, 28290, 32755, AGC= 66, IDX= 408, 0.06, 1.252,-0.642, 1.019, 0.809, PHS= 0.545,-1.406, 0.166, RAW= 139.4,   7.8, CAL= 139.1,   8.7, ROT=  10.9,  -8.7

2025-08-22T05:22:24.131Z,1755840144.131 [DAT](INFO): got valid direction response:
 05:22:22.2171 LVL= 28352, 32193, 28290, 32755, AGC= 66, IDX= 408, 0.06, 1.252,-0.642, 1.019, 0.809, PHS= 0.545,-1.406, 0.166, RAW= 139.4,   7.8, CAL= 139.1,   8.7, ROT=  10.9,  -8.7

2025-08-22T05:22:24.132Z,1755840144.132 [DAT](INFO): DAT read: Bearing 257.3,   6.8 (Local)

2025-08-22T05:22:24.132Z,1755840144.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.3,   6.8 (Local)

2025-08-22T05:22:24.134Z,1755840144.134 [DAT](INFO): DAT read: Range 11 to 50 : 92.2 m  (Round-trip  123.0 ms) speed  0.7 m/s

2025-08-22T05:22:24.134Z,1755840144.134 [DAT](INFO): DAT read: user:7461>

2025-08-22T05:22:24.135Z,1755840144.135 [DAT](INFO): DAT read: Tx time:05:22:23.3400

2025-08-22T05:22:24.136Z,1755840144.136 [DAT](INFO): Ping request sent.
2025-08-22T05:22:24.136Z,1755840144.136 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:24.136Z,1755840144.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:24.137Z,1755840144.137 [DAT](INFO): direction in FSK: [0.970660,0.186920,0.151261]
2025-08-22T05:22:24.137Z,1755840144.137 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:24.137Z,1755840144.137 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:24.172Z,1755840144.172 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:24.172Z,1755840144.172 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:24.330Z,1755840144.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.199997 m,
      deltaT: 3.779865 s,
      deltaX: -2.400002 m,
      approachRate: -0.634944 m/s,
      rangeRepo size: 4

2025-08-22T05:22:24.337Z,1755840144.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.670265 m,
      bearing: 94.929830 deg,
      lat: 36.779267 deg,
      lon: -121.859579 deg,
      deltaT: 3.779865 s,
      deltaX: -2.377274 m,
      approachRate: -0.628931 m/s,
      posRepo size: 4

2025-08-22T05:22:24.337Z,1755840144.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:24.345Z,1755840144.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 91.111099 m,
      bearing: 92.624474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009201 deg/s,
      cmd heading: 85.246389 deg,
      new cmd heading: 85.236338 deg.

2025-08-22T05:22:24.346Z,1755840144.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487655 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:24.760Z,1755840144.760 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:24.762Z,1755840144.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:24.765Z,1755840144.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 90.799225 m,
      bearing: 92.619706 deg,
      approach rate: -0.721182 m/s,
      LOS rate: -0.011062 deg/s,
      cmd heading: 85.236335 deg,
      new cmd heading: 85.226767 deg.

2025-08-22T05:22:24.766Z,1755840144.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487488 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:24.880Z,1755840144.880 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:24.880Z,1755840144.880 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:24.880Z,1755840144.880 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:25.090Z,1755840145.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:25.092Z,1755840145.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 90.574127 m,
      bearing: 92.615772 deg,
      approach rate: -0.687298 m/s,
      LOS rate: -0.012041 deg/s,
      cmd heading: 85.226766 deg,
      new cmd heading: 85.218879 deg.

2025-08-22T05:22:25.093Z,1755840145.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487350 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:25.135Z,1755840145.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999649
2025-08-22T05:22:25.384Z,1755840145.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248760
2025-08-22T05:22:25.506Z,1755840145.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:25.509Z,1755840145.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 90.298019 m,
      bearing: 92.610268 deg,
      approach rate: -0.662879 m/s,
      LOS rate: -0.013256 deg/s,
      cmd heading: 85.218877 deg,
      new cmd heading: 85.207834 deg.

2025-08-22T05:22:25.510Z,1755840145.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487157 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:25.636Z,1755840145.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500601
2025-08-22T05:22:25.888Z,1755840145.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752570
2025-08-22T05:22:25.946Z,1755840145.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:25.953Z,1755840145.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 90.004204 m,
      bearing: 92.600629 deg,
      approach rate: -0.668091 m/s,
      LOS rate: -0.021987 deg/s,
      cmd heading: 85.207832 deg,
      new cmd heading: 85.188493 deg.

2025-08-22T05:22:25.954Z,1755840145.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486820 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:26.140Z,1755840146.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004525
2025-08-22T05:22:26.320Z,1755840146.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:26.323Z,1755840146.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 89.751419 m,
      bearing: 92.591680 deg,
      approach rate: -0.674967 m/s,
      LOS rate: -0.023962 deg/s,
      cmd heading: 85.188496 deg,
      new cmd heading: 85.170548 deg.

2025-08-22T05:22:26.324Z,1755840146.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486506 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:26.394Z,1755840146.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258795
2025-08-22T05:22:26.644Z,1755840146.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508462
2025-08-22T05:22:26.761Z,1755840146.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:26.767Z,1755840146.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:26.770Z,1755840146.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 89.466980 m,
      bearing: 92.581044 deg,
      approach rate: -0.642507 m/s,
      LOS rate: -0.024101 deg/s,
      cmd heading: 85.170546 deg,
      new cmd heading: 85.149207 deg.

2025-08-22T05:22:26.771Z,1755840146.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486134 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:26.896Z,1755840146.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760550
2025-08-22T05:22:27.149Z,1755840147.149 [DAT](INFO): DAT read: Rx Time:05:22:25.8639

2025-08-22T05:22:27.150Z,1755840147.150 [DAT](INFO): Rx dataTimestamp_ set to:1755840147.149485
2025-08-22T05:22:27.151Z,1755840147.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014966
2025-08-22T05:22:27.152Z,1755840147.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:27.156Z,1755840147.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 89.221718 m,
      bearing: 92.568153 deg,
      approach rate: -0.639151 m/s,
      LOS rate: -0.033686 deg/s,
      cmd heading: 85.149209 deg,
      new cmd heading: 85.123356 deg.

2025-08-22T05:22:27.158Z,1755840147.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485683 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:27.400Z,1755840147.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264521
2025-08-22T05:22:27.527Z,1755840147.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.67 m.
2025-08-22T05:22:27.530Z,1755840147.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.670265 m,
      nav range: 88.962875 m,
      bearing: 92.554089 deg,
      approach rate: -0.681516 m/s,
      LOS rate: -0.037138 deg/s,
      cmd heading: 85.123357 deg,
      new cmd heading: 85.095146 deg.

2025-08-22T05:22:27.531Z,1755840147.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485191 target range: 91.670265 and range: 92.20 m.
2025-08-22T05:22:27.660Z,1755840147.660 [DAT](INFO): DAT read: 05:22:25.8639 LVL= 27376, 28145, 28402, 32755, AGC= 70, IDX= 407,-0.03,-0.908,-2.760,-1.011,-1.302, PHS= 0.497,-1.413, 0.248, RAW= 143.1,   7.5, CAL= 142.7,   8.2, ROT=   7.3,  -8.2

2025-08-22T05:22:27.661Z,1755840147.661 [DAT](INFO): got valid direction response:
 05:22:25.8639 LVL= 27376, 28145, 28402, 32755, AGC= 70, IDX= 407,-0.03,-0.908,-2.760,-1.011,-1.302, PHS= 0.497,-1.413, 0.248, RAW= 143.1,   7.5, CAL= 142.7,   8.2, ROT=   7.3,  -8.2

2025-08-22T05:22:27.662Z,1755840147.662 [DAT](INFO): DAT read: Bearing 258.6,   4.2 (Local)

2025-08-22T05:22:27.662Z,1755840147.662 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.6,   4.2 (Local)

2025-08-22T05:22:27.664Z,1755840147.664 [DAT](INFO): DAT read: Range 11 to 50 : 89.8 m  (Round-trip  119.8 ms) speed  0.6 m/s

2025-08-22T05:22:27.665Z,1755840147.665 [DAT](INFO): DAT read: user:7462>

2025-08-22T05:22:27.665Z,1755840147.665 [DAT](INFO): DAT read: Tx time:05:22:26.9900

2025-08-22T05:22:27.666Z,1755840147.666 [DAT](INFO): Ping request sent.
2025-08-22T05:22:27.666Z,1755840147.666 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:27.666Z,1755840147.666 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:27.667Z,1755840147.667 [DAT](INFO): direction in FSK: [0.981754,0.125766,0.142629]
2025-08-22T05:22:27.668Z,1755840147.668 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:27.668Z,1755840147.668 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:27.671Z,1755840147.671 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:27.672Z,1755840147.672 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:27.978Z,1755840147.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.800003 m,
      deltaT: 3.530211 s,
      deltaX: -2.399994 m,
      approachRate: -0.679844 m/s,
      rangeRepo size: 4

2025-08-22T05:22:27.986Z,1755840147.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.278259 m,
      bearing: 92.794659 deg,
      lat: 36.779264 deg,
      lon: -121.859578 deg,
      deltaT: 3.530211 s,
      deltaX: -2.392006 m,
      approachRate: -0.677582 m/s,
      posRepo size: 4

2025-08-22T05:22:27.991Z,1755840147.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:27.994Z,1755840147.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 88.846008 m,
      bearing: 92.794360 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037138 deg/s,
      cmd heading: 85.095148 deg,
      new cmd heading: 85.061651 deg.

2025-08-22T05:22:28.000Z,1755840148.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484606 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:28.343Z,1755840148.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:28.354Z,1755840148.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 88.602280 m,
      bearing: 92.779788 deg,
      approach rate: -0.667645 m/s,
      LOS rate: -0.040027 deg/s,
      cmd heading: 85.061653 deg,
      new cmd heading: 85.032429 deg.

2025-08-22T05:22:28.355Z,1755840148.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484096 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:28.815Z,1755840148.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:28.817Z,1755840148.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:28.826Z,1755840148.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 88.322777 m,
      bearing: 92.763087 deg,
      approach rate: -0.588860 m/s,
      LOS rate: -0.035297 deg/s,
      cmd heading: 85.032426 deg,
      new cmd heading: 84.998918 deg.

2025-08-22T05:22:28.827Z,1755840148.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483511 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:28.912Z,1755840148.912 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:28.912Z,1755840148.912 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:28.913Z,1755840148.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:29.165Z,1755840149.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499514
2025-08-22T05:22:29.222Z,1755840149.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:29.225Z,1755840149.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 88.046669 m,
      bearing: 92.747300 deg,
      approach rate: -0.682720 m/s,
      LOS rate: -0.039158 deg/s,
      cmd heading: 84.998918 deg,
      new cmd heading: 84.967245 deg.

2025-08-22T05:22:29.226Z,1755840149.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482958 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:29.417Z,1755840149.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751135
2025-08-22T05:22:29.598Z,1755840149.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:29.603Z,1755840149.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 87.816750 m,
      bearing: 92.734078 deg,
      approach rate: -0.610627 m/s,
      LOS rate: -0.035207 deg/s,
      cmd heading: 84.967246 deg,
      new cmd heading: 84.940733 deg.

2025-08-22T05:22:29.604Z,1755840149.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482495 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:29.668Z,1755840149.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002596
2025-08-22T05:22:29.920Z,1755840149.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254441
2025-08-22T05:22:30.030Z,1755840150.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:30.033Z,1755840150.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 87.535973 m,
      bearing: 92.719994 deg,
      approach rate: -0.650284 m/s,
      LOS rate: -0.032724 deg/s,
      cmd heading: 84.940731 deg,
      new cmd heading: 84.912472 deg.

2025-08-22T05:22:30.034Z,1755840150.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482002 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:30.173Z,1755840150.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507549
2025-08-22T05:22:30.388Z,1755840150.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:30.391Z,1755840150.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 87.306541 m,
      bearing: 92.708665 deg,
      approach rate: -0.640622 m/s,
      LOS rate: -0.031715 deg/s,
      cmd heading: 84.912475 deg,
      new cmd heading: 84.889758 deg.

2025-08-22T05:22:30.392Z,1755840150.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481606 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:30.424Z,1755840150.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758699
2025-08-22T05:22:30.676Z,1755840150.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010462
2025-08-22T05:22:30.877Z,1755840150.877 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:30.883Z,1755840150.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:30.886Z,1755840150.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 86.998108 m,
      bearing: 92.690942 deg,
      approach rate: -0.628497 m/s,
      LOS rate: -0.036244 deg/s,
      cmd heading: 84.889757 deg,
      new cmd heading: 84.854185 deg.

2025-08-22T05:22:30.891Z,1755840150.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480985 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:30.929Z,1755840150.929 [DAT](INFO): DAT read: Rx Time:05:22:29.5110

2025-08-22T05:22:30.929Z,1755840150.929 [DAT](INFO): Rx dataTimestamp_ set to:1755840150.928686
2025-08-22T05:22:30.929Z,1755840150.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263767
2025-08-22T05:22:31.181Z,1755840151.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515039
2025-08-22T05:22:31.352Z,1755840151.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:22:31.358Z,1755840151.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.28 m.
2025-08-22T05:22:31.361Z,1755840151.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.278259 m,
      nav range: 86.697929 m,
      bearing: 92.673686 deg,
      approach rate: -0.626492 m/s,
      LOS rate: -0.036139 deg/s,
      cmd heading: 84.854186 deg,
      new cmd heading: 84.819554 deg.

2025-08-22T05:22:31.362Z,1755840151.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480381 target range: 89.278259 and range: 89.80 m.
2025-08-22T05:22:31.441Z,1755840151.441 [DAT](INFO): DAT read: 05:22:29.5110 LVL= 24720, 29793, 23986, 32755, AGC= 67, IDX= 409,-0.13,-1.881, 2.593,-1.911,-2.257, PHS= 0.478,-1.389, 0.302, RAW= 145.1,   6.9, CAL= 144.6,   7.5, ROT=   5.4,  -7.5

2025-08-22T05:22:31.443Z,1755840151.443 [DAT](INFO): got valid direction response:
 05:22:29.5110 LVL= 24720, 29793, 23986, 32755, AGC= 67, IDX= 409,-0.13,-1.881, 2.593,-1.911,-2.257, PHS= 0.478,-1.389, 0.302, RAW= 145.1,   6.9, CAL= 144.6,   7.5, ROT=   5.4,  -7.5

2025-08-22T05:22:31.445Z,1755840151.445 [DAT](INFO): DAT read: Bearing 258.3,   3.7 (Local)

2025-08-22T05:22:31.445Z,1755840151.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.3,   3.7 (Local)

2025-08-22T05:22:31.449Z,1755840151.449 [DAT](INFO): DAT read: Range 11 to 50 : 87.6 m  (Round-trip  116.8 ms) speed  0.7 m/s

2025-08-22T05:22:31.449Z,1755840151.449 [DAT](INFO): DAT read: user:7463>

2025-08-22T05:22:31.450Z,1755840151.450 [DAT](INFO): DAT read: Tx time:05:22:30.6400

2025-08-22T05:22:31.450Z,1755840151.450 [DAT](INFO): Ping request sent.
2025-08-22T05:22:31.450Z,1755840151.450 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:31.451Z,1755840151.451 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:31.458Z,1755840151.458 [DAT](INFO): direction in FSK: [0.987045,0.093303,0.130526]
2025-08-22T05:22:31.464Z,1755840151.464 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:31.464Z,1755840151.464 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:31.480Z,1755840151.480 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:31.480Z,1755840151.480 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:31.718Z,1755840151.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.599998 m,
      deltaT: 3.778327 s,
      deltaX: -2.200005 m,
      approachRate: -0.582269 m/s,
      rangeRepo size: 4

2025-08-22T05:22:31.721Z,1755840151.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.090324 m,
      bearing: 90.568013 deg,
      lat: 36.779271 deg,
      lon: -121.859578 deg,
      deltaT: 3.778327 s,
      deltaX: -2.187935 m,
      approachRate: -0.579075 m/s,
      posRepo size: 4

2025-08-22T05:22:31.721Z,1755840151.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:31.724Z,1755840151.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 86.442986 m,
      bearing: 92.107958 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036139 deg/s,
      cmd heading: 84.819557 deg,
      new cmd heading: 84.793583 deg.

2025-08-22T05:22:31.725Z,1755840151.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479927 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:32.139Z,1755840152.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:32.142Z,1755840152.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 86.166748 m,
      bearing: 92.089199 deg,
      approach rate: -0.655769 m/s,
      LOS rate: -0.044674 deg/s,
      cmd heading: 84.793582 deg,
      new cmd heading: 84.755944 deg.

2025-08-22T05:22:32.143Z,1755840152.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479270 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:32.356Z,1755840152.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:22:32.525Z,1755840152.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:32.527Z,1755840152.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 85.915970 m,
      bearing: 92.072146 deg,
      approach rate: -0.649844 m/s,
      LOS rate: -0.044320 deg/s,
      cmd heading: 84.755947 deg,
      new cmd heading: 84.721741 deg.

2025-08-22T05:22:32.528Z,1755840152.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478673 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:32.954Z,1755840152.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:32.960Z,1755840152.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:32.968Z,1755840152.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 85.654465 m,
      bearing: 92.057428 deg,
      approach rate: -0.600018 m/s,
      LOS rate: -0.033872 deg/s,
      cmd heading: 84.721742 deg,
      new cmd heading: 84.692216 deg.

2025-08-22T05:22:32.969Z,1755840152.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478158 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:33.196Z,1755840153.196 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:33.196Z,1755840153.196 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:33.196Z,1755840153.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:33.342Z,1755840153.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:33.345Z,1755840153.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 85.404861 m,
      bearing: 92.043276 deg,
      approach rate: -0.654749 m/s,
      LOS rate: -0.037233 deg/s,
      cmd heading: 84.692215 deg,
      new cmd heading: 84.663827 deg.

2025-08-22T05:22:33.346Z,1755840153.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477663 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:33.448Z,1755840153.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997654
2025-08-22T05:22:33.701Z,1755840153.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250041
2025-08-22T05:22:33.737Z,1755840153.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:33.740Z,1755840153.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 85.142357 m,
      bearing: 92.028372 deg,
      approach rate: -0.663930 m/s,
      LOS rate: -0.037812 deg/s,
      cmd heading: 84.663828 deg,
      new cmd heading: 84.633928 deg.

2025-08-22T05:22:33.741Z,1755840153.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477141 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:33.953Z,1755840153.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502756
2025-08-22T05:22:34.175Z,1755840154.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:34.182Z,1755840154.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 84.879005 m,
      bearing: 92.015219 deg,
      approach rate: -0.602172 m/s,
      LOS rate: -0.030168 deg/s,
      cmd heading: 84.633926 deg,
      new cmd heading: 84.607539 deg.

2025-08-22T05:22:34.188Z,1755840154.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476680 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:34.204Z,1755840154.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753750
2025-08-22T05:22:34.457Z,1755840154.457 [DAT](INFO): DAT read: Rx Time:05:22:33.1577

2025-08-22T05:22:34.458Z,1755840154.458 [DAT](INFO): Rx dataTimestamp_ set to:1755840154.457329
2025-08-22T05:22:34.458Z,1755840154.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007968
2025-08-22T05:22:34.546Z,1755840154.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.09 m.
2025-08-22T05:22:34.549Z,1755840154.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.090324 m,
      nav range: 84.621017 m,
      bearing: 92.002367 deg,
      approach rate: -0.693919 m/s,
      LOS rate: -0.034674 deg/s,
      cmd heading: 84.607541 deg,
      new cmd heading: 84.581758 deg.

2025-08-22T05:22:34.550Z,1755840154.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476230 target range: 87.090324 and range: 87.60 m.
2025-08-22T05:22:34.708Z,1755840154.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257729
2025-08-22T05:22:34.966Z,1755840154.966 [DAT](INFO): DAT read: 05:22:33.1577 LVL= 21312, 32753, 22178, 32755, AGC= 66, IDX= 407, 0.12,-2.227, 2.202,-2.214,-2.593, PHS= 0.468,-1.443, 0.336, RAW= 146.4,   7.0, CAL= 145.9,   7.5, ROT=   4.1,  -7.5

2025-08-22T05:22:34.967Z,1755840154.967 [DAT](INFO): got valid direction response:
 05:22:33.1577 LVL= 21312, 32753, 22178, 32755, AGC= 66, IDX= 407, 0.12,-2.227, 2.202,-2.214,-2.593, PHS= 0.468,-1.443, 0.336, RAW= 146.4,   7.0, CAL= 145.9,   7.5, ROT=   4.1,  -7.5

2025-08-22T05:22:34.968Z,1755840154.968 [DAT](INFO): DAT read: Bearing 257.8,   3.3 (Local)

2025-08-22T05:22:34.969Z,1755840154.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.8,   3.3 (Local)

2025-08-22T05:22:34.970Z,1755840154.970 [DAT](INFO): DAT read: Range 11 to 50 : 85.1 m  (Round-trip  113.5 ms) speed  0.7 m/s

2025-08-22T05:22:34.971Z,1755840154.971 [DAT](INFO): DAT read: user:7464>

2025-08-22T05:22:34.972Z,1755840154.972 [DAT](INFO): DAT read: Tx time:05:22:34.2400

2025-08-22T05:22:34.972Z,1755840154.972 [DAT](INFO): Ping request sent.
2025-08-22T05:22:34.972Z,1755840154.972 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:34.972Z,1755840154.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:34.973Z,1755840154.973 [DAT](INFO): direction in FSK: [0.988908,0.070886,0.130526]
2025-08-22T05:22:34.973Z,1755840154.973 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:34.974Z,1755840154.974 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:34.981Z,1755840154.981 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:34.981Z,1755840154.981 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:35.130Z,1755840155.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.099998 m,
      deltaT: 3.527735 s,
      deltaX: -2.500000 m,
      approachRate: -0.708670 m/s,
      rangeRepo size: 4

2025-08-22T05:22:35.136Z,1755840155.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.605484 m,
      bearing: 88.991331 deg,
      lat: 36.779272 deg,
      lon: -121.859578 deg,
      deltaT: 3.527735 s,
      deltaX: -2.484840 m,
      approachRate: -0.704373 m/s,
      posRepo size: 4

2025-08-22T05:22:35.137Z,1755840155.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:35.144Z,1755840155.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 84.251472 m,
      bearing: 91.960201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034674 deg/s,
      cmd heading: 84.581757 deg,
      new cmd heading: 84.541341 deg.

2025-08-22T05:22:35.145Z,1755840155.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475525 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:35.532Z,1755840155.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:35.535Z,1755840155.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:35.537Z,1755840155.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 83.979668 m,
      bearing: 91.949765 deg,
      approach rate: -0.670081 m/s,
      LOS rate: -0.025811 deg/s,
      cmd heading: 84.541343 deg,
      new cmd heading: 84.520403 deg.

2025-08-22T05:22:35.538Z,1755840155.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475159 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:35.716Z,1755840155.716 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:35.716Z,1755840155.716 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:35.716Z,1755840155.716 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:35.959Z,1755840155.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:35.962Z,1755840155.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 83.688057 m,
      bearing: 91.938567 deg,
      approach rate: -0.686977 m/s,
      LOS rate: -0.026472 deg/s,
      cmd heading: 84.520401 deg,
      new cmd heading: 84.497927 deg.

2025-08-22T05:22:35.963Z,1755840155.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474767 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:35.968Z,1755840155.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996237
2025-08-22T05:22:36.221Z,1755840156.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248805
2025-08-22T05:22:36.338Z,1755840156.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:36.345Z,1755840156.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 83.444504 m,
      bearing: 91.929763 deg,
      approach rate: -0.643226 m/s,
      LOS rate: -0.023320 deg/s,
      cmd heading: 84.497930 deg,
      new cmd heading: 84.480270 deg.

2025-08-22T05:22:36.346Z,1755840156.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474459 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:36.472Z,1755840156.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500241
2025-08-22T05:22:36.717Z,1755840156.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:36.720Z,1755840156.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 83.202263 m,
      bearing: 91.921213 deg,
      approach rate: -0.638523 m/s,
      LOS rate: -0.022602 deg/s,
      cmd heading: 84.480267 deg,
      new cmd heading: 84.463117 deg.

2025-08-22T05:22:36.721Z,1755840156.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474159 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:36.724Z,1755840156.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752245
2025-08-22T05:22:36.976Z,1755840156.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004208
2025-08-22T05:22:37.120Z,1755840157.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:37.122Z,1755840157.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 82.929245 m,
      bearing: 91.911451 deg,
      approach rate: -0.678106 m/s,
      LOS rate: -0.024325 deg/s,
      cmd heading: 84.463116 deg,
      new cmd heading: 84.443529 deg.

2025-08-22T05:22:37.140Z,1755840157.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473818 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:37.229Z,1755840157.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257049
2025-08-22T05:22:37.480Z,1755840157.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508213
2025-08-22T05:22:37.527Z,1755840157.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:37.533Z,1755840157.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 82.672768 m,
      bearing: 91.902352 deg,
      approach rate: -0.635772 m/s,
      LOS rate: -0.022626 deg/s,
      cmd heading: 84.443528 deg,
      new cmd heading: 84.425272 deg.

2025-08-22T05:22:37.534Z,1755840157.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473499 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:37.732Z,1755840157.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760238
2025-08-22T05:22:37.982Z,1755840157.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:37.984Z,1755840157.984 [DAT](INFO): DAT read: Rx Time:05:22:36.7546

2025-08-22T05:22:37.985Z,1755840157.985 [DAT](INFO): Rx dataTimestamp_ set to:1755840157.984540
2025-08-22T05:22:37.985Z,1755840157.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013278
2025-08-22T05:22:37.986Z,1755840157.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:37.990Z,1755840157.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 82.366348 m,
      bearing: 91.893502 deg,
      approach rate: -0.661342 m/s,
      LOS rate: -0.019171 deg/s,
      cmd heading: 84.425270 deg,
      new cmd heading: 84.407506 deg.

2025-08-22T05:22:37.990Z,1755840157.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473189 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:38.237Z,1755840158.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264450
2025-08-22T05:22:38.344Z,1755840158.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:38.349Z,1755840158.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 82.143211 m,
      bearing: 91.887164 deg,
      approach rate: -0.623760 m/s,
      LOS rate: -0.017767 deg/s,
      cmd heading: 84.407505 deg,
      new cmd heading: 84.394793 deg.

2025-08-22T05:22:38.350Z,1755840158.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472967 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:38.491Z,1755840158.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518664
2025-08-22T05:22:38.728Z,1755840158.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.61 m.
2025-08-22T05:22:38.731Z,1755840158.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.605484 m,
      nav range: 81.889671 m,
      bearing: 91.880069 deg,
      approach rate: -0.660958 m/s,
      LOS rate: -0.018552 deg/s,
      cmd heading: 84.394794 deg,
      new cmd heading: 84.380561 deg.

2025-08-22T05:22:38.736Z,1755840158.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472719 target range: 84.605484 and range: 85.10 m.
2025-08-22T05:22:38.746Z,1755840158.746 [DAT](INFO): DAT read: 05:22:36.7545 LVL= 26416, 32737, 27634, 32755, AGC= 65, IDX= 408, 0.35,-3.076, 1.395,-3.078, 2.831, PHS= 0.478,-1.391, 0.331, RAW= 145.9,   6.5, CAL= 145.4,   7.1, ROT=   4.6,  -7.1

2025-08-22T05:22:38.747Z,1755840158.747 [DAT](INFO): got valid direction response:
 05:22:36.7545 LVL= 26416, 32737, 27634, 32755, AGC= 65, IDX= 408, 0.35,-3.076, 1.395,-3.078, 2.831, PHS= 0.478,-1.391, 0.331, RAW= 145.9,   6.5, CAL= 145.4,   7.1, ROT=   4.6,  -7.1

2025-08-22T05:22:38.748Z,1755840158.748 [DAT](INFO): DAT read: Bearing 256.6,   4.6 (Local)

2025-08-22T05:22:38.748Z,1755840158.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,   4.6 (Local)

2025-08-22T05:22:38.750Z,1755840158.750 [DAT](INFO): DAT read: Range 11 to 50 : 82.8 m  (Round-trip  110.5 ms) speed  0.5 m/s

2025-08-22T05:22:38.751Z,1755840158.751 [DAT](INFO): DAT read: user:7465>

2025-08-22T05:22:38.752Z,1755840158.752 [DAT](INFO): DAT read: Tx time:05:22:37.8399

2025-08-22T05:22:38.752Z,1755840158.752 [DAT](INFO): Ping request sent.
2025-08-22T05:22:38.752Z,1755840158.752 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:38.752Z,1755840158.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:38.753Z,1755840158.753 [DAT](INFO): direction in FSK: [0.989136,0.079584,0.123601]
2025-08-22T05:22:38.753Z,1755840158.753 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:38.754Z,1755840158.754 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:38.760Z,1755840158.760 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:38.760Z,1755840158.760 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:39.159Z,1755840159.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.800003 m,
      deltaT: 3.779801 s,
      deltaX: -2.299995 m,
      approachRate: -0.608496 m/s,
      rangeRepo size: 4

2025-08-22T05:22:39.162Z,1755840159.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.319267 m,
      bearing: 88.946124 deg,
      lat: 36.779292 deg,
      lon: -121.859578 deg,
      deltaT: 3.779801 s,
      deltaX: -2.286217 m,
      approachRate: -0.604851 m/s,
      posRepo size: 4

2025-08-22T05:22:39.164Z,1755840159.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:39.168Z,1755840159.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 81.564934 m,
      bearing: 90.269196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018552 deg/s,
      cmd heading: 84.380560 deg,
      new cmd heading: 84.364610 deg.

2025-08-22T05:22:39.170Z,1755840159.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472440 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:39.527Z,1755840159.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:39.530Z,1755840159.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 81.320946 m,
      bearing: 90.255008 deg,
      approach rate: -0.660507 m/s,
      LOS rate: -0.038523 deg/s,
      cmd heading: 84.364611 deg,
      new cmd heading: 84.336151 deg.

2025-08-22T05:22:39.551Z,1755840159.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471943 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:39.996Z,1755840159.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:39.998Z,1755840159.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:40.000Z,1755840160.000 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:40.000Z,1755840160.000 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:40.001Z,1755840160.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:40.005Z,1755840160.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 81.015144 m,
      bearing: 90.238810 deg,
      approach rate: -0.649687 m/s,
      LOS rate: -0.034544 deg/s,
      cmd heading: 84.336150 deg,
      new cmd heading: 84.303631 deg.

2025-08-22T05:22:40.006Z,1755840160.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471376 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:40.252Z,1755840160.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500202
2025-08-22T05:22:40.353Z,1755840160.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:40.361Z,1755840160.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 80.794006 m,
      bearing: 90.227263 deg,
      approach rate: -0.621688 m/s,
      LOS rate: -0.032551 deg/s,
      cmd heading: 84.303632 deg,
      new cmd heading: 84.280474 deg.

2025-08-22T05:22:40.362Z,1755840160.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470972 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:40.505Z,1755840160.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752577
2025-08-22T05:22:40.741Z,1755840160.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:40.744Z,1755840160.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 80.531761 m,
      bearing: 90.213556 deg,
      approach rate: -0.676975 m/s,
      LOS rate: -0.035500 deg/s,
      cmd heading: 84.280477 deg,
      new cmd heading: 84.252974 deg.

2025-08-22T05:22:40.745Z,1755840160.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.470492 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:40.758Z,1755840160.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006024
2025-08-22T05:22:41.009Z,1755840161.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256508
2025-08-22T05:22:41.189Z,1755840161.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:41.193Z,1755840161.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 80.240204 m,
      bearing: 90.192360 deg,
      approach rate: -0.649926 m/s,
      LOS rate: -0.047420 deg/s,
      cmd heading: 84.252972 deg,
      new cmd heading: 84.210427 deg.

2025-08-22T05:22:41.193Z,1755840161.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469749 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:41.262Z,1755840161.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509328
2025-08-22T05:22:41.512Z,1755840161.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760206
2025-08-22T05:22:41.561Z,1755840161.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:41.568Z,1755840161.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 80.008881 m,
      bearing: 90.175569 deg,
      approach rate: -0.622144 m/s,
      LOS rate: -0.045290 deg/s,
      cmd heading: 84.210427 deg,
      new cmd heading: 84.176748 deg.

2025-08-22T05:22:41.569Z,1755840161.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469161 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:41.767Z,1755840161.767 [DAT](INFO): DAT read: Rx Time:05:22:40.3516

2025-08-22T05:22:41.768Z,1755840161.768 [DAT](INFO): Rx dataTimestamp_ set to:1755840161.767679
2025-08-22T05:22:41.768Z,1755840161.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016519
2025-08-22T05:22:42.003Z,1755840162.003 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709100146,35.,4
2025-08-22T05:22:42.016Z,1755840162.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264448
2025-08-22T05:22:42.045Z,1755840162.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:42.052Z,1755840162.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.32 m.
2025-08-22T05:22:42.055Z,1755840162.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.319267 m,
      nav range: 79.690697 m,
      bearing: 90.152543 deg,
      approach rate: -0.654800 m/s,
      LOS rate: -0.047576 deg/s,
      cmd heading: 84.176747 deg,
      new cmd heading: 84.130510 deg.

2025-08-22T05:22:42.074Z,1755840162.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468354 target range: 82.319267 and range: 82.80 m.
2025-08-22T05:22:42.282Z,1755840162.282 [DAT](INFO): DAT read: 05:22:40.3516 LVL= 22768, 32753, 23250, 32755, AGC= 65, IDX= 410,-0.22, 0.727,-1.065, 0.731, 0.346, PHS= 0.483,-1.366, 0.341, RAW= 146.0,   6.1, CAL= 145.5,   6.6, ROT=   4.5,  -6.6

2025-08-22T05:22:42.287Z,1755840162.287 [DAT](INFO): got valid direction response:
 05:22:40.3516 LVL= 22768, 32753, 23250, 32755, AGC= 65, IDX= 410,-0.22, 0.727,-1.065, 0.731, 0.346, PHS= 0.483,-1.366, 0.341, RAW= 146.0,   6.1, CAL= 145.5,   6.6, ROT=   4.5,  -6.6

2025-08-22T05:22:42.293Z,1755840162.293 [DAT](INFO): DAT read: Bearing 255.5,   5.3 (Local)

2025-08-22T05:22:42.293Z,1755840162.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.5,   5.3 (Local)

2025-08-22T05:22:42.294Z,1755840162.294 [DAT](INFO): DAT read: Range 11 to 50 : 80.7 m  (Round-trip  107.6 ms) speed  0.8 m/s

2025-08-22T05:22:42.295Z,1755840162.295 [DAT](INFO): DAT read: user:7466>

2025-08-22T05:22:42.296Z,1755840162.296 [DAT](INFO): DAT read: Tx time:05:22:41.4399

2025-08-22T05:22:42.296Z,1755840162.296 [DAT](INFO): Ping request sent.
2025-08-22T05:22:42.296Z,1755840162.296 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:42.297Z,1755840162.297 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:42.298Z,1755840162.298 [DAT](INFO): direction in FSK: [0.990311,0.077939,0.114937]
2025-08-22T05:22:42.298Z,1755840162.298 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:42.298Z,1755840162.298 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:42.331Z,1755840162.331 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:42.342Z,1755840162.342 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:42.474Z,1755840162.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.699997 m,
      deltaT: 3.528301 s,
      deltaX: -2.100006 m,
      approachRate: -0.595189 m/s,
      rangeRepo size: 4

2025-08-22T05:22:42.481Z,1755840162.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.233337 m,
      bearing: 88.404043 deg,
      lat: 36.779309 deg,
      lon: -121.859577 deg,
      deltaT: 3.528301 s,
      deltaX: -2.085930 m,
      approachRate: -0.591200 m/s,
      posRepo size: 4

2025-08-22T05:22:42.481Z,1755840162.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:42.492Z,1755840162.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 79.520607 m,
      bearing: 88.773673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047576 deg/s,
      cmd heading: 84.130514 deg,
      new cmd heading: 84.089938 deg.

2025-08-22T05:22:42.493Z,1755840162.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467646 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:42.864Z,1755840162.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:42.866Z,1755840162.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 79.270309 m,
      bearing: 88.751458 deg,
      approach rate: -0.669608 m/s,
      LOS rate: -0.059618 deg/s,
      cmd heading: 84.089935 deg,
      new cmd heading: 84.045366 deg.

2025-08-22T05:22:42.876Z,1755840162.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466868 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:43.312Z,1755840163.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:43.315Z,1755840163.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 78.983047 m,
      bearing: 88.727049 deg,
      approach rate: -0.619237 m/s,
      LOS rate: -0.052809 deg/s,
      cmd heading: 84.045368 deg,
      new cmd heading: 83.996373 deg.

2025-08-22T05:22:43.333Z,1755840163.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466013 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:43.663Z,1755840163.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:43.666Z,1755840163.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 78.756332 m,
      bearing: 88.707870 deg,
      approach rate: -0.644568 m/s,
      LOS rate: -0.054686 deg/s,
      cmd heading: 83.996376 deg,
      new cmd heading: 83.957906 deg.

2025-08-22T05:22:43.667Z,1755840163.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465342 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:44.087Z,1755840164.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:44.089Z,1755840164.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:44.092Z,1755840164.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 78.489845 m,
      bearing: 88.685067 deg,
      approach rate: -0.625015 m/s,
      LOS rate: -0.053663 deg/s,
      cmd heading: 83.957908 deg,
      new cmd heading: 83.912148 deg.

2025-08-22T05:22:44.093Z,1755840164.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464543 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:44.284Z,1755840164.284 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:44.284Z,1755840164.284 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:44.284Z,1755840164.284 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:44.494Z,1755840164.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:44.497Z,1755840164.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 78.244904 m,
      bearing: 88.663970 deg,
      approach rate: -0.604968 m/s,
      LOS rate: -0.052268 deg/s,
      cmd heading: 83.912146 deg,
      new cmd heading: 83.869820 deg.

2025-08-22T05:22:44.498Z,1755840164.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463804 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:44.537Z,1755840164.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240740
2025-08-22T05:22:44.788Z,1755840164.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491723
2025-08-22T05:22:44.872Z,1755840164.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:44.874Z,1755840164.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 78.000313 m,
      bearing: 88.643293 deg,
      approach rate: -0.648378 m/s,
      LOS rate: -0.054985 deg/s,
      cmd heading: 83.869819 deg,
      new cmd heading: 83.828335 deg.

2025-08-22T05:22:44.876Z,1755840164.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463080 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:45.041Z,1755840165.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744527
2025-08-22T05:22:45.292Z,1755840165.292 [DAT](INFO): DAT read: Rx Time:05:22:43.9485

2025-08-22T05:22:45.293Z,1755840165.293 [DAT](INFO): Rx dataTimestamp_ set to:1755840165.292602
2025-08-22T05:22:45.293Z,1755840165.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997015
2025-08-22T05:22:45.342Z,1755840165.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:45.349Z,1755840165.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 77.718513 m,
      bearing: 88.624153 deg,
      approach rate: -0.599206 m/s,
      LOS rate: -0.040846 deg/s,
      cmd heading: 83.828332 deg,
      new cmd heading: 83.789913 deg.

2025-08-22T05:22:45.350Z,1755840165.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462410 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:45.544Z,1755840165.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247708
2025-08-22T05:22:45.760Z,1755840165.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.23 m.
2025-08-22T05:22:45.789Z,1755840165.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.233337 m,
      nav range: 77.458969 m,
      bearing: 88.606784 deg,
      approach rate: -0.620004 m/s,
      LOS rate: -0.041631 deg/s,
      cmd heading: 83.789913 deg,
      new cmd heading: 83.755058 deg.

2025-08-22T05:22:45.790Z,1755840165.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461802 target range: 80.233337 and range: 80.70 m.
2025-08-22T05:22:45.802Z,1755840165.802 [DAT](INFO): DAT read: 05:22:43.9485 LVL= 24736, 29601, 22834, 32755, AGC= 66, IDX= 410,-0.30, 0.863,-0.959, 0.871, 0.492, PHS= 0.473,-1.406, 0.335, RAW= 146.2,   6.7, CAL= 145.7,   7.2, ROT=   4.3,  -7.2

2025-08-22T05:22:45.803Z,1755840165.803 [DAT](INFO): got valid direction response:
 05:22:43.9485 LVL= 24736, 29601, 22834, 32755, AGC= 66, IDX= 410,-0.30, 0.863,-0.959, 0.871, 0.492, PHS= 0.473,-1.406, 0.335, RAW= 146.2,   6.7, CAL= 145.7,   7.2, ROT=   4.3,  -7.2

2025-08-22T05:22:45.804Z,1755840165.804 [DAT](INFO): DAT read: Bearing 255.3,   5.9 (Local)

2025-08-22T05:22:45.804Z,1755840165.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,   5.9 (Local)

2025-08-22T05:22:45.806Z,1755840165.806 [DAT](INFO): DAT read: Range 11 to 50 : 78.3 m  (Round-trip  104.4 ms) speed  0.4 m/s

2025-08-22T05:22:45.806Z,1755840165.806 [DAT](INFO): DAT read: user:7467>

2025-08-22T05:22:45.807Z,1755840165.807 [DAT](INFO): DAT read: Tx time:05:22:45.0399

2025-08-22T05:22:45.808Z,1755840165.808 [DAT](INFO): Ping request sent.
2025-08-22T05:22:45.808Z,1755840165.808 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:45.808Z,1755840165.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:45.809Z,1755840165.809 [DAT](INFO): direction in FSK: [0.989322,0.074388,0.125333]
2025-08-22T05:22:45.809Z,1755840165.809 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:45.809Z,1755840165.809 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:45.813Z,1755840165.813 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:45.813Z,1755840165.813 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:46.216Z,1755840166.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.300003 m,
      deltaT: 3.527663 s,
      deltaX: -2.399994 m,
      approachRate: -0.680335 m/s,
      rangeRepo size: 4

2025-08-22T05:22:46.218Z,1755840166.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.847870 m,
      bearing: 87.439889 deg,
      lat: 36.779311 deg,
      lon: -121.859577 deg,
      deltaT: 3.527663 s,
      deltaX: -2.385468 m,
      approachRate: -0.676217 m/s,
      posRepo size: 4

2025-08-22T05:22:46.223Z,1755840166.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:46.226Z,1755840166.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 77.193123 m,
      bearing: 88.444797 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041631 deg/s,
      cmd heading: 83.755058 deg,
      new cmd heading: 83.717846 deg.

2025-08-22T05:22:46.227Z,1755840166.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461152 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:46.553Z,1755840166.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:46.556Z,1755840166.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:46.559Z,1755840166.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 76.975685 m,
      bearing: 88.432284 deg,
      approach rate: -0.625028 m/s,
      LOS rate: -0.036068 deg/s,
      cmd heading: 83.717847 deg,
      new cmd heading: 83.692752 deg.

2025-08-22T05:22:46.560Z,1755840166.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460714 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:46.804Z,1755840166.804 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:46.804Z,1755840166.804 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:46.804Z,1755840166.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:46.988Z,1755840166.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:46.998Z,1755840166.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 76.708832 m,
      bearing: 88.416831 deg,
      approach rate: -0.618917 m/s,
      LOS rate: -0.035966 deg/s,
      cmd heading: 83.692753 deg,
      new cmd heading: 83.661739 deg.

2025-08-22T05:22:47.002Z,1755840167.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460173 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:47.056Z,1755840167.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248656
2025-08-22T05:22:47.308Z,1755840167.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500493
2025-08-22T05:22:47.377Z,1755840167.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:47.400Z,1755840167.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 76.465736 m,
      bearing: 88.404051 deg,
      approach rate: -0.622417 m/s,
      LOS rate: -0.032827 deg/s,
      cmd heading: 83.661737 deg,
      new cmd heading: 83.636095 deg.

2025-08-22T05:22:47.401Z,1755840167.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459725 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:47.560Z,1755840167.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752543
2025-08-22T05:22:47.781Z,1755840167.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:47.790Z,1755840167.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 76.226059 m,
      bearing: 88.391498 deg,
      approach rate: -0.593298 m/s,
      LOS rate: -0.031171 deg/s,
      cmd heading: 83.636097 deg,
      new cmd heading: 83.610912 deg.

2025-08-22T05:22:47.791Z,1755840167.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459286 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:47.812Z,1755840167.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004571
2025-08-22T05:22:48.067Z,1755840168.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258849
2025-08-22T05:22:48.194Z,1755840168.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:48.197Z,1755840168.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 75.966957 m,
      bearing: 88.379972 deg,
      approach rate: -0.627279 m/s,
      LOS rate: -0.027998 deg/s,
      cmd heading: 83.610914 deg,
      new cmd heading: 83.587784 deg.

2025-08-22T05:22:48.198Z,1755840168.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458882 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:48.316Z,1755840168.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508596
2025-08-22T05:22:48.568Z,1755840168.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760559
2025-08-22T05:22:48.574Z,1755840168.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:48.581Z,1755840168.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:48.585Z,1755840168.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 75.739799 m,
      bearing: 88.370001 deg,
      approach rate: -0.587285 m/s,
      LOS rate: -0.025857 deg/s,
      cmd heading: 83.587787 deg,
      new cmd heading: 83.567785 deg.

2025-08-22T05:22:48.586Z,1755840168.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458533 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:48.822Z,1755840168.822 [DAT](INFO): DAT read: Rx Time:05:22:47.5455

2025-08-22T05:22:48.822Z,1755840168.822 [DAT](INFO): Rx dataTimestamp_ set to:1755840168.822216
2025-08-22T05:22:48.823Z,1755840168.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015338
2025-08-22T05:22:48.993Z,1755840168.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.85 m.
2025-08-22T05:22:48.995Z,1755840168.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.847870 m,
      nav range: 75.481438 m,
      bearing: 88.358587 deg,
      approach rate: -0.627427 m/s,
      LOS rate: -0.027814 deg/s,
      cmd heading: 83.567781 deg,
      new cmd heading: 83.544875 deg.

2025-08-22T05:22:48.996Z,1755840168.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458133 target range: 77.847870 and range: 78.30 m.
2025-08-22T05:22:49.075Z,1755840169.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267016
2025-08-22T05:22:49.330Z,1755840169.330 [DAT](INFO): DAT read: 05:22:47.5455 LVL= 30432, 30513, 29618, 32755, AGC= 67, IDX= 411, 0.14, 1.493,-0.340, 1.496, 1.112, PHS= 0.484,-1.406, 0.341, RAW= 146.1,   6.4, CAL= 145.6,   7.0, ROT=   4.4,  -7.0

2025-08-22T05:22:49.331Z,1755840169.331 [DAT](INFO): got valid direction response:
 05:22:47.5455 LVL= 30432, 30513, 29618, 32755, AGC= 67, IDX= 411, 0.14, 1.493,-0.340, 1.496, 1.112, PHS= 0.484,-1.406, 0.341, RAW= 146.1,   6.4, CAL= 145.6,   7.0, ROT=   4.4,  -7.0

2025-08-22T05:22:49.332Z,1755840169.332 [DAT](INFO): DAT read: Bearing 254.2,   6.6 (Local)

2025-08-22T05:22:49.332Z,1755840169.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.2,   6.6 (Local)

2025-08-22T05:22:49.334Z,1755840169.334 [DAT](INFO): DAT read: Range 11 to 50 : 76.0 m  (Round-trip  101.4 ms) speed  0.6 m/s

2025-08-22T05:22:49.334Z,1755840169.334 [DAT](INFO): DAT read: user:7468>

2025-08-22T05:22:49.344Z,1755840169.344 [DAT](INFO): DAT read: Tx time:05:22:48.6399

2025-08-22T05:22:49.344Z,1755840169.344 [DAT](INFO): Ping request sent.
2025-08-22T05:22:49.344Z,1755840169.344 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:49.344Z,1755840169.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:49.345Z,1755840169.345 [DAT](INFO): direction in FSK: [0.989621,0.076147,0.121869]
2025-08-22T05:22:49.346Z,1755840169.346 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:49.346Z,1755840169.346 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:49.362Z,1755840169.362 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:49.362Z,1755840169.362 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:49.568Z,1755840169.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.000000 m,
      deltaT: 3.528027 s,
      deltaX: -2.300003 m,
      approachRate: -0.651923 m/s,
      rangeRepo size: 4

2025-08-22T05:22:49.570Z,1755840169.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.562607 m,
      bearing: 86.977485 deg,
      lat: 36.779314 deg,
      lon: -121.859580 deg,
      deltaT: 3.528027 s,
      deltaX: -2.285263 m,
      approachRate: -0.647745 m/s,
      posRepo size: 4

2025-08-22T05:22:49.576Z,1755840169.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:49.583Z,1755840169.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 74.855255 m,
      bearing: 88.097585 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027814 deg/s,
      cmd heading: 83.544873 deg,
      new cmd heading: 83.512894 deg.

2025-08-22T05:22:49.584Z,1755840169.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457575 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:49.913Z,1755840169.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:49.917Z,1755840169.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 74.621353 m,
      bearing: 88.088736 deg,
      approach rate: -0.675867 m/s,
      LOS rate: -0.025650 deg/s,
      cmd heading: 83.512894 deg,
      new cmd heading: 83.495140 deg.

2025-08-22T05:22:49.918Z,1755840169.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457265 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:50.337Z,1755840170.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:50.339Z,1755840170.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 74.347672 m,
      bearing: 88.075057 deg,
      approach rate: -0.646991 m/s,
      LOS rate: -0.032458 deg/s,
      cmd heading: 83.495142 deg,
      new cmd heading: 83.467682 deg.

2025-08-22T05:22:50.340Z,1755840170.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456786 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:50.717Z,1755840170.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:50.719Z,1755840170.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:50.722Z,1755840170.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 74.099297 m,
      bearing: 88.062313 deg,
      approach rate: -0.649351 m/s,
      LOS rate: -0.033430 deg/s,
      cmd heading: 83.467685 deg,
      new cmd heading: 83.442111 deg.

2025-08-22T05:22:50.723Z,1755840170.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456340 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:50.836Z,1755840170.836 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:50.837Z,1755840170.837 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:50.837Z,1755840170.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:51.091Z,1755840171.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746171
2025-08-22T05:22:51.203Z,1755840171.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:51.226Z,1755840171.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 73.785416 m,
      bearing: 88.048247 deg,
      approach rate: -0.648781 m/s,
      LOS rate: -0.029196 deg/s,
      cmd heading: 83.442112 deg,
      new cmd heading: 83.413862 deg.

2025-08-22T05:22:51.227Z,1755840171.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455847 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:51.341Z,1755840171.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997422
2025-08-22T05:22:51.582Z,1755840171.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:51.585Z,1755840171.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 73.540131 m,
      bearing: 88.036761 deg,
      approach rate: -0.647383 m/s,
      LOS rate: -0.030416 deg/s,
      cmd heading: 83.413863 deg,
      new cmd heading: 83.390814 deg.

2025-08-22T05:22:51.586Z,1755840171.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455444 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:51.592Z,1755840171.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248316
2025-08-22T05:22:51.846Z,1755840171.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501714
2025-08-22T05:22:52.001Z,1755840172.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:52.008Z,1755840172.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 73.276253 m,
      bearing: 88.024101 deg,
      approach rate: -0.628727 m/s,
      LOS rate: -0.030274 deg/s,
      cmd heading: 83.390818 deg,
      new cmd heading: 83.365406 deg.

2025-08-22T05:22:52.009Z,1755840172.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455001 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:52.099Z,1755840172.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754378
2025-08-22T05:22:52.351Z,1755840172.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006753
2025-08-22T05:22:52.442Z,1755840172.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:52.448Z,1755840172.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 72.991173 m,
      bearing: 88.007655 deg,
      approach rate: -0.647753 m/s,
      LOS rate: -0.037515 deg/s,
      cmd heading: 83.365403 deg,
      new cmd heading: 83.332381 deg.

2025-08-22T05:22:52.449Z,1755840172.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454424 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:52.600Z,1755840172.600 [DAT](INFO): DAT read: Rx Time:05:22:51.1424

2025-08-22T05:22:52.601Z,1755840172.601 [DAT](INFO): Rx dataTimestamp_ set to:1755840172.600400
2025-08-22T05:22:52.601Z,1755840172.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257209
2025-08-22T05:22:52.794Z,1755840172.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:52.797Z,1755840172.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:52.800Z,1755840172.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 72.743805 m,
      bearing: 87.993133 deg,
      approach rate: -0.695402 m/s,
      LOS rate: -0.040963 deg/s,
      cmd heading: 83.332379 deg,
      new cmd heading: 83.303236 deg.

2025-08-22T05:22:52.801Z,1755840172.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453916 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:52.854Z,1755840172.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509678
2025-08-22T05:22:53.114Z,1755840173.114 [DAT](INFO): DAT read: 05:22:51.1424 LVL= 24816, 29073, 26610, 32755, AGC= 64, IDX= 412, 0.24, 0.356,-1.442, 0.369, 0.002, PHS= 0.456,-1.399, 0.322, RAW= 146.3,2399

2025-08-22T05:22:53.118Z,1755840173.118 [DAT](INFO): unknown deviceResponse_: 05:22:51.1424 LVL= 24816, 29073, 26610, 32755, AGC= 64, IDX= 412, 0.24, 0.356,-1.442, 0.369, 0.002, PHS= 0.456,-1.399, 0.322, RAW= 146.3,2399

2025-08-22T05:22:53.122Z,1755840173.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777959
2025-08-22T05:22:53.231Z,1755840173.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:53.256Z,1755840173.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 72.463913 m,
      bearing: 87.976515 deg,
      approach rate: -0.646805 m/s,
      LOS rate: -0.038549 deg/s,
      cmd heading: 83.303234 deg,
      new cmd heading: 83.269871 deg.

2025-08-22T05:22:53.258Z,1755840173.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.453333 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:53.357Z,1755840173.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.012728
2025-08-22T05:22:53.608Z,1755840173.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.264239
2025-08-22T05:22:53.616Z,1755840173.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:53.618Z,1755840173.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 72.224319 m,
      bearing: 87.962242 deg,
      approach rate: -0.648540 m/s,
      LOS rate: -0.038763 deg/s,
      cmd heading: 83.269869 deg,
      new cmd heading: 83.241228 deg.

2025-08-22T05:22:53.624Z,1755840173.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452834 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:53.860Z,1755840173.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.516187
2025-08-22T05:22:54.012Z,1755840174.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:54.014Z,1755840174.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 71.957817 m,
      bearing: 87.946375 deg,
      approach rate: -0.646758 m/s,
      LOS rate: -0.038650 deg/s,
      cmd heading: 83.241230 deg,
      new cmd heading: 83.209378 deg.

2025-08-22T05:22:54.016Z,1755840174.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452278 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:54.118Z,1755840174.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.773192
2025-08-22T05:22:54.364Z,1755840174.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020192
2025-08-22T05:22:54.440Z,1755840174.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:54.443Z,1755840174.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 71.688210 m,
      bearing: 87.931148 deg,
      approach rate: -0.628825 m/s,
      LOS rate: -0.035649 deg/s,
      cmd heading: 83.209381 deg,
      new cmd heading: 83.178811 deg.

2025-08-22T05:22:54.445Z,1755840174.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451744 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:54.616Z,1755840174.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.272159
2025-08-22T05:22:54.811Z,1755840174.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:54.814Z,1755840174.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:54.817Z,1755840174.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 71.453278 m,
      bearing: 87.918001 deg,
      approach rate: -0.629190 m/s,
      LOS rate: -0.035325 deg/s,
      cmd heading: 83.178809 deg,
      new cmd heading: 83.152429 deg.

2025-08-22T05:22:54.818Z,1755840174.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451284 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:54.869Z,1755840174.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524984
2025-08-22T05:22:55.123Z,1755840175.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778331
2025-08-22T05:22:55.283Z,1755840175.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:55.286Z,1755840175.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 71.175247 m,
      bearing: 87.901036 deg,
      approach rate: -0.597030 m/s,
      LOS rate: -0.036571 deg/s,
      cmd heading: 83.152431 deg,
      new cmd heading: 83.118369 deg.

2025-08-22T05:22:55.291Z,1755840175.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450689 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:55.373Z,1755840175.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.028647
2025-08-22T05:22:55.624Z,1755840175.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280309
2025-08-22T05:22:55.663Z,1755840175.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:55.666Z,1755840175.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 70.934753 m,
      bearing: 87.886732 deg,
      approach rate: -0.661046 m/s,
      LOS rate: -0.039451 deg/s,
      cmd heading: 83.118368 deg,
      new cmd heading: 83.089663 deg.

2025-08-22T05:22:55.667Z,1755840175.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.450188 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:55.878Z,1755840175.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.533419
2025-08-22T05:22:56.060Z,1755840176.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:56.063Z,1755840176.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 70.684570 m,
      bearing: 87.872087 deg,
      approach rate: -0.599775 m/s,
      LOS rate: -0.035233 deg/s,
      cmd heading: 83.089661 deg,
      new cmd heading: 83.060267 deg.

2025-08-22T05:22:56.068Z,1755840176.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449675 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:56.129Z,1755840176.129 [DAT](INFO): DAT read: Rx Time:05:22:54.7394

2025-08-22T05:22:56.130Z,1755840176.130 [DAT](INFO): Rx dataTimestamp_ set to:1755840176.129230
2025-08-22T05:22:56.130Z,1755840176.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786392
2025-08-22T05:22:56.380Z,1755840176.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036080
2025-08-22T05:22:56.537Z,1755840176.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.56 m.
2025-08-22T05:22:56.544Z,1755840176.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.562607 m,
      nav range: 70.379745 m,
      bearing: 87.850293 deg,
      approach rate: -0.639342 m/s,
      LOS rate: -0.045910 deg/s,
      cmd heading: 83.060271 deg,
      new cmd heading: 83.016493 deg.

2025-08-22T05:22:56.545Z,1755840176.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448911 target range: 75.562607 and range: 76.00 m.
2025-08-22T05:22:56.638Z,1755840176.638 [DAT](INFO): DAT read: 05:22:54.7394 LVL= 27312, 32545, 27490, 32755, AGC= 65, IDX= 413, 0.06,-0.494,-2.324,-0.454,-0.864, PHS= 0.471,-1.415, 0.365, RAW= 147.1,   6.4, CAL= 146.6,   6.8, ROT=   3.4,  -6.8

2025-08-22T05:22:56.639Z,1755840176.639 [DAT](INFO): got valid direction response:
 05:22:54.7394 LVL= 27312, 32545, 27490, 32755, AGC= 65, IDX= 413, 0.06,-0.494,-2.324,-0.454,-0.864, PHS= 0.471,-1.415, 0.365, RAW= 147.1,   6.4, CAL= 146.6,   6.8, ROT=   3.4,  -6.8

2025-08-22T05:22:56.640Z,1755840176.640 [DAT](INFO): DAT read: Bearing 253.8,   6.0 (Local)

2025-08-22T05:22:56.640Z,1755840176.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.8,   6.0 (Local)

2025-08-22T05:22:56.642Z,1755840176.642 [DAT](INFO): DAT read: Range 11 to 50 : 71.5 m  (Round-trip  95.4 ms) speed  0.7 m/s

2025-08-22T05:22:56.643Z,1755840176.643 [DAT](INFO): DAT read: user:7470>

2025-08-22T05:22:56.657Z,1755840176.657 [DAT](INFO): DAT read: Tx time:05:22:55.8399

2025-08-22T05:22:56.657Z,1755840176.657 [DAT](INFO): Ping request sent.
2025-08-22T05:22:56.657Z,1755840176.657 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:22:56.658Z,1755840176.658 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:22:56.659Z,1755840176.659 [DAT](INFO): direction in FSK: [0.991218,0.058889,0.118404]
2025-08-22T05:22:56.659Z,1755840176.659 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:56.659Z,1755840176.659 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:56.662Z,1755840176.662 [DAT](INFO): publishing transmit ping time
2025-08-22T05:22:56.663Z,1755840176.663 [DAT](INFO): publishing direction and range info
2025-08-22T05:22:56.981Z,1755840176.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.500000 m,
      deltaT: 7.307992 s,
      deltaX: -4.500000 m,
      approachRate: -0.615764 m/s,
      rangeRepo size: 4

2025-08-22T05:22:56.983Z,1755840176.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.089203 m,
      bearing: 85.747406 deg,
      lat: 36.779323 deg,
      lon: -121.859580 deg,
      deltaT: 7.307992 s,
      deltaX: -4.473404 m,
      approachRate: -0.612125 m/s,
      posRepo size: 4

2025-08-22T05:22:56.988Z,1755840176.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:56.991Z,1755840176.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 70.168068 m,
      bearing: 86.994725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045910 deg/s,
      cmd heading: 83.016496 deg,
      new cmd heading: 82.975834 deg.

2025-08-22T05:22:56.996Z,1755840176.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448202 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:57.364Z,1755840177.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:57.366Z,1755840177.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:57.369Z,1755840177.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 69.895386 m,
      bearing: 86.975546 deg,
      approach rate: -0.705942 m/s,
      LOS rate: -0.049846 deg/s,
      cmd heading: 82.975836 deg,
      new cmd heading: 82.937329 deg.

2025-08-22T05:22:57.370Z,1755840177.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447529 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:57.388Z,1755840177.388 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:22:57.388Z,1755840177.388 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:22:57.389Z,1755840177.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:22:57.641Z,1755840177.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983511
2025-08-22T05:22:57.773Z,1755840177.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:57.784Z,1755840177.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 69.636688 m,
      bearing: 86.957356 deg,
      approach rate: -0.635570 m/s,
      LOS rate: -0.044856 deg/s,
      cmd heading: 82.937327 deg,
      new cmd heading: 82.900812 deg.

2025-08-22T05:22:57.785Z,1755840177.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446892 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:57.893Z,1755840177.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235771
2025-08-22T05:22:58.145Z,1755840178.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487349
2025-08-22T05:22:58.223Z,1755840178.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:58.240Z,1755840178.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 69.398949 m,
      bearing: 86.940644 deg,
      approach rate: -0.530653 m/s,
      LOS rate: -0.037430 deg/s,
      cmd heading: 82.900813 deg,
      new cmd heading: 82.867275 deg.

2025-08-22T05:22:58.242Z,1755840178.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446307 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:58.396Z,1755840178.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738740
2025-08-22T05:22:58.617Z,1755840178.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:58.627Z,1755840178.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 69.123718 m,
      bearing: 86.919798 deg,
      approach rate: -0.694847 m/s,
      LOS rate: -0.052838 deg/s,
      cmd heading: 82.867277 deg,
      new cmd heading: 82.825418 deg.

2025-08-22T05:22:58.628Z,1755840178.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445576 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:58.648Z,1755840178.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991007
2025-08-22T05:22:58.901Z,1755840178.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243962
2025-08-22T05:22:58.988Z,1755840178.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:58.990Z,1755840178.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 68.880180 m,
      bearing: 86.901158 deg,
      approach rate: -0.658075 m/s,
      LOS rate: -0.050545 deg/s,
      cmd heading: 82.825415 deg,
      new cmd heading: 82.788004 deg.

2025-08-22T05:22:58.991Z,1755840178.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444923 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:59.154Z,1755840179.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496395
2025-08-22T05:22:59.404Z,1755840179.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746826
2025-08-22T05:22:59.425Z,1755840179.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:22:59.427Z,1755840179.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:59.430Z,1755840179.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 68.604439 m,
      bearing: 86.880332 deg,
      approach rate: -0.626889 m/s,
      LOS rate: -0.047537 deg/s,
      cmd heading: 82.788006 deg,
      new cmd heading: 82.746187 deg.

2025-08-22T05:22:59.431Z,1755840179.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444193 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:59.657Z,1755840179.657 [DAT](INFO): DAT read: Rx Time:05:22:58.3364

2025-08-22T05:22:59.657Z,1755840179.657 [DAT](INFO): Rx dataTimestamp_ set to:1755840179.657215
2025-08-22T05:22:59.658Z,1755840179.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000581
2025-08-22T05:22:59.805Z,1755840179.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.09 m.
2025-08-22T05:22:59.808Z,1755840179.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.089203 m,
      nav range: 68.378212 m,
      bearing: 86.862950 deg,
      approach rate: -0.598564 m/s,
      LOS rate: -0.046143 deg/s,
      cmd heading: 82.746185 deg,
      new cmd heading: 82.711305 deg.

2025-08-22T05:22:59.809Z,1755840179.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443585 target range: 71.089203 and range: 71.50 m.
2025-08-22T05:22:59.908Z,1755840179.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250921
2025-08-22T05:23:00.169Z,1755840180.169 [DAT](INFO): DAT read: 05:22:58.3364 LVL= 25376, 30513, 26002, 32755, AGC= 65, IDX= 415,-0.28,-0.753,-2.579,-0.725,-1.125, PHS= 0.474,-1.409, 0.356, RAW= 146.8,   6.4, CAL= 146.3,   6.9, ROT=   3.7,  -6.9

2025-08-22T05:23:00.172Z,1755840180.172 [DAT](INFO): got valid direction response:
 05:22:58.3364 LVL= 25376, 30513, 26002, 32755, AGC= 65, IDX= 415,-0.28,-0.753,-2.579,-0.725,-1.125, PHS= 0.474,-1.409, 0.356, RAW= 146.8,   6.4, CAL= 146.3,   6.9, ROT=   3.7,  -6.9

2025-08-22T05:23:00.173Z,1755840180.173 [DAT](INFO): DAT read: Bearing 253.5,   6.4 (Local)

2025-08-22T05:23:00.173Z,1755840180.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5,   6.4 (Local)

2025-08-22T05:23:00.176Z,1755840180.176 [DAT](INFO): DAT read: Range 11 to 50 : 69.3 m  (Round-trip  92.4 ms) speed  0.5 m/s

2025-08-22T05:23:00.177Z,1755840180.177 [DAT](INFO): DAT read: user:7471>

2025-08-22T05:23:00.178Z,1755840180.178 [DAT](INFO): DAT read: Tx time:05:22:59.4398

2025-08-22T05:23:00.178Z,1755840180.178 [DAT](INFO): Ping request sent.
2025-08-22T05:23:00.178Z,1755840180.178 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:00.180Z,1755840180.180 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:00.183Z,1755840180.183 [DAT](INFO): direction in FSK: [0.990688,0.064065,0.120137]
2025-08-22T05:23:00.184Z,1755840180.184 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:00.184Z,1755840180.184 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:00.221Z,1755840180.221 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:00.222Z,1755840180.222 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:00.390Z,1755840180.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.300003 m,
      deltaT: 3.529035 s,
      deltaX: -2.199997 m,
      approachRate: -0.623399 m/s,
      rangeRepo size: 4

2025-08-22T05:23:00.396Z,1755840180.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.901085 m,
      bearing: 86.018221 deg,
      lat: 36.779327 deg,
      lon: -121.859580 deg,
      deltaT: 3.529035 s,
      deltaX: -2.188118 m,
      approachRate: -0.620033 m/s,
      posRepo size: 4

2025-08-22T05:23:00.397Z,1755840180.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:00.404Z,1755840180.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 67.989944 m,
      bearing: 86.468203 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.046143 deg/s,
      cmd heading: 82.711303 deg,
      new cmd heading: 82.657425 deg.

2025-08-22T05:23:00.405Z,1755840180.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442644 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:00.677Z,1755840180.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:00.684Z,1755840180.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 67.804573 m,
      bearing: 86.450086 deg,
      approach rate: -0.644031 m/s,
      LOS rate: -0.063117 deg/s,
      cmd heading: 82.657426 deg,
      new cmd heading: 82.621092 deg.

2025-08-22T05:23:00.685Z,1755840180.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442010 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:01.076Z,1755840181.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:01.078Z,1755840181.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 67.547577 m,
      bearing: 86.424738 deg,
      approach rate: -0.644592 m/s,
      LOS rate: -0.063817 deg/s,
      cmd heading: 82.621090 deg,
      new cmd heading: 82.570202 deg.

2025-08-22T05:23:01.080Z,1755840181.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441122 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:01.509Z,1755840181.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:01.516Z,1755840181.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:01.518Z,1755840181.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 67.287811 m,
      bearing: 86.399657 deg,
      approach rate: -0.595832 m/s,
      LOS rate: -0.057752 deg/s,
      cmd heading: 82.570205 deg,
      new cmd heading: 82.519849 deg.

2025-08-22T05:23:01.523Z,1755840181.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440243 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:01.680Z,1755840181.680 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:01.680Z,1755840181.680 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:01.680Z,1755840181.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:01.884Z,1755840181.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:01.887Z,1755840181.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 67.042587 m,
      bearing: 86.375766 deg,
      approach rate: -0.658141 m/s,
      LOS rate: -0.064354 deg/s,
      cmd heading: 82.519846 deg,
      new cmd heading: 82.471889 deg.

2025-08-22T05:23:01.889Z,1755840181.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439406 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:01.932Z,1755840181.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754319
2025-08-22T05:23:02.184Z,1755840182.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006318
2025-08-22T05:23:02.350Z,1755840182.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:02.353Z,1755840182.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 66.753815 m,
      bearing: 86.350974 deg,
      approach rate: -0.619833 m/s,
      LOS rate: -0.053446 deg/s,
      cmd heading: 82.471891 deg,
      new cmd heading: 82.422092 deg.

2025-08-22T05:23:02.354Z,1755840182.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438537 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:02.438Z,1755840182.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259989
2025-08-22T05:23:02.476Z,1755840182.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:23:02.688Z,1755840182.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510344
2025-08-22T05:23:02.732Z,1755840182.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:02.755Z,1755840182.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 66.533081 m,
      bearing: 86.331876 deg,
      approach rate: -0.584886 m/s,
      LOS rate: -0.050770 deg/s,
      cmd heading: 82.422092 deg,
      new cmd heading: 82.383771 deg.

2025-08-22T05:23:02.756Z,1755840182.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437868 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:02.940Z,1755840182.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762094
2025-08-22T05:23:03.089Z,1755840183.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:03.094Z,1755840183.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 66.296455 m,
      bearing: 86.311573 deg,
      approach rate: -0.653812 m/s,
      LOS rate: -0.056299 deg/s,
      cmd heading: 82.383768 deg,
      new cmd heading: 82.343016 deg.

2025-08-22T05:23:03.098Z,1755840183.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437157 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:03.193Z,1755840183.193 [DAT](INFO): DAT read: Rx Time:05:23:01.9333

2025-08-22T05:23:03.193Z,1755840183.193 [DAT](INFO): Rx dataTimestamp_ set to:1755840183.192691
2025-08-22T05:23:03.193Z,1755840183.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015413
2025-08-22T05:23:03.444Z,1755840183.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266194
2025-08-22T05:23:03.479Z,1755840183.479 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:23:03.538Z,1755840183.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:03.545Z,1755840183.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.90 m.
2025-08-22T05:23:03.565Z,1755840183.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.901085 m,
      nav range: 66.023567 m,
      bearing: 86.288821 deg,
      approach rate: -0.599308 m/s,
      LOS rate: -0.050175 deg/s,
      cmd heading: 82.343019 deg,
      new cmd heading: 82.297325 deg.

2025-08-22T05:23:03.566Z,1755840183.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436359 target range: 68.901085 and range: 69.30 m.
2025-08-22T05:23:03.709Z,1755840183.709 [DAT](INFO): DAT read: 05:23:01.9333 LVL= 23136, 28753, 23538, 32547, AGC= 62, IDX= 416,-0.43, 3.110, 1.305,-3.126, 2.755, PHS= 0.458,-1.405, 0.359, RAW= 147.3,   6.5, CAL= 146.8,   7.0, ROT=   3.2,  -7.0

2025-08-22T05:23:03.711Z,1755840183.711 [DAT](INFO): got valid direction response:
 05:23:01.9333 LVL= 23136, 28753, 23538, 32547, AGC= 62, IDX= 416,-0.43, 3.110, 1.305,-3.126, 2.755, PHS= 0.458,-1.405, 0.359, RAW= 147.3,   6.5, CAL= 146.8,   7.0, ROT=   3.2,  -7.0

2025-08-22T05:23:03.713Z,1755840183.713 [DAT](INFO): DAT read: Bearing 253.8,   6.0 (Local)

2025-08-22T05:23:03.714Z,1755840183.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.8,   6.0 (Local)

2025-08-22T05:23:03.717Z,1755840183.717 [DAT](INFO): DAT read: Range 11 to 50 : 66.9 m  (Round-trip  89.3 ms) speed  0.5 m/s

2025-08-22T05:23:03.719Z,1755840183.719 [DAT](INFO): DAT read: user:7472>

2025-08-22T05:23:03.720Z,1755840183.720 [DAT](INFO): DAT read: Tx time:05:23:03.0398

2025-08-22T05:23:03.721Z,1755840183.721 [DAT](INFO): Ping request sent.
2025-08-22T05:23:03.721Z,1755840183.721 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:03.722Z,1755840183.722 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:03.733Z,1755840183.733 [DAT](INFO): direction in FSK: [0.990999,0.055405,0.121869]
2025-08-22T05:23:03.734Z,1755840183.734 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:03.734Z,1755840183.734 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:03.757Z,1755840183.757 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:03.757Z,1755840183.757 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:03.963Z,1755840183.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.900002 m,
      deltaT: 3.536524 s,
      deltaX: -2.400002 m,
      approachRate: -0.678633 m/s,
      rangeRepo size: 4

2025-08-22T05:23:03.965Z,1755840183.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.514008 m,
      bearing: 85.398211 deg,
      lat: 36.779331 deg,
      lon: -121.859581 deg,
      deltaT: 3.536524 s,
      deltaX: -2.387077 m,
      approachRate: -0.674978 m/s,
      posRepo size: 4

2025-08-22T05:23:03.966Z,1755840183.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:03.981Z,1755840183.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 65.770264 m,
      bearing: 85.799545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050175 deg/s,
      cmd heading: 82.297325 deg,
      new cmd heading: 82.255451 deg.

2025-08-22T05:23:03.982Z,1755840183.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435628 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:04.389Z,1755840184.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:04.392Z,1755840184.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 65.492577 m,
      bearing: 85.774867 deg,
      approach rate: -0.649484 m/s,
      LOS rate: -0.057964 deg/s,
      cmd heading: 82.255449 deg,
      new cmd heading: 82.205884 deg.

2025-08-22T05:23:04.393Z,1755840184.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434763 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:04.783Z,1755840184.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:04.785Z,1755840184.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 65.250816 m,
      bearing: 85.753386 deg,
      approach rate: -0.614814 m/s,
      LOS rate: -0.054831 deg/s,
      cmd heading: 82.205882 deg,
      new cmd heading: 82.162761 deg.

2025-08-22T05:23:04.786Z,1755840184.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434011 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:05.162Z,1755840185.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:05.193Z,1755840185.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 65.000786 m,
      bearing: 85.731180 deg,
      approach rate: -0.659551 m/s,
      LOS rate: -0.058800 deg/s,
      cmd heading: 82.162763 deg,
      new cmd heading: 82.118182 deg.

2025-08-22T05:23:05.194Z,1755840185.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433233 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:05.641Z,1755840185.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:05.643Z,1755840185.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:05.646Z,1755840185.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 64.689194 m,
      bearing: 85.706639 deg,
      approach rate: -0.647857 m/s,
      LOS rate: -0.051272 deg/s,
      cmd heading: 82.118183 deg,
      new cmd heading: 82.068863 deg.

2025-08-22T05:23:05.646Z,1755840185.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432372 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:05.714Z,1755840185.714 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:05.714Z,1755840185.714 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:05.715Z,1755840185.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:05.964Z,1755840185.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242890
2025-08-22T05:23:06.038Z,1755840186.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:06.045Z,1755840186.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 64.442070 m,
      bearing: 85.687205 deg,
      approach rate: -0.624700 m/s,
      LOS rate: -0.049314 deg/s,
      cmd heading: 82.068862 deg,
      new cmd heading: 82.029846 deg.

2025-08-22T05:23:06.046Z,1755840186.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431691 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:06.218Z,1755840186.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496665
2025-08-22T05:23:06.468Z,1755840186.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747123
2025-08-22T05:23:06.470Z,1755840186.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:06.473Z,1755840186.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 64.157913 m,
      bearing: 85.655656 deg,
      approach rate: -0.657883 m/s,
      LOS rate: -0.073368 deg/s,
      cmd heading: 82.029848 deg,
      new cmd heading: 81.966469 deg.

2025-08-22T05:23:06.474Z,1755840186.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430585 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:06.721Z,1755840186.721 [DAT](INFO): DAT read: Rx Time:05:23:05.5302

2025-08-22T05:23:06.722Z,1755840186.722 [DAT](INFO): Rx dataTimestamp_ set to:1755840186.721370
2025-08-22T05:23:06.724Z,1755840186.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002049
2025-08-22T05:23:06.848Z,1755840186.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:06.850Z,1755840186.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 63.914471 m,
      bearing: 85.628402 deg,
      approach rate: -0.644579 m/s,
      LOS rate: -0.072436 deg/s,
      cmd heading: 81.966471 deg,
      new cmd heading: 81.911756 deg.

2025-08-22T05:23:06.852Z,1755840186.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429630 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:06.976Z,1755840186.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254697
2025-08-22T05:23:07.226Z,1755840187.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504117
2025-08-22T05:23:07.363Z,1755840187.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.51 m.
2025-08-22T05:23:07.370Z,1755840187.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.514008 m,
      nav range: 63.592991 m,
      bearing: 85.592661 deg,
      approach rate: -0.624291 m/s,
      LOS rate: -0.069757 deg/s,
      cmd heading: 81.911754 deg,
      new cmd heading: 81.839911 deg.

2025-08-22T05:23:07.371Z,1755840187.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428376 target range: 66.514008 and range: 66.90 m.
2025-08-22T05:23:07.482Z,1755840187.482 [DAT](INFO): DAT read: 05:23:05.5302 LVL= 30256, 32753, 31794, 32755, AGC= 65, IDX= 416, 0.14,-1.344, 3.137,-1.289,-1.680, PHS= 0.438,-1.421, 0.347, RAW= 147.5,   7.1, CAL= 147.0,   7.6, ROT=   3.0,  -7.6

2025-08-22T05:23:07.483Z,1755840187.483 [DAT](INFO): got valid direction response:
 05:23:05.5302 LVL= 30256, 32753, 31794, 32755, AGC= 65, IDX= 416, 0.14,-1.344, 3.137,-1.289,-1.680, PHS= 0.438,-1.421, 0.347, RAW= 147.5,   7.1, CAL= 147.0,   7.6, ROT=   3.0,  -7.6

2025-08-22T05:23:07.484Z,1755840187.484 [DAT](INFO): DAT read: Bearing 254.2,   5.8 (Local)

2025-08-22T05:23:07.484Z,1755840187.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.2,   5.8 (Local)

2025-08-22T05:23:07.486Z,1755840187.486 [DAT](INFO): DAT read: Range 11 to 50 : 64.7 m  (Round-trip  86.3 ms) speed  0.6 m/s

2025-08-22T05:23:07.486Z,1755840187.486 [DAT](INFO): DAT read: user:7473>

2025-08-22T05:23:07.487Z,1755840187.487 [DAT](INFO): DAT read: Tx time:05:23:06.6398

2025-08-22T05:23:07.488Z,1755840187.488 [DAT](INFO): Ping request sent.
2025-08-22T05:23:07.488Z,1755840187.488 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:07.488Z,1755840187.488 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:07.489Z,1755840187.489 [DAT](INFO): direction in FSK: [0.989857,0.051876,0.132256]
2025-08-22T05:23:07.489Z,1755840187.489 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:07.489Z,1755840187.489 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:07.493Z,1755840187.493 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:07.493Z,1755840187.493 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:07.853Z,1755840187.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.699997 m,
      deltaT: 3.778376 s,
      deltaX: -2.200005 m,
      approachRate: -0.582262 m/s,
      rangeRepo size: 4

2025-08-22T05:23:07.859Z,1755840187.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.325974 m,
      bearing: 84.821016 deg,
      lat: 36.779336 deg,
      lon: -121.859581 deg,
      deltaT: 3.778376 s,
      deltaX: -2.188034 m,
      approachRate: -0.579094 m/s,
      posRepo size: 4

2025-08-22T05:23:07.860Z,1755840187.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:07.863Z,1755840187.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 63.315647 m,
      bearing: 85.159563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069757 deg/s,
      cmd heading: 81.839914 deg,
      new cmd heading: 81.771612 deg.

2025-08-22T05:23:07.865Z,1755840187.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427184 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:08.266Z,1755840188.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:08.271Z,1755840188.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:08.274Z,1755840188.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 63.034664 m,
      bearing: 85.132313 deg,
      approach rate: -0.671387 m/s,
      LOS rate: -0.065401 deg/s,
      cmd heading: 81.771612 deg,
      new cmd heading: 81.716870 deg.

2025-08-22T05:23:08.275Z,1755840188.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426228 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:08.484Z,1755840188.484 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:08.484Z,1755840188.484 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:08.485Z,1755840188.485 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:08.736Z,1755840188.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248671
2025-08-22T05:23:08.746Z,1755840188.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:08.753Z,1755840188.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 62.745850 m,
      bearing: 85.099697 deg,
      approach rate: -0.608387 m/s,
      LOS rate: -0.069021 deg/s,
      cmd heading: 81.716868 deg,
      new cmd heading: 81.651337 deg.

2025-08-22T05:23:08.754Z,1755840188.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.425085 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:08.990Z,1755840188.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501587
2025-08-22T05:23:09.106Z,1755840189.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:09.109Z,1755840189.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 62.499416 m,
      bearing: 85.071846 deg,
      approach rate: -0.684263 m/s,
      LOS rate: -0.077640 deg/s,
      cmd heading: 81.651339 deg,
      new cmd heading: 81.595416 deg.

2025-08-22T05:23:09.110Z,1755840189.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424109 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:09.241Z,1755840189.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752836
2025-08-22T05:23:09.492Z,1755840189.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004419
2025-08-22T05:23:09.552Z,1755840189.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:09.555Z,1755840189.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 62.224735 m,
      bearing: 85.038971 deg,
      approach rate: -0.615208 m/s,
      LOS rate: -0.073955 deg/s,
      cmd heading: 81.595414 deg,
      new cmd heading: 81.529374 deg.

2025-08-22T05:23:09.560Z,1755840189.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422956 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:09.744Z,1755840189.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256479
2025-08-22T05:23:09.910Z,1755840189.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:09.913Z,1755840189.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 61.987186 m,
      bearing: 85.010416 deg,
      approach rate: -0.663680 m/s,
      LOS rate: -0.080084 deg/s,
      cmd heading: 81.529373 deg,
      new cmd heading: 81.472044 deg.

2025-08-22T05:23:09.914Z,1755840189.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.421955 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:09.997Z,1755840189.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509312
2025-08-22T05:23:10.248Z,1755840190.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760565
2025-08-22T05:23:10.342Z,1755840190.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:10.362Z,1755840190.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:10.384Z,1755840190.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 61.707943 m,
      bearing: 84.976710 deg,
      approach rate: -0.639821 m/s,
      LOS rate: -0.077578 deg/s,
      cmd heading: 81.472047 deg,
      new cmd heading: 81.404331 deg.

2025-08-22T05:23:10.392Z,1755840190.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420774 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:10.502Z,1755840190.502 [DAT](INFO): DAT read: Rx Time:05:23:09.1273

2025-08-22T05:23:10.502Z,1755840190.502 [DAT](INFO): Rx dataTimestamp_ set to:1755840190.501790
2025-08-22T05:23:10.503Z,1755840190.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014899
2025-08-22T05:23:10.752Z,1755840190.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264562
2025-08-22T05:23:10.778Z,1755840190.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.33 m.
2025-08-22T05:23:10.781Z,1755840190.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.325974 m,
      nav range: 61.431145 m,
      bearing: 84.942769 deg,
      approach rate: -0.642253 m/s,
      LOS rate: -0.079108 deg/s,
      cmd heading: 81.404332 deg,
      new cmd heading: 81.336145 deg.

2025-08-22T05:23:10.782Z,1755840190.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.419584 target range: 64.325974 and range: 64.70 m.
2025-08-22T05:23:11.010Z,1755840191.010 [DAT](INFO): DAT read: 05:23:09.1273 LVL= 27504, 29105, 27890, 32755, AGC= 60, IDX= 418,-0.18, 1.989, 0.224, 2.039, 1.651, PHS= 0.440,-1.382, 0.344, RAW= 147.3,   6.8, CAL= 146.8,   7.3, ROT=   3.2,  -7.3

2025-08-22T05:23:11.011Z,1755840191.011 [DAT](INFO): got valid direction response:
 05:23:09.1273 LVL= 27504, 29105, 27890, 32755, AGC= 60, IDX= 418,-0.18, 1.989, 0.224, 2.039, 1.651, PHS= 0.440,-1.382, 0.344, RAW= 147.3,   6.8, CAL= 146.8,   7.3, ROT=   3.2,  -7.3

2025-08-22T05:23:11.012Z,1755840191.012 [DAT](INFO): DAT read: Bearing 253.4,   6.0 (Local)

2025-08-22T05:23:11.012Z,1755840191.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.4,   6.0 (Local)

2025-08-22T05:23:11.014Z,1755840191.014 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m  (Round-trip  83.3 ms) speed  0.5 m/s

2025-08-22T05:23:11.014Z,1755840191.014 [DAT](INFO): DAT read: user:7474>

2025-08-22T05:23:11.015Z,1755840191.015 [DAT](INFO): DAT read: Tx time:05:23:10.2414

2025-08-22T05:23:11.016Z,1755840191.016 [DAT](INFO): Ping request sent.
2025-08-22T05:23:11.016Z,1755840191.016 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:11.016Z,1755840191.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:11.017Z,1755840191.017 [DAT](INFO): direction in FSK: [0.990348,0.055369,0.127065]
2025-08-22T05:23:11.017Z,1755840191.017 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:11.017Z,1755840191.017 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:11.038Z,1755840191.038 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:11.038Z,1755840191.038 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:11.207Z,1755840191.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 3.527975 s,
      deltaX: -2.299995 m,
      approachRate: -0.651931 m/s,
      rangeRepo size: 4

2025-08-22T05:23:11.222Z,1755840191.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.039501 m,
      bearing: 84.823868 deg,
      lat: 36.779336 deg,
      lon: -121.859581 deg,
      deltaT: 3.527975 s,
      deltaX: -2.286472 m,
      approachRate: -0.648098 m/s,
      posRepo size: 4

2025-08-22T05:23:11.236Z,1755840191.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:11.238Z,1755840191.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 61.185741 m,
      bearing: 84.826462 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079108 deg/s,
      cmd heading: 81.336147 deg,
      new cmd heading: 81.268411 deg.

2025-08-22T05:23:11.244Z,1755840191.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418401 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:11.599Z,1755840191.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:11.602Z,1755840191.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 60.923889 m,
      bearing: 84.792934 deg,
      approach rate: -0.666221 m/s,
      LOS rate: -0.085670 deg/s,
      cmd heading: 81.268412 deg,
      new cmd heading: 81.201068 deg.

2025-08-22T05:23:11.603Z,1755840191.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417226 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:12.133Z,1755840192.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:12.136Z,1755840192.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 60.611099 m,
      bearing: 84.752569 deg,
      approach rate: -0.585413 m/s,
      LOS rate: -0.075937 deg/s,
      cmd heading: 81.201066 deg,
      new cmd heading: 81.119918 deg.

2025-08-22T05:23:12.137Z,1755840192.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415810 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:12.518Z,1755840192.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:12.540Z,1755840192.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:12.542Z,1755840192.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 60.364613 m,
      bearing: 84.721657 deg,
      approach rate: -0.611649 m/s,
      LOS rate: -0.077020 deg/s,
      cmd heading: 81.119916 deg,
      new cmd heading: 81.057840 deg.

2025-08-22T05:23:12.543Z,1755840192.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414726 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:12.769Z,1755840192.769 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:12.769Z,1755840192.769 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:12.769Z,1755840192.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:12.904Z,1755840192.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:12.908Z,1755840192.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 60.134026 m,
      bearing: 84.692502 deg,
      approach rate: -0.625971 m/s,
      LOS rate: -0.079448 deg/s,
      cmd heading: 81.057837 deg,
      new cmd heading: 80.999305 deg.

2025-08-22T05:23:12.909Z,1755840192.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413705 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:13.020Z,1755840193.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004501
2025-08-22T05:23:13.272Z,1755840193.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256576
2025-08-22T05:23:13.301Z,1755840193.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:13.303Z,1755840193.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 59.896935 m,
      bearing: 84.662350 deg,
      approach rate: -0.598488 m/s,
      LOS rate: -0.076414 deg/s,
      cmd heading: 80.999302 deg,
      new cmd heading: 80.938759 deg.

2025-08-22T05:23:13.304Z,1755840193.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.412648 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:13.524Z,1755840193.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508415
2025-08-22T05:23:13.743Z,1755840193.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:13.746Z,1755840193.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 59.633087 m,
      bearing: 84.625679 deg,
      approach rate: -0.596651 m/s,
      LOS rate: -0.083294 deg/s,
      cmd heading: 80.938759 deg,
      new cmd heading: 80.865092 deg.

2025-08-22T05:23:13.747Z,1755840193.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411362 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:13.777Z,1755840193.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760883
2025-08-22T05:23:14.028Z,1755840194.028 [DAT](INFO): DAT read: Rx Time:05:23:12.7258

2025-08-22T05:23:14.029Z,1755840194.029 [DAT](INFO): Rx dataTimestamp_ set to:1755840194.028544
2025-08-22T05:23:14.029Z,1755840194.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013627
2025-08-22T05:23:14.162Z,1755840194.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:14.170Z,1755840194.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 59.396198 m,
      bearing: 84.592559 deg,
      approach rate: -0.565717 m/s,
      LOS rate: -0.079408 deg/s,
      cmd heading: 80.865089 deg,
      new cmd heading: 80.798586 deg.

2025-08-22T05:23:14.177Z,1755840194.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410201 target range: 62.039501 and range: 62.40 m.
2025-08-22T05:23:14.280Z,1755840194.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264420
2025-08-22T05:23:14.536Z,1755840194.536 [DAT](INFO): DAT read: 05:23:12.7258 LVL= 24304, 27697, 24018, 32755, AGC= 61, IDX= 403, 0.04, 2.663, 0.861, 2.722, 2.312,ing 253.1,   5.8 (Local)

2025-08-22T05:23:14.536Z,1755840194.536 [DAT](INFO): Local bearing/azimuth received:
 05:23:12.7258 LVL= 24304, 27697, 24018, 32755, AGC= 61, IDX= 403, 0.04, 2.663, 0.861, 2.722, 2.312,ing 253.1,   5.8 (Local)

2025-08-22T05:23:14.537Z,1755840194.537 [DAT](INFO): DAT read: Range 11 to 50 : 60.2 m  (Round-trip  80.3 ms) speed  0.6 m/s

2025-08-22T05:23:14.538Z,1755840194.538 [DAT](INFO): DAT read: user:7475>

2025-08-22T05:23:14.539Z,1755840194.539 [DAT](INFO): DAT read: Tx time:05:23:13.8398

2025-08-22T05:23:14.546Z,1755840194.546 [DAT](INFO): Ping request sent.
2025-08-22T05:23:14.546Z,1755840194.546 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:14.546Z,1755840194.546 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:23:14.546Z,1755840194.546 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:14.547Z,1755840194.547 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:14.686Z,1755840194.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:14.690Z,1755840194.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.200001 m,
      deltaT: 3.528152 s,
      deltaX: -2.200001 m,
      approachRate: -0.623556 m/s,
      rangeRepo size: 4

2025-08-22T05:23:14.692Z,1755840194.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:14.699Z,1755840194.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 59.067726 m,
      bearing: 84.546493 deg,
      approach rate: -0.623480 m/s,
      LOS rate: -0.087925 deg/s,
      cmd heading: 80.798583 deg,
      new cmd heading: 80.705939 deg.

2025-08-22T05:23:14.701Z,1755840194.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408584 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:14.785Z,1755840194.785 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:14.785Z,1755840194.785 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:14.785Z,1755840194.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:15.036Z,1755840195.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490204
2025-08-22T05:23:15.064Z,1755840195.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:15.067Z,1755840195.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 58.842930 m,
      bearing: 84.514864 deg,
      approach rate: -0.598308 m/s,
      LOS rate: -0.084506 deg/s,
      cmd heading: 80.705939 deg,
      new cmd heading: 80.642438 deg.

2025-08-22T05:23:15.068Z,1755840195.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.407476 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:15.290Z,1755840195.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744172
2025-08-22T05:23:15.534Z,1755840195.534 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for bottom velocity. Device response is::BS,  +109,  +602,    -7 0.00
2025-08-22T05:23:15.540Z,1755840195.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994544
2025-08-22T05:23:15.551Z,1755840195.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:15.554Z,1755840195.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 58.552029 m,
      bearing: 84.473568 deg,
      approach rate: -0.597531 m/s,
      LOS rate: -0.085246 deg/s,
      cmd heading: 80.642438 deg,
      new cmd heading: 80.559436 deg.

2025-08-22T05:23:15.555Z,1755840195.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406027 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:15.792Z,1755840195.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246377
2025-08-22T05:23:16.002Z,1755840196.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:16.021Z,1755840196.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 58.282539 m,
      bearing: 84.435600 deg,
      approach rate: -0.597684 m/s,
      LOS rate: -0.084596 deg/s,
      cmd heading: 80.559438 deg,
      new cmd heading: 80.483151 deg.

2025-08-22T05:23:16.022Z,1755840196.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404696 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:16.045Z,1755840196.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498910
2025-08-22T05:23:16.296Z,1755840196.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750421
2025-08-22T05:23:16.415Z,1755840196.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:16.418Z,1755840196.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 58.035542 m,
      bearing: 84.400859 deg,
      approach rate: -0.597894 m/s,
      LOS rate: -0.084454 deg/s,
      cmd heading: 80.483152 deg,
      new cmd heading: 80.413374 deg.

2025-08-22T05:23:16.421Z,1755840196.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403478 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:16.548Z,1755840196.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002450
2025-08-22T05:23:16.801Z,1755840196.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254852
2025-08-22T05:23:16.950Z,1755840196.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:16.982Z,1755840196.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:16.986Z,1755840196.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 57.713970 m,
      bearing: 84.357355 deg,
      approach rate: -0.596159 m/s,
      LOS rate: -0.081101 deg/s,
      cmd heading: 80.413374 deg,
      new cmd heading: 80.325881 deg.

2025-08-22T05:23:16.992Z,1755840196.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401951 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:17.054Z,1755840197.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508165
2025-08-22T05:23:17.304Z,1755840197.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758346
2025-08-22T05:23:17.327Z,1755840197.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:17.329Z,1755840197.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 57.489052 m,
      bearing: 84.326672 deg,
      approach rate: -0.604207 m/s,
      LOS rate: -0.082748 deg/s,
      cmd heading: 80.325880 deg,
      new cmd heading: 80.264273 deg.

2025-08-22T05:23:17.330Z,1755840197.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400876 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:17.556Z,1755840197.556 [DAT](INFO): DAT read: Rx Time:05:23:16.3212

2025-08-22T05:23:17.557Z,1755840197.557 [DAT](INFO): Rx dataTimestamp_ set to:1755840197.556497
2025-08-22T05:23:17.557Z,1755840197.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011491
2025-08-22T05:23:17.799Z,1755840197.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:17.802Z,1755840197.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 57.199627 m,
      bearing: 84.289997 deg,
      approach rate: -0.613061 m/s,
      LOS rate: -0.078077 deg/s,
      cmd heading: 80.264271 deg,
      new cmd heading: 80.190551 deg.

2025-08-22T05:23:17.803Z,1755840197.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399589 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:17.808Z,1755840197.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262548
2025-08-22T05:23:18.063Z,1755840198.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517030
2025-08-22T05:23:18.130Z,1755840198.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.04 m.
2025-08-22T05:23:18.133Z,1755840198.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.039501 m,
      nav range: 56.996212 m,
      bearing: 84.264023 deg,
      approach rate: -0.613325 m/s,
      LOS rate: -0.078594 deg/s,
      cmd heading: 80.190553 deg,
      new cmd heading: 80.138420 deg.

2025-08-22T05:23:18.134Z,1755840198.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398679 target range: 62.039501 and range: 60.20 m.
2025-08-22T05:23:18.321Z,1755840198.321 [DAT](INFO): DAT read: 05:23:16.3212 LVL= 25360, 31889, 26210, 32755, AGC= 64, IDX= 405,-0.02, 2.344, 0.536, 2.410, 1.988, PHS= 0.458,-1.408, 0.378, RAW= 147.8,   6.3, CAL= 147.3,   6.8, ROT=   2.7,  -6.8

2025-08-22T05:23:18.322Z,1755840198.322 [DAT](INFO): got valid direction response:
 05:23:16.3212 LVL= 25360, 31889, 26210, 32755, AGC= 64, IDX= 405,-0.02, 2.344, 0.536, 2.410, 1.988, PHS= 0.458,-1.408, 0.378, RAW= 147.8,   6.3, CAL= 147.3,   6.8, ROT=   2.7,  -6.8

2025-08-22T05:23:18.323Z,1755840198.323 [DAT](INFO): DAT read: Bearing 252.5,   5.5 (Local)

2025-08-22T05:23:18.323Z,1755840198.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5,   5.5 (Local)

2025-08-22T05:23:18.324Z,1755840198.324 [DAT](INFO): DAT read: Range 11 to 50 : 58.0 m  (Round-trip  77.4 ms) speed  0.5 m/s

2025-08-22T05:23:18.325Z,1755840198.325 [DAT](INFO): DAT read: user:7476>

2025-08-22T05:23:18.326Z,1755840198.326 [DAT](INFO): DAT read: Tx time:05:23:17.4397

2025-08-22T05:23:18.326Z,1755840198.326 [DAT](INFO): Ping request sent.
2025-08-22T05:23:18.326Z,1755840198.326 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:18.326Z,1755840198.326 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:18.328Z,1755840198.328 [DAT](INFO): direction in FSK: [0.991863,0.046775,0.118404]
2025-08-22T05:23:18.328Z,1755840198.328 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:18.328Z,1755840198.328 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:18.331Z,1755840198.331 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:18.331Z,1755840198.331 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:18.616Z,1755840198.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.000000 m,
      deltaT: 3.782138 s,
      deltaX: -2.200001 m,
      approachRate: -0.581682 m/s,
      rangeRepo size: 4

2025-08-22T05:23:18.618Z,1755840198.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.665710 m,
      bearing: 83.914867 deg,
      lat: 36.779336 deg,
      lon: -121.859580 deg,
      deltaT: 7.310290 s,
      deltaX: -4.373791 m,
      approachRate: -0.598306 m/s,
      posRepo size: 4

2025-08-22T05:23:18.623Z,1755840198.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:18.624Z,1755840198.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:18.626Z,1755840198.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 56.723686 m,
      bearing: 84.228146 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.078594 deg/s,
      cmd heading: 80.138418 deg,
      new cmd heading: 80.062821 deg.

2025-08-22T05:23:18.632Z,1755840198.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.397360 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:18.673Z,1755840198.673 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T05:23:18.963Z,1755840198.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:18.966Z,1755840198.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:18.966Z,1755840198.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:18.970Z,1755840198.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 56.496109 m,
      bearing: 84.198207 deg,
      approach rate: -0.642324 m/s,
      LOS rate: -0.084839 deg/s,
      cmd heading: 80.062822 deg,
      new cmd heading: 80.002704 deg.

2025-08-22T05:23:18.971Z,1755840198.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396311 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:19.068Z,1755840199.068 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:19.068Z,1755840199.068 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:19.069Z,1755840199.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:19.320Z,1755840199.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993950
2025-08-22T05:23:19.401Z,1755840199.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:19.402Z,1755840199.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:19.409Z,1755840199.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 56.230598 m,
      bearing: 84.162998 deg,
      approach rate: -0.609369 m/s,
      LOS rate: -0.081189 deg/s,
      cmd heading: 80.002702 deg,
      new cmd heading: 79.931952 deg.

2025-08-22T05:23:19.410Z,1755840199.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395076 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:19.572Z,1755840199.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245921
2025-08-22T05:23:19.810Z,1755840199.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:19.810Z,1755840199.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:19.818Z,1755840199.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 55.987148 m,
      bearing: 84.130664 deg,
      approach rate: -0.595639 m/s,
      LOS rate: -0.079455 deg/s,
      cmd heading: 79.931948 deg,
      new cmd heading: 79.866999 deg.

2025-08-22T05:23:19.819Z,1755840199.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393942 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:19.824Z,1755840199.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498155
2025-08-22T05:23:20.080Z,1755840200.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753679
2025-08-22T05:23:20.220Z,1755840200.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:20.220Z,1755840200.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:20.223Z,1755840200.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 55.741421 m,
      bearing: 84.097645 deg,
      approach rate: -0.604338 m/s,
      LOS rate: -0.081564 deg/s,
      cmd heading: 79.867000 deg,
      new cmd heading: 79.800671 deg.

2025-08-22T05:23:20.225Z,1755840200.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392784 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:20.328Z,1755840200.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002279
2025-08-22T05:23:20.581Z,1755840200.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254383
2025-08-22T05:23:20.635Z,1755840200.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:20.640Z,1755840200.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:20.643Z,1755840200.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 55.473118 m,
      bearing: 84.054216 deg,
      approach rate: -0.641882 m/s,
      LOS rate: -0.104402 deg/s,
      cmd heading: 79.800672 deg,
      new cmd heading: 79.713393 deg.

2025-08-22T05:23:20.645Z,1755840200.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391261 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:20.832Z,1755840200.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506005
2025-08-22T05:23:21.007Z,1755840201.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:21.009Z,1755840201.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:21.009Z,1755840201.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:21.012Z,1755840201.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 55.230114 m,
      bearing: 84.014833 deg,
      approach rate: -0.649205 m/s,
      LOS rate: -0.105676 deg/s,
      cmd heading: 79.713396 deg,
      new cmd heading: 79.634285 deg.

2025-08-22T05:23:21.013Z,1755840201.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389880 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:21.086Z,1755840201.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759900
2025-08-22T05:23:21.340Z,1755840201.340 [DAT](INFO): DAT read: Rx Time:05:23:19.9183

2025-08-22T05:23:21.341Z,1755840201.341 [DAT](INFO): Rx dataTimestamp_ set to:1755840201.340442
2025-08-22T05:23:21.341Z,1755840201.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015065
2025-08-22T05:23:21.432Z,1755840201.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:21.433Z,1755840201.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:21.440Z,1755840201.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 54.971447 m,
      bearing: 83.972917 deg,
      approach rate: -0.610928 m/s,
      LOS rate: -0.099465 deg/s,
      cmd heading: 79.634282 deg,
      new cmd heading: 79.550055 deg.

2025-08-22T05:23:21.441Z,1755840201.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388410 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:21.592Z,1755840201.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266067
2025-08-22T05:23:21.831Z,1755840201.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m.
2025-08-22T05:23:21.831Z,1755840201.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-22T05:23:21.834Z,1755840201.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.665710 m,
      nav range: 54.718712 m,
      bearing: 83.936336 deg,
      approach rate: -0.634460 m/s,
      LOS rate: -0.092256 deg/s,
      cmd heading: 79.550052 deg,
      new cmd heading: 79.476553 deg.

2025-08-22T05:23:21.836Z,1755840201.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387128 target range: 57.665710 and range: 58.00 m.
2025-08-22T05:23:21.858Z,1755840201.858 [DAT](INFO): DAT read: 05:23:19.9183 LVL= 21952, 28657, 25826, 32755, AGC= 60, IDX= 407, 0.20, 2.980, 1.184, 3.050, 2.621, PHS= 0.461,-1.393, 0.385, RAW= 147.9,   6.1, CAL= 147.3,   6.5, ROT=   2.7,  -6.5

2025-08-22T05:23:21.859Z,1755840201.859 [DAT](INFO): got valid direction response:
 05:23:19.9183 LVL= 21952, 28657, 25826, 32755, AGC= 60, IDX= 407, 0.20, 2.980, 1.184, 3.050, 2.621, PHS= 0.461,-1.393, 0.385, RAW= 147.9,   6.1, CAL= 147.3,   6.5, ROT=   2.7,  -6.5

2025-08-22T05:23:21.860Z,1755840201.860 [DAT](INFO): DAT read: Bearing 252.0,   4.3 (Local)

2025-08-22T05:23:21.860Z,1755840201.860 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.0,   4.3 (Local)

2025-08-22T05:23:21.862Z,1755840201.862 [DAT](INFO): DAT read: Range 11 to 50 : 55.8 m  (Round-trip  74.5 ms) speed  0.5 m/s

2025-08-22T05:23:21.862Z,1755840201.862 [DAT](INFO): DAT read: user:7477>

2025-08-22T05:23:21.895Z,1755840201.895 [DAT](INFO): DAT read: Tx time:05:23:21.0397

2025-08-22T05:23:21.896Z,1755840201.896 [DAT](INFO): Ping request sent.
2025-08-22T05:23:21.896Z,1755840201.896 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:21.896Z,1755840201.896 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:21.897Z,1755840201.897 [DAT](INFO): direction in FSK: [0.992469,0.046804,0.113203]
2025-08-22T05:23:21.897Z,1755840201.897 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:21.897Z,1755840201.897 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:21.910Z,1755840201.910 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:21.910Z,1755840201.910 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:22.262Z,1755840202.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.799999 m,
      deltaT: 3.529831 s,
      deltaX: -2.200001 m,
      approachRate: -0.623260 m/s,
      rangeRepo size: 4

2025-08-22T05:23:22.264Z,1755840202.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.477303 m,
      bearing: 83.576193 deg,
      lat: 36.779339 deg,
      lon: -121.859580 deg,
      deltaT: 3.529831 s,
      deltaX: -2.188408 m,
      approachRate: -0.619975 m/s,
      posRepo size: 4

2025-08-22T05:23:22.265Z,1755840202.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:22.265Z,1755840202.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:22.268Z,1755840202.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 54.497162 m,
      bearing: 83.599955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092256 deg/s,
      cmd heading: 79.476552 deg,
      new cmd heading: 79.397128 deg.

2025-08-22T05:23:22.269Z,1755840202.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385741 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:22.652Z,1755840202.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:22.653Z,1755840202.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:22.656Z,1755840202.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 54.241833 m,
      bearing: 83.562067 deg,
      approach rate: -0.653194 m/s,
      LOS rate: -0.097384 deg/s,
      cmd heading: 79.397131 deg,
      new cmd heading: 79.320998 deg.

2025-08-22T05:23:22.657Z,1755840202.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384413 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:23.016Z,1755840203.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:23.018Z,1755840203.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:23.019Z,1755840203.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:23.022Z,1755840203.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 54.013573 m,
      bearing: 83.528555 deg,
      approach rate: -0.623476 m/s,
      LOS rate: -0.091923 deg/s,
      cmd heading: 79.320995 deg,
      new cmd heading: 79.253688 deg.

2025-08-22T05:23:23.023Z,1755840203.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.383238 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:23.104Z,1755840203.104 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:23.104Z,1755840203.104 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:23.105Z,1755840203.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:23.356Z,1755840203.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460382
2025-08-22T05:23:23.424Z,1755840203.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:23.424Z,1755840203.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:23.427Z,1755840203.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 53.759857 m,
      bearing: 83.491714 deg,
      approach rate: -0.626616 m/s,
      LOS rate: -0.091418 deg/s,
      cmd heading: 79.253690 deg,
      new cmd heading: 79.179660 deg.

2025-08-22T05:23:23.428Z,1755840203.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381946 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:23.608Z,1755840203.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.712434
2025-08-22T05:23:23.844Z,1755840203.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:23.844Z,1755840203.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:23.847Z,1755840203.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 53.494495 m,
      bearing: 83.455137 deg,
      approach rate: -0.631202 m/s,
      LOS rate: -0.087434 deg/s,
      cmd heading: 79.179658 deg,
      new cmd heading: 79.106142 deg.

2025-08-22T05:23:23.848Z,1755840203.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380663 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:23.860Z,1755840203.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964523
2025-08-22T05:23:24.112Z,1755840204.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.216423
2025-08-22T05:23:24.265Z,1755840204.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:24.266Z,1755840204.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:24.269Z,1755840204.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 53.236828 m,
      bearing: 83.419270 deg,
      approach rate: -0.611106 m/s,
      LOS rate: -0.085478 deg/s,
      cmd heading: 79.106144 deg,
      new cmd heading: 79.034063 deg.

2025-08-22T05:23:24.270Z,1755840204.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379405 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:24.364Z,1755840204.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.468594
2025-08-22T05:23:24.619Z,1755840204.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722592
2025-08-22T05:23:24.693Z,1755840204.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:24.694Z,1755840204.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m.
2025-08-22T05:23:24.694Z,1755840204.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.80 m.
2025-08-22T05:23:24.694Z,1755840204.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T05:23:24.708Z,1755840204.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 52.978958 m,
      bearing: 83.383328 deg,
      approach rate: -0.603783 m/s,
      LOS rate: -0.084565 deg/s,
      cmd heading: 79.034065 deg,
      new cmd heading: 78.961831 deg.

2025-08-22T05:23:24.709Z,1755840204.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378144 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:24.736Z,1755840204.736 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T05:23:24.737Z,1755840204.737 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T05:23:24.868Z,1755840204.868 [DAT](INFO): DAT read: Rx Time:05:23:23.5154

2025-08-22T05:23:24.869Z,1755840204.869 [DAT](INFO): Rx dataTimestamp_ set to:1755840204.868565
2025-08-22T05:23:24.869Z,1755840204.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.973575
2025-08-22T05:23:25.062Z,1755840205.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:25.082Z,1755840205.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m.
2025-08-22T05:23:25.085Z,1755840205.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.477303 m,
      nav range: 52.739521 m,
      bearing: 83.349638 deg,
      approach rate: -0.613584 m/s,
      LOS rate: -0.086727 deg/s,
      cmd heading: 78.961829 deg,
      new cmd heading: 78.894143 deg.

2025-08-22T05:23:25.086Z,1755840205.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376963 target range: 55.477303 and range: 55.80 m.
2025-08-22T05:23:25.122Z,1755840205.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.226479
2025-08-22T05:23:25.378Z,1755840205.378 [DAT](INFO): DAT read: 05:23:23.5154 LVL= 23776, 30705, 25458, 32755, AGC= 61, IDX= 409, 0.06, 2.891, 1.042, 2.906, 2.513, PHS= 0.480,-1.426, 0.349, RAW= 146.5,   6.5, CAL= 146.0,   7.1, ROT=   4.0,  -7.1

2025-08-22T05:23:25.379Z,1755840205.379 [DAT](INFO): got valid direction response:
 05:23:23.5154 LVL= 23776, 30705, 25458, 32755, AGC= 61, IDX= 409, 0.06, 2.891, 1.042, 2.906, 2.513, PHS= 0.480,-1.426, 0.349, RAW= 146.5,   6.5, CAL= 146.0,   7.1, ROT=   4.0,  -7.1

2025-08-22T05:23:25.380Z,1755840205.380 [DAT](INFO): DAT read: Bearing 251.3,   4.9 (Local)

2025-08-22T05:23:25.380Z,1755840205.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.3,   4.9 (Local)

2025-08-22T05:23:25.382Z,1755840205.382 [DAT](INFO): DAT read: Range 11 to 50 : 53.6 m  (Round-trip  71.5 ms) speed  0.5 m/s

2025-08-22T05:23:25.382Z,1755840205.382 [DAT](INFO): DAT read: user:7478>

2025-08-22T05:23:25.384Z,1755840205.384 [DAT](INFO): DAT read: Tx time:05:23:24.6397

2025-08-22T05:23:25.384Z,1755840205.384 [DAT](INFO): Ping request sent.
2025-08-22T05:23:25.384Z,1755840205.384 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:25.384Z,1755840205.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:25.385Z,1755840205.385 [DAT](INFO): direction in FSK: [0.989915,0.069222,0.123601]
2025-08-22T05:23:25.385Z,1755840205.385 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:25.386Z,1755840205.386 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:25.389Z,1755840205.389 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:25.389Z,1755840205.389 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:25.504Z,1755840205.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.599998 m,
      deltaT: 3.527965 s,
      deltaX: -2.200001 m,
      approachRate: -0.623589 m/s,
      rangeRepo size: 4

2025-08-22T05:23:25.506Z,1755840205.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.290691 m,
      bearing: 83.621102 deg,
      lat: 36.779339 deg,
      lon: -121.859578 deg,
      deltaT: 3.527965 s,
      deltaX: -2.186611 m,
      approachRate: -0.619794 m/s,
      posRepo size: 4

2025-08-22T05:23:25.511Z,1755840205.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:25.514Z,1755840205.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 52.713467 m,
      bearing: 83.343982 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.086727 deg/s,
      cmd heading: 78.894142 deg,
      new cmd heading: 78.823213 deg.

2025-08-22T05:23:25.515Z,1755840205.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.375725 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:25.916Z,1755840205.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:25.932Z,1755840205.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 52.456528 m,
      bearing: 83.305245 deg,
      approach rate: -0.605130 m/s,
      LOS rate: -0.091679 deg/s,
      cmd heading: 78.823211 deg,
      new cmd heading: 78.745356 deg.

2025-08-22T05:23:25.933Z,1755840205.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374366 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:26.297Z,1755840206.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:26.300Z,1755840206.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 52.208965 m,
      bearing: 83.267815 deg,
      approach rate: -0.649799 m/s,
      LOS rate: -0.098712 deg/s,
      cmd heading: 78.745353 deg,
      new cmd heading: 78.670138 deg.

2025-08-22T05:23:26.301Z,1755840206.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373053 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:26.737Z,1755840206.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:26.740Z,1755840206.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 51.947975 m,
      bearing: 83.228675 deg,
      approach rate: -0.593333 m/s,
      LOS rate: -0.089426 deg/s,
      cmd heading: 78.670139 deg,
      new cmd heading: 78.591468 deg.

2025-08-22T05:23:26.741Z,1755840206.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371680 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:27.100Z,1755840207.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:27.102Z,1755840207.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:27.105Z,1755840207.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 51.731449 m,
      bearing: 83.195896 deg,
      approach rate: -0.592130 m/s,
      LOS rate: -0.090015 deg/s,
      cmd heading: 78.591469 deg,
      new cmd heading: 78.525637 deg.

2025-08-22T05:23:27.106Z,1755840207.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370531 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:27.136Z,1755840207.136 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:27.136Z,1755840207.136 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:27.136Z,1755840207.136 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:27.388Z,1755840207.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004269
2025-08-22T05:23:27.526Z,1755840207.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:27.529Z,1755840207.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 51.482151 m,
      bearing: 83.157811 deg,
      approach rate: -0.587899 m/s,
      LOS rate: -0.090249 deg/s,
      cmd heading: 78.525640 deg,
      new cmd heading: 78.449100 deg.

2025-08-22T05:23:27.530Z,1755840207.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369195 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:27.644Z,1755840207.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259421
2025-08-22T05:23:27.892Z,1755840207.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508262
2025-08-22T05:23:27.952Z,1755840207.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:27.954Z,1755840207.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 51.247528 m,
      bearing: 83.122378 deg,
      approach rate: -0.557372 m/s,
      LOS rate: -0.084560 deg/s,
      cmd heading: 78.449101 deg,
      new cmd heading: 78.377911 deg.

2025-08-22T05:23:27.960Z,1755840207.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367953 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:28.145Z,1755840208.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760644
2025-08-22T05:23:28.326Z,1755840208.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:28.329Z,1755840208.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 51.021194 m,
      bearing: 83.087675 deg,
      approach rate: -0.597144 m/s,
      LOS rate: -0.091966 deg/s,
      cmd heading: 78.377910 deg,
      new cmd heading: 78.308195 deg.

2025-08-22T05:23:28.330Z,1755840208.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.366736 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:28.396Z,1755840208.396 [DAT](INFO): DAT read: Rx Time:05:23:27.1125

2025-08-22T05:23:28.397Z,1755840208.397 [DAT](INFO): Rx dataTimestamp_ set to:1755840208.396612
2025-08-22T05:23:28.397Z,1755840208.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013450
2025-08-22T05:23:28.651Z,1755840208.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266425
2025-08-22T05:23:28.759Z,1755840208.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.29 m.
2025-08-22T05:23:28.762Z,1755840208.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.290691 m,
      nav range: 50.766724 m,
      bearing: 83.043519 deg,
      approach rate: -0.588522 m/s,
      LOS rate: -0.102633 deg/s,
      cmd heading: 78.308194 deg,
      new cmd heading: 78.219439 deg.

2025-08-22T05:23:28.764Z,1755840208.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365187 target range: 53.290691 and range: 53.60 m.
2025-08-22T05:23:28.908Z,1755840208.908 [DAT](INFO): DAT read: 05:23:27.1125 LVL= 26256, 32753, 26706, 32755, AGC= 63, IDX= 411,-0.24,-1.435, 3.036,-1.455,-1.794, PHS= 0.460,-1.408, 0.295, RAW= 145.4,   7.3, CAL= 145.0,   8.0, ROT=   5.0,  -8.0

2025-08-22T05:23:28.909Z,1755840208.909 [DAT](INFO): got valid direction response:
 05:23:27.1125 LVL= 26256, 32753, 26706, 32755, AGC= 63, IDX= 411,-0.24,-1.435, 3.036,-1.455,-1.794, PHS= 0.460,-1.408, 0.295, RAW= 145.4,   7.3, CAL= 145.0,   8.0, ROT=   5.0,  -8.0

2025-08-22T05:23:28.910Z,1755840208.910 [DAT](INFO): DAT read: Bearing 252.1,   5.5 (Local)

2025-08-22T05:23:28.910Z,1755840208.910 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,   5.5 (Local)

2025-08-22T05:23:28.917Z,1755840208.917 [DAT](INFO): DAT read: Range 11 to 50 : 51.4 m  (Round-trip  68.6 ms) speed  0.4 m/s

2025-08-22T05:23:28.918Z,1755840208.918 [DAT](INFO): DAT read: user:7479>

2025-08-22T05:23:28.918Z,1755840208.918 [DAT](INFO): DAT read: Tx time:05:23:28.2397

2025-08-22T05:23:28.919Z,1755840208.919 [DAT](INFO): Ping request sent.
2025-08-22T05:23:28.919Z,1755840208.919 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:28.919Z,1755840208.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:28.920Z,1755840208.920 [DAT](INFO): direction in FSK: [0.986500,0.086308,0.139173]
2025-08-22T05:23:28.921Z,1755840208.921 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:28.921Z,1755840208.921 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:28.924Z,1755840208.924 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:28.924Z,1755840208.924 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:29.161Z,1755840209.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.400002 m,
      deltaT: 3.529684 s,
      deltaX: -2.199997 m,
      approachRate: -0.623284 m/s,
      rangeRepo size: 4

2025-08-22T05:23:29.170Z,1755840209.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.102951 m,
      bearing: 84.487510 deg,
      lat: 36.779337 deg,
      lon: -121.859576 deg,
      deltaT: 3.529684 s,
      deltaX: -2.187740 m,
      approachRate: -0.619812 m/s,
      posRepo size: 4

2025-08-22T05:23:29.177Z,1755840209.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:29.186Z,1755840209.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 50.667912 m,
      bearing: 83.295925 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.102633 deg/s,
      cmd heading: 78.219442 deg,
      new cmd heading: 78.138061 deg.

2025-08-22T05:23:29.192Z,1755840209.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363766 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:29.556Z,1755840209.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:29.558Z,1755840209.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:29.562Z,1755840209.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 50.424419 m,
      bearing: 83.254153 deg,
      approach rate: -0.603872 m/s,
      LOS rate: -0.104095 deg/s,
      cmd heading: 78.138061 deg,
      new cmd heading: 78.054115 deg.

2025-08-22T05:23:29.562Z,1755840209.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362301 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:29.658Z,1755840209.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:29.658Z,1755840209.658 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:29.659Z,1755840209.659 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:29.908Z,1755840209.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989428
2025-08-22T05:23:29.992Z,1755840209.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:29.995Z,1755840209.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 50.198029 m,
      bearing: 83.215173 deg,
      approach rate: -0.522233 m/s,
      LOS rate: -0.090325 deg/s,
      cmd heading: 78.054118 deg,
      new cmd heading: 77.975805 deg.

2025-08-22T05:23:30.000Z,1755840210.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360934 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:30.161Z,1755840210.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242408
2025-08-22T05:23:30.353Z,1755840210.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:30.356Z,1755840210.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 49.989616 m,
      bearing: 83.178972 deg,
      approach rate: -0.577649 m/s,
      LOS rate: -0.100756 deg/s,
      cmd heading: 77.975803 deg,
      new cmd heading: 77.903099 deg.

2025-08-22T05:23:30.357Z,1755840210.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359666 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:30.414Z,1755840210.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494883
2025-08-22T05:23:30.668Z,1755840210.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748693
2025-08-22T05:23:30.774Z,1755840210.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:30.793Z,1755840210.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 49.751892 m,
      bearing: 83.143969 deg,
      approach rate: -0.564496 m/s,
      LOS rate: -0.083514 deg/s,
      cmd heading: 77.903095 deg,
      new cmd heading: 77.832755 deg.

2025-08-22T05:23:30.794Z,1755840210.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358438 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:30.916Z,1755840210.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997403
2025-08-22T05:23:31.169Z,1755840211.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250040
2025-08-22T05:23:31.233Z,1755840211.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:31.240Z,1755840211.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 49.498981 m,
      bearing: 83.106346 deg,
      approach rate: -0.551121 m/s,
      LOS rate: -0.082404 deg/s,
      cmd heading: 77.832758 deg,
      new cmd heading: 77.757127 deg.

2025-08-22T05:23:31.241Z,1755840211.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357118 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:31.420Z,1755840211.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501540
2025-08-22T05:23:31.617Z,1755840211.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:31.620Z,1755840211.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:31.622Z,1755840211.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 49.273834 m,
      bearing: 83.072634 deg,
      approach rate: -0.582293 m/s,
      LOS rate: -0.087586 deg/s,
      cmd heading: 77.757127 deg,
      new cmd heading: 77.689396 deg.

2025-08-22T05:23:31.624Z,1755840211.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355936 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:31.676Z,1755840211.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757015
2025-08-22T05:23:31.929Z,1755840211.929 [DAT](INFO): DAT read: Rx Time:05:23:30.7098

2025-08-22T05:23:31.930Z,1755840211.930 [DAT](INFO): Rx dataTimestamp_ set to:1755840211.929418
2025-08-22T05:23:31.930Z,1755840211.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011520
2025-08-22T05:23:32.077Z,1755840212.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:32.080Z,1755840212.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 49.006607 m,
      bearing: 83.033645 deg,
      approach rate: -0.584476 m/s,
      LOS rate: -0.085740 deg/s,
      cmd heading: 77.689399 deg,
      new cmd heading: 77.610997 deg.

2025-08-22T05:23:32.081Z,1755840212.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354567 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:32.178Z,1755840212.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258545
2025-08-22T05:23:32.431Z,1755840212.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511323
2025-08-22T05:23:32.583Z,1755840212.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.10 m.
2025-08-22T05:23:32.586Z,1755840212.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.102951 m,
      nav range: 48.710606 m,
      bearing: 82.990184 deg,
      approach rate: -0.584464 m/s,
      LOS rate: -0.086337 deg/s,
      cmd heading: 77.610996 deg,
      new cmd heading: 77.523545 deg.

2025-08-22T05:23:32.587Z,1755840212.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353041 target range: 51.102951 and range: 51.40 m.
2025-08-22T05:23:32.738Z,1755840212.738 [DAT](INFO): DAT read: 05:23:30.7098 LVL= 22240, 27889, 22290, 30307, AGC= 61, IDX= 416, 0.04,-2.992, 1.490,-2.977, 2.952, PHS= 0.441,-1.418, 0.310, RAW= 146.4,   7.5, CAL= 145.9,   8.1, ROT=   4.1,  -8.1

2025-08-22T05:23:32.744Z,1755840212.744 [DAT](INFO): got valid direction response:
 05:23:30.7098 LVL= 22240, 27889, 22290, 30307, AGC= 61, IDX= 416, 0.04,-2.992, 1.490,-2.977, 2.952, PHS= 0.441,-1.418, 0.310, RAW= 146.4,   7.5, CAL= 145.9,   8.1, ROT=   4.1,  -8.1

2025-08-22T05:23:32.745Z,1755840212.745 [DAT](INFO): DAT read: Bearing 252.5,   4.2 (Local)

2025-08-22T05:23:32.745Z,1755840212.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5,   4.2 (Local)

2025-08-22T05:23:32.747Z,1755840212.747 [DAT](INFO): DAT read: Range 11 to 50 : 49.5 m  (Round-trip  66.0 ms) speed  0.4 m/s

2025-08-22T05:23:32.754Z,1755840212.754 [DAT](INFO): DAT read: user:7480>

2025-08-22T05:23:32.761Z,1755840212.761 [DAT](INFO): DAT read: Tx time:05:23:31.8397

2025-08-22T05:23:32.761Z,1755840212.761 [DAT](INFO): Ping request sent.
2025-08-22T05:23:32.761Z,1755840212.761 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:32.761Z,1755840212.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:32.762Z,1755840212.762 [DAT](INFO): direction in FSK: [0.987490,0.070784,0.140901]
2025-08-22T05:23:32.762Z,1755840212.762 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:32.763Z,1755840212.763 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:32.777Z,1755840212.777 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:32.778Z,1755840212.778 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:33.034Z,1755840213.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.500000 m,
      deltaT: 3.782614 s,
      deltaX: -1.900002 m,
      approachRate: -0.502299 m/s,
      rangeRepo size: 4

2025-08-22T05:23:33.057Z,1755840213.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.216072 m,
      bearing: 83.425665 deg,
      lat: 36.779337 deg,
      lon: -121.859576 deg,
      deltaT: 3.782614 s,
      deltaX: -1.886879 m,
      approachRate: -0.498829 m/s,
      posRepo size: 4

2025-08-22T05:23:33.057Z,1755840213.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:33.072Z,1755840213.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 48.506149 m,
      bearing: 82.953277 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.086337 deg/s,
      cmd heading: 77.523542 deg,
      new cmd heading: 77.445785 deg.

2025-08-22T05:23:33.073Z,1755840213.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351684 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:33.499Z,1755840213.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:33.502Z,1755840213.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 48.240330 m,
      bearing: 82.906330 deg,
      approach rate: -0.591261 m/s,
      LOS rate: -0.104998 deg/s,
      cmd heading: 77.445787 deg,
      new cmd heading: 77.351376 deg.

2025-08-22T05:23:33.503Z,1755840213.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350036 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:33.605Z,1755840213.605 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:23:33.919Z,1755840213.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:33.922Z,1755840213.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:33.940Z,1755840213.940 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:33.940Z,1755840213.940 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:33.940Z,1755840213.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:33.949Z,1755840213.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 47.983143 m,
      bearing: 82.862695 deg,
      approach rate: -0.586492 m/s,
      LOS rate: -0.100039 deg/s,
      cmd heading: 77.351373 deg,
      new cmd heading: 77.263635 deg.

2025-08-22T05:23:33.950Z,1755840213.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.348505 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:34.192Z,1755840214.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431160
2025-08-22T05:23:34.289Z,1755840214.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:34.308Z,1755840214.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 47.764931 m,
      bearing: 82.825384 deg,
      approach rate: -0.593552 m/s,
      LOS rate: -0.101952 deg/s,
      cmd heading: 77.263633 deg,
      new cmd heading: 77.188670 deg.

2025-08-22T05:23:34.309Z,1755840214.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.347196 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:34.444Z,1755840214.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683190
2025-08-22T05:23:34.608Z,1755840214.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:23:34.696Z,1755840214.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.935319
2025-08-22T05:23:34.775Z,1755840214.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:34.778Z,1755840214.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 47.513577 m,
      bearing: 82.782170 deg,
      approach rate: -0.531746 m/s,
      LOS rate: -0.091905 deg/s,
      cmd heading: 77.188671 deg,
      new cmd heading: 77.101785 deg.

2025-08-22T05:23:34.783Z,1755840214.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345680 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:34.948Z,1755840214.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.187418
2025-08-22T05:23:35.137Z,1755840215.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:35.140Z,1755840215.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 47.274693 m,
      bearing: 82.735669 deg,
      approach rate: -0.637056 m/s,
      LOS rate: -0.124635 deg/s,
      cmd heading: 77.101784 deg,
      new cmd heading: 77.008313 deg.

2025-08-22T05:23:35.141Z,1755840215.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.344049 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:35.200Z,1755840215.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439366
2025-08-22T05:23:35.452Z,1755840215.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691174
2025-08-22T05:23:35.507Z,1755840215.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:35.510Z,1755840215.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 47.061249 m,
      bearing: 82.693963 deg,
      approach rate: -0.577440 m/s,
      LOS rate: -0.113340 deg/s,
      cmd heading: 77.008313 deg,
      new cmd heading: 76.924524 deg.

2025-08-22T05:23:35.510Z,1755840215.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.342586 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:35.708Z,1755840215.708 [DAT](INFO): DAT read: Rx Time:05:23:34.3069

2025-08-22T05:23:35.710Z,1755840215.710 [DAT](INFO): Rx dataTimestamp_ set to:1755840215.709187
2025-08-22T05:23:35.712Z,1755840215.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950669
2025-08-22T05:23:35.919Z,1755840215.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.22 m.
2025-08-22T05:23:35.922Z,1755840215.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.216072 m,
      nav range: 46.817719 m,
      bearing: 82.650317 deg,
      approach rate: -0.590729 m/s,
      LOS rate: -0.106423 deg/s,
      cmd heading: 76.924527 deg,
      new cmd heading: 76.836781 deg.

2025-08-22T05:23:35.923Z,1755840215.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.341055 target range: 49.216072 and range: 49.50 m.
2025-08-22T05:23:35.956Z,1755840215.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.195152
2025-08-22T05:23:36.214Z,1755840216.214 [DAT](INFO): DAT read: 05:23:34.3069 LVL= 23984, 27969, 24114, 31171, AGC= 62, IDX= 419,-0.11, 1.154,-0.620, 1.151, 0.800, PHS= 0.457,-1.375, 0.307, RAW= 145.8,   7.0, CAL= 145.3,   7.6, ROT=   4.7,  -7.6

2025-08-22T05:23:36.215Z,1755840216.215 [DAT](INFO): got valid direction response:
 05:23:34.3069 LVL= 23984, 27969, 24114, 31171, AGC= 62, IDX= 419,-0.11, 1.154,-0.620, 1.151, 0.800, PHS= 0.457,-1.375, 0.307, RAW= 145.8,   7.0, CAL= 145.3,   7.6, ROT=   4.7,  -7.6

2025-08-22T05:23:36.216Z,1755840216.216 [DAT](INFO): DAT read: Bearing 252.0,   3.9 (Local)

2025-08-22T05:23:36.216Z,1755840216.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.0,   3.9 (Local)

2025-08-22T05:23:36.218Z,1755840216.218 [DAT](INFO): DAT read: Range 11 to 50 : 47.3 m  (Round-trip  63.1 ms) speed  0.5 m/s

2025-08-22T05:23:36.218Z,1755840216.218 [DAT](INFO): DAT read: user:7481>

2025-08-22T05:23:36.228Z,1755840216.228 [DAT](INFO): DAT read: Tx time:05:23:35.4396

2025-08-22T05:23:36.229Z,1755840216.229 [DAT](INFO): Ping request sent.
2025-08-22T05:23:36.229Z,1755840216.229 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:36.229Z,1755840216.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:36.230Z,1755840216.230 [DAT](INFO): direction in FSK: [0.987882,0.081219,0.132256]
2025-08-22T05:23:36.230Z,1755840216.230 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:36.231Z,1755840216.231 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:36.234Z,1755840216.234 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:36.234Z,1755840216.234 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:36.360Z,1755840216.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.299999 m,
      deltaT: 3.523646 s,
      deltaX: -2.200001 m,
      approachRate: -0.624354 m/s,
      rangeRepo size: 4

2025-08-22T05:23:36.362Z,1755840216.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.026875 m,
      bearing: 83.829861 deg,
      lat: 36.779333 deg,
      lon: -121.859575 deg,
      deltaT: 3.523646 s,
      deltaX: -2.189198 m,
      approachRate: -0.621288 m/s,
      posRepo size: 4

2025-08-22T05:23:36.375Z,1755840216.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:36.378Z,1755840216.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 46.630299 m,
      bearing: 83.066842 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.106423 deg/s,
      cmd heading: 76.836780 deg,
      new cmd heading: 76.744703 deg.

2025-08-22T05:23:36.383Z,1755840216.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.339448 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:36.716Z,1755840216.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:36.723Z,1755840216.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:36.726Z,1755840216.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 46.402927 m,
      bearing: 83.027842 deg,
      approach rate: -0.613591 m/s,
      LOS rate: -0.105763 deg/s,
      cmd heading: 76.744702 deg,
      new cmd heading: 76.666320 deg.

2025-08-22T05:23:36.727Z,1755840216.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.338080 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:36.964Z,1755840216.964 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:36.964Z,1755840216.964 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:36.964Z,1755840216.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:37.187Z,1755840217.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:37.194Z,1755840217.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 46.131775 m,
      bearing: 82.985334 deg,
      approach rate: -0.583498 m/s,
      LOS rate: -0.092011 deg/s,
      cmd heading: 76.666319 deg,
      new cmd heading: 76.580803 deg.

2025-08-22T05:23:37.195Z,1755840217.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.336587 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:37.216Z,1755840217.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987667
2025-08-22T05:23:37.468Z,1755840217.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239453
2025-08-22T05:23:37.576Z,1755840217.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:37.578Z,1755840217.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 45.887341 m,
      bearing: 82.946891 deg,
      approach rate: -0.628773 m/s,
      LOS rate: -0.099417 deg/s,
      cmd heading: 76.580805 deg,
      new cmd heading: 76.503509 deg.

2025-08-22T05:23:37.580Z,1755840217.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.335238 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:37.723Z,1755840217.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493786
2025-08-22T05:23:37.972Z,1755840217.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743528
2025-08-22T05:23:37.983Z,1755840217.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:38.014Z,1755840218.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 45.641907 m,
      bearing: 82.911724 deg,
      approach rate: -0.602305 m/s,
      LOS rate: -0.086765 deg/s,
      cmd heading: 76.503508 deg,
      new cmd heading: 76.432795 deg.

2025-08-22T05:23:38.015Z,1755840218.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334004 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:38.225Z,1755840218.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996051
2025-08-22T05:23:38.366Z,1755840218.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:38.369Z,1755840218.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 45.411213 m,
      bearing: 82.878512 deg,
      approach rate: -0.602221 m/s,
      LOS rate: -0.087138 deg/s,
      cmd heading: 76.432795 deg,
      new cmd heading: 76.366035 deg.

2025-08-22T05:23:38.370Z,1755840218.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.332839 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:38.476Z,1755840218.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247553
2025-08-22T05:23:38.728Z,1755840218.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499343
2025-08-22T05:23:38.824Z,1755840218.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:38.832Z,1755840218.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:38.839Z,1755840218.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 45.167683 m,
      bearing: 82.843331 deg,
      approach rate: -0.521988 m/s,
      LOS rate: -0.075814 deg/s,
      cmd heading: 76.366037 deg,
      new cmd heading: 76.295295 deg.

2025-08-22T05:23:38.840Z,1755840218.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.331604 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:38.980Z,1755840218.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751390
2025-08-22T05:23:39.217Z,1755840219.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:39.220Z,1755840219.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 44.902199 m,
      bearing: 82.808025 deg,
      approach rate: -0.690253 m/s,
      LOS rate: -0.092339 deg/s,
      cmd heading: 76.295296 deg,
      new cmd heading: 76.224266 deg.

2025-08-22T05:23:39.221Z,1755840219.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.330364 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:39.232Z,1755840219.232 [DAT](INFO): DAT read: Rx Time:05:23:37.9041

2025-08-22T05:23:39.233Z,1755840219.233 [DAT](INFO): Rx dataTimestamp_ set to:1755840219.232535
2025-08-22T05:23:39.233Z,1755840219.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004550
2025-08-22T05:23:39.484Z,1755840219.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255397
2025-08-22T05:23:39.592Z,1755840219.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m.
2025-08-22T05:23:39.595Z,1755840219.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.026875 m,
      nav range: 44.679337 m,
      bearing: 82.778281 deg,
      approach rate: -0.594539 m/s,
      LOS rate: -0.079746 deg/s,
      cmd heading: 76.224269 deg,
      new cmd heading: 76.164483 deg.

2025-08-22T05:23:39.596Z,1755840219.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.329321 target range: 47.026875 and range: 47.30 m.
2025-08-22T05:23:39.742Z,1755840219.742 [DAT](INFO): DAT read: 05:23:37.9041 LVL= 24048, 32753, 25522, 32755, AGC= 61, IDX= 407, 0.32, 2.853, 1.062, 2.817, 2.481, PHS= 0.474,-1.373, 0.292, RAW= 144.9,   6.9, CAL= 144.4,   7.6, ROT=   5.6,  -7.6

2025-08-22T05:23:39.743Z,1755840219.743 [DAT](INFO): got valid direction response:
 05:23:37.9041 LVL= 24048, 32753, 25522, 32755, AGC= 61, IDX= 407, 0.32, 2.853, 1.062, 2.817, 2.481, PHS= 0.474,-1.373, 0.292, RAW= 144.9,   6.9, CAL= 144.4,   7.6, ROT=   5.6,  -7.6

2025-08-22T05:23:39.744Z,1755840219.744 [DAT](INFO): DAT read: Bearing 251.8,   3.7 (Local)

2025-08-22T05:23:39.744Z,1755840219.744 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.8,   3.7 (Local)

2025-08-22T05:23:39.746Z,1755840219.746 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m  (Round-trip  60.4 ms) speed  0.5 m/s

2025-08-22T05:23:39.747Z,1755840219.747 [DAT](INFO): DAT read: user:7482>

2025-08-22T05:23:39.747Z,1755840219.747 [DAT](INFO): DAT read: Tx time:05:23:38.9896

2025-08-22T05:23:39.748Z,1755840219.748 [DAT](INFO): Ping request sent.
2025-08-22T05:23:39.749Z,1755840219.749 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:39.750Z,1755840219.750 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:39.753Z,1755840219.753 [DAT](INFO): direction in FSK: [0.986485,0.096726,0.132256]
2025-08-22T05:23:39.754Z,1755840219.754 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:39.754Z,1755840219.754 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:39.757Z,1755840219.757 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:39.757Z,1755840219.757 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:40.009Z,1755840220.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.299999 m,
      deltaT: 3.528046 s,
      deltaX: -2.000000 m,
      approachRate: -0.566886 m/s,
      rangeRepo size: 4

2025-08-22T05:23:40.011Z,1755840220.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.039944 m,
      bearing: 84.425587 deg,
      lat: 36.779328 deg,
      lon: -121.859573 deg,
      deltaT: 3.528046 s,
      deltaX: -1.986931 m,
      approachRate: -0.563182 m/s,
      posRepo size: 4

2025-08-22T05:23:40.012Z,1755840220.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:40.015Z,1755840220.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 44.563992 m,
      bearing: 83.547957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079746 deg/s,
      cmd heading: 76.164484 deg,
      new cmd heading: 76.098226 deg.

2025-08-22T05:23:40.016Z,1755840220.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328165 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:40.388Z,1755840220.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:40.392Z,1755840220.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 44.352386 m,
      bearing: 83.523187 deg,
      approach rate: -0.555264 m/s,
      LOS rate: -0.065308 deg/s,
      cmd heading: 76.098225 deg,
      new cmd heading: 76.048448 deg.

2025-08-22T05:23:40.392Z,1755840220.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.327296 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:40.784Z,1755840220.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:40.787Z,1755840220.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 44.122868 m,
      bearing: 83.496253 deg,
      approach rate: -0.580021 m/s,
      LOS rate: -0.068419 deg/s,
      cmd heading: 76.048446 deg,
      new cmd heading: 75.994298 deg.

2025-08-22T05:23:40.811Z,1755840220.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.326351 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:41.216Z,1755840221.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:41.218Z,1755840221.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:41.221Z,1755840221.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 43.877541 m,
      bearing: 83.461331 deg,
      approach rate: -0.565935 m/s,
      LOS rate: -0.081011 deg/s,
      cmd heading: 75.994297 deg,
      new cmd heading: 75.924062 deg.

2025-08-22T05:23:41.222Z,1755840221.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.325125 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:41.248Z,1755840221.248 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:41.248Z,1755840221.248 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:41.248Z,1755840221.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:41.500Z,1755840221.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751924
2025-08-22T05:23:41.603Z,1755840221.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:41.606Z,1755840221.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 43.661491 m,
      bearing: 83.430174 deg,
      approach rate: -0.560798 m/s,
      LOS rate: -0.081274 deg/s,
      cmd heading: 75.924062 deg,
      new cmd heading: 75.861440 deg.

2025-08-22T05:23:41.607Z,1755840221.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.324032 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:41.752Z,1755840221.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003859
2025-08-22T05:23:42.004Z,1755840222.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256014
2025-08-22T05:23:42.049Z,1755840222.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:42.052Z,1755840222.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 43.411793 m,
      bearing: 83.395428 deg,
      approach rate: -0.560163 m/s,
      LOS rate: -0.078397 deg/s,
      cmd heading: 75.861443 deg,
      new cmd heading: 75.791550 deg.

2025-08-22T05:23:42.053Z,1755840222.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.322812 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:42.257Z,1755840222.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508595
2025-08-22T05:23:42.391Z,1755840222.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:42.394Z,1755840222.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 43.216202 m,
      bearing: 83.367764 deg,
      approach rate: -0.571407 m/s,
      LOS rate: -0.081183 deg/s,
      cmd heading: 75.791549 deg,
      new cmd heading: 75.735972 deg.

2025-08-22T05:23:42.411Z,1755840222.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.321842 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:42.509Z,1755840222.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760732
2025-08-22T05:23:42.760Z,1755840222.760 [DAT](INFO): DAT read: Rx Time:05:23:41.4514

2025-08-22T05:23:42.761Z,1755840222.761 [DAT](INFO): Rx dataTimestamp_ set to:1755840222.760535
2025-08-22T05:23:42.761Z,1755840222.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013081
2025-08-22T05:23:42.886Z,1755840222.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m.
2025-08-22T05:23:42.894Z,1755840222.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.039944 m,
      nav range: 42.970497 m,
      bearing: 83.332523 deg,
      approach rate: -0.497987 m/s,
      LOS rate: -0.071833 deg/s,
      cmd heading: 75.735972 deg,
      new cmd heading: 75.665088 deg.

2025-08-22T05:23:42.895Z,1755840222.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.320605 target range: 45.039944 and range: 45.30 m.
2025-08-22T05:23:43.012Z,1755840223.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263867
2025-08-22T05:23:43.270Z,1755840223.270 [DAT](INFO): DAT read: 05:23:41.4514 LVL= 22432, 28433, 23138, 32755, AGC= 63, IDX= 412,-0.49,-3.117, 1.373, 3.140, 2.808, PHS= 0.460,-1.390, 0.288, RAW= 145.2,   7.3, CAL= 144.7,   8.0, ROT=   5.3,  -8.0

2025-08-22T05:23:43.272Z,1755840223.272 [DAT](INFO): got valid direction response:
 05:23:41.4514 LVL= 22432, 28433, 23138, 32755, AGC= 63, IDX= 412,-0.49,-3.117, 1.373, 3.140, 2.808, PHS= 0.460,-1.390, 0.288, RAW= 145.2,   7.3, CAL= 144.7,   8.0, ROT=   5.3,  -8.0

2025-08-22T05:23:43.273Z,1755840223.273 [DAT](INFO): DAT read: Bearing 252.2,   2.9 (Local)

2025-08-22T05:23:43.273Z,1755840223.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.2,   2.9 (Local)

2025-08-22T05:23:43.274Z,1755840223.274 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m  (Round-trip  57.7 ms) speed  0.5 m/s

2025-08-22T05:23:43.287Z,1755840223.287 [DAT](INFO): DAT read: user:7483>

2025-08-22T05:23:43.288Z,1755840223.288 [DAT](INFO): DAT read: Tx time:05:23:42.5396

2025-08-22T05:23:43.288Z,1755840223.288 [DAT](INFO): Ping request sent.
2025-08-22T05:23:43.288Z,1755840223.288 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:43.289Z,1755840223.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:43.290Z,1755840223.290 [DAT](INFO): direction in FSK: [0.986034,0.091472,0.139173]
2025-08-22T05:23:43.290Z,1755840223.290 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:43.290Z,1755840223.290 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:43.304Z,1755840223.304 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:43.304Z,1755840223.304 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:43.359Z,1755840223.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.200001 m,
      deltaT: 3.528095 s,
      deltaX: -2.099998 m,
      approachRate: -0.595222 m/s,
      rangeRepo size: 4

2025-08-22T05:23:43.362Z,1755840223.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.952412 m,
      bearing: 84.100469 deg,
      lat: 36.779327 deg,
      lon: -121.859572 deg,
      deltaT: 3.528095 s,
      deltaX: -2.087532 m,
      approachRate: -0.591688 m/s,
      posRepo size: 4

2025-08-22T05:23:43.362Z,1755840223.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:43.373Z,1755840223.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 42.719318 m,
      bearing: 83.410219 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071833 deg/s,
      cmd heading: 75.665088 deg,
      new cmd heading: 75.597553 deg.

2025-08-22T05:23:43.374Z,1755840223.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319426 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:43.711Z,1755840223.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:43.713Z,1755840223.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:43.716Z,1755840223.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 42.499077 m,
      bearing: 83.376178 deg,
      approach rate: -0.614044 m/s,
      LOS rate: -0.095402 deg/s,
      cmd heading: 75.597551 deg,
      new cmd heading: 75.529115 deg.

2025-08-22T05:23:43.717Z,1755840223.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318232 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:43.769Z,1755840223.769 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:43.769Z,1755840223.769 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:43.769Z,1755840223.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:44.020Z,1755840224.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.731757
2025-08-22T05:23:44.166Z,1755840224.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:44.170Z,1755840224.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 42.264400 m,
      bearing: 83.332081 deg,
      approach rate: -0.519371 m/s,
      LOS rate: -0.098134 deg/s,
      cmd heading: 75.529113 deg,
      new cmd heading: 75.440430 deg.

2025-08-22T05:23:44.173Z,1755840224.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.316684 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:44.273Z,1755840224.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984328
2025-08-22T05:23:44.524Z,1755840224.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235860
2025-08-22T05:23:44.538Z,1755840224.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:44.541Z,1755840224.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 42.046673 m,
      bearing: 83.290574 deg,
      approach rate: -0.584449 m/s,
      LOS rate: -0.111995 deg/s,
      cmd heading: 75.440430 deg,
      new cmd heading: 75.356986 deg.

2025-08-22T05:23:44.541Z,1755840224.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315228 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:44.780Z,1755840224.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491968
2025-08-22T05:23:44.953Z,1755840224.953 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709110, +10.6,   0.0,1492.0,  0
2025-08-22T05:23:44.979Z,1755840224.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:44.982Z,1755840224.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 41.804718 m,
      bearing: 83.243937 deg,
      approach rate: -0.548443 m/s,
      LOS rate: -0.106325 deg/s,
      cmd heading: 75.356985 deg,
      new cmd heading: 75.263172 deg.

2025-08-22T05:23:44.983Z,1755840224.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.313590 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:45.030Z,1755840225.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741154
2025-08-22T05:23:45.280Z,1755840225.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991674
2025-08-22T05:23:45.354Z,1755840225.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:45.357Z,1755840225.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 41.609161 m,
      bearing: 83.205864 deg,
      approach rate: -0.548348 m/s,
      LOS rate: -0.107260 deg/s,
      cmd heading: 75.263173 deg,
      new cmd heading: 75.186669 deg.

2025-08-22T05:23:45.358Z,1755840225.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.312255 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:45.532Z,1755840225.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243754
2025-08-22T05:23:45.768Z,1755840225.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:45.770Z,1755840225.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:45.773Z,1755840225.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 41.378967 m,
      bearing: 83.160582 deg,
      approach rate: -0.529489 m/s,
      LOS rate: -0.104737 deg/s,
      cmd heading: 75.186668 deg,
      new cmd heading: 75.095599 deg.

2025-08-22T05:23:45.774Z,1755840225.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310665 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:45.784Z,1755840225.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495917
2025-08-22T05:23:46.036Z,1755840226.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747796
2025-08-22T05:23:46.219Z,1755840226.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:46.222Z,1755840226.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 41.136330 m,
      bearing: 83.107740 deg,
      approach rate: -0.545120 m/s,
      LOS rate: -0.119416 deg/s,
      cmd heading: 75.095601 deg,
      new cmd heading: 74.989295 deg.

2025-08-22T05:23:46.227Z,1755840226.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.308810 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:46.290Z,1755840226.290 [DAT](INFO): DAT read: Rx Time:05:23:44.9988

2025-08-22T05:23:46.290Z,1755840226.290 [DAT](INFO): Rx dataTimestamp_ set to:1755840226.289701
2025-08-22T05:23:46.291Z,1755840226.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002438
2025-08-22T05:23:46.540Z,1755840226.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251898
2025-08-22T05:23:46.565Z,1755840226.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m.
2025-08-22T05:23:46.568Z,1755840226.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.952412 m,
      nav range: 40.932491 m,
      bearing: 83.063948 deg,
      approach rate: -0.583222 m/s,
      LOS rate: -0.125923 deg/s,
      cmd heading: 74.989296 deg,
      new cmd heading: 74.901275 deg.

2025-08-22T05:23:46.569Z,1755840226.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.307274 target range: 42.952412 and range: 43.20 m.
2025-08-22T05:23:46.798Z,1755840226.798 [DAT](INFO): DAT read: 05:23:44.9988 LVL= 24928, 31729, 25138, 29299, AGC= 62, IDX= 416,-0.03,-1.672, 2.879,-1.693,-2.009, PHS= 0.440,-1.349, 0.272, RAW= 145.1,   7.5, CAL= 144.7,   8.2, ROT=   5.3,  -8.2

2025-08-22T05:23:46.799Z,1755840226.799 [DAT](INFO): got valid direction response:
 05:23:44.9988 LVL= 24928, 31729, 25138, 29299, AGC= 62, IDX= 416,-0.03,-1.672, 2.879,-1.693,-2.009, PHS= 0.440,-1.349, 0.272, RAW= 145.1,   7.5, CAL= 144.7,   8.2, ROT=   5.3,  -8.2

2025-08-22T05:23:46.800Z,1755840226.800 [DAT](INFO): DAT read: Bearing 252.4,   2.4 (Local)

2025-08-22T05:23:46.800Z,1755840226.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.4,   2.4 (Local)

2025-08-22T05:23:46.801Z,1755840226.801 [DAT](INFO): DAT read: Range 11 to 50 : 41.2 m  (Round-trip  55.0 ms) speed  0.4 m/s

2025-08-22T05:23:46.802Z,1755840226.802 [DAT](INFO): DAT read: user:7484>

2025-08-22T05:23:46.803Z,1755840226.803 [DAT](INFO): DAT read: Tx time:05:23:46.0896

2025-08-22T05:23:46.803Z,1755840226.803 [DAT](INFO): Ping request sent.
2025-08-22T05:23:46.803Z,1755840226.803 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:46.804Z,1755840226.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:46.805Z,1755840226.805 [DAT](INFO): direction in FSK: [0.985545,0.091426,0.142629]
2025-08-22T05:23:46.805Z,1755840226.805 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:46.805Z,1755840226.805 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:46.808Z,1755840226.808 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:46.808Z,1755840226.808 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:47.118Z,1755840227.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.200001 m,
      deltaT: 3.527723 s,
      deltaX: -2.000000 m,
      approachRate: -0.566938 m/s,
      rangeRepo size: 4

2025-08-22T05:23:47.125Z,1755840227.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.962341 m,
      bearing: 83.876439 deg,
      lat: 36.779323 deg,
      lon: -121.859571 deg,
      deltaT: 3.527723 s,
      deltaX: -1.990070 m,
      approachRate: -0.564123 m/s,
      posRepo size: 4

2025-08-22T05:23:47.126Z,1755840227.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:47.134Z,1755840227.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 40.676804 m,
      bearing: 83.723783 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.125923 deg/s,
      cmd heading: 74.901275 deg,
      new cmd heading: 74.762105 deg.

2025-08-22T05:23:47.148Z,1755840227.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304845 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:47.489Z,1755840227.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:47.492Z,1755840227.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 40.449051 m,
      bearing: 83.679479 deg,
      approach rate: -0.612115 m/s,
      LOS rate: -0.119743 deg/s,
      cmd heading: 74.762103 deg,
      new cmd heading: 74.672996 deg.

2025-08-22T05:23:47.493Z,1755840227.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.303290 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:47.957Z,1755840227.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:47.963Z,1755840227.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:47.966Z,1755840227.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 40.194031 m,
      bearing: 83.629677 deg,
      approach rate: -0.542869 m/s,
      LOS rate: -0.106689 deg/s,
      cmd heading: 74.672997 deg,
      new cmd heading: 74.572759 deg.

2025-08-22T05:23:47.976Z,1755840227.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.301540 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:48.054Z,1755840228.054 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:48.054Z,1755840228.054 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:48.054Z,1755840228.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:23:48.304Z,1755840228.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500899
2025-08-22T05:23:48.353Z,1755840228.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:48.356Z,1755840228.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 39.964767 m,
      bearing: 83.586345 deg,
      approach rate: -0.582302 m/s,
      LOS rate: -0.110688 deg/s,
      cmd heading: 74.572757 deg,
      new cmd heading: 74.485597 deg.

2025-08-22T05:23:48.357Z,1755840228.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.300019 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:48.556Z,1755840228.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753085
2025-08-22T05:23:48.769Z,1755840228.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:48.777Z,1755840228.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 39.741856 m,
      bearing: 83.544010 deg,
      approach rate: -0.535237 m/s,
      LOS rate: -0.102222 deg/s,
      cmd heading: 74.485597 deg,
      new cmd heading: 74.400451 deg.

2025-08-22T05:23:48.777Z,1755840228.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.298533 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:48.808Z,1755840228.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004953
2025-08-22T05:23:49.060Z,1755840229.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256856
2025-08-22T05:23:49.227Z,1755840229.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:49.230Z,1755840229.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 39.481441 m,
      bearing: 83.495890 deg,
      approach rate: -0.569375 m/s,
      LOS rate: -0.105904 deg/s,
      cmd heading: 74.400451 deg,
      new cmd heading: 74.303577 deg.

2025-08-22T05:23:49.231Z,1755840229.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296842 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:49.313Z,1755840229.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509797
2025-08-22T05:23:49.564Z,1755840229.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760970
2025-08-22T05:23:49.568Z,1755840229.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:49.571Z,1755840229.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 39.292934 m,
      bearing: 83.460917 deg,
      approach rate: -0.551531 m/s,
      LOS rate: -0.102815 deg/s,
      cmd heading: 74.303579 deg,
      new cmd heading: 74.233297 deg.

2025-08-22T05:23:49.572Z,1755840229.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.295615 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:49.816Z,1755840229.816 [DAT](INFO): DAT read: Rx Time:05:23:48.5461

2025-08-22T05:23:49.817Z,1755840229.817 [DAT](INFO): Rx dataTimestamp_ set to:1755840229.816343
2025-08-22T05:23:49.817Z,1755840229.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013764
2025-08-22T05:23:50.041Z,1755840230.041 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:50.044Z,1755840230.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m.
2025-08-22T05:23:50.046Z,1755840230.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.962341 m,
      nav range: 39.035194 m,
      bearing: 83.409861 deg,
      approach rate: -0.542697 m/s,
      LOS rate: -0.108214 deg/s,
      cmd heading: 74.233296 deg,
      new cmd heading: 74.130509 deg.

2025-08-22T05:23:50.068Z,1755840230.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264938
2025-08-22T05:23:50.069Z,1755840230.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.293821 target range: 40.962341 and range: 41.20 m.
2025-08-22T05:23:50.329Z,1755840230.329 [DAT](INFO): DAT read: 05:23:48.5461 LVL= 22048, 28257, 22994, 32755, AGC= 60, IDX= 421, 0.22,-0.449,-2.238,-0.455,-0.788, PHS= 0.441,-1.405, 0.289, RAW= 145.8,   7.7, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-22T05:23:50.330Z,1755840230.330 [DAT](INFO): got valid direction response:
 05:23:48.5461 LVL= 22048, 28257, 22994, 32755, AGC= 60, IDX= 421, 0.22,-0.449,-2.238,-0.455,-0.788, PHS= 0.441,-1.405, 0.289, RAW= 145.8,   7.7, CAL= 145.3,   8.3, ROT=   4.7,  -8.3

2025-08-22T05:23:50.331Z,1755840230.331 [DAT](INFO): DAT read: Bearing 251.9,   1.4 (Local)

2025-08-22T05:23:50.332Z,1755840230.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.9,   1.4 (Local)

2025-08-22T05:23:50.333Z,1755840230.333 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m  (Round-trip  52.4 ms) speed  0.4 m/s

2025-08-22T05:23:50.334Z,1755840230.334 [DAT](INFO): DAT read: user:7485>

2025-08-22T05:23:50.334Z,1755840230.334 [DAT](INFO): DAT read: Tx time:05:23:49.6396

2025-08-22T05:23:50.335Z,1755840230.335 [DAT](INFO): Ping request sent.
2025-08-22T05:23:50.335Z,1755840230.335 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:50.336Z,1755840230.336 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:50.337Z,1755840230.337 [DAT](INFO): direction in FSK: [0.986198,0.081080,0.144356]
2025-08-22T05:23:50.337Z,1755840230.337 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:50.337Z,1755840230.337 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:50.340Z,1755840230.340 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:50.341Z,1755840230.341 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:50.483Z,1755840230.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.299999 m,
      deltaT: 3.529858 s,
      deltaX: -1.900002 m,
      approachRate: -0.538266 m/s,
      rangeRepo size: 4

2025-08-22T05:23:50.493Z,1755840230.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.073490 m,
      bearing: 82.705929 deg,
      lat: 36.779323 deg,
      lon: -121.859570 deg,
      deltaT: 3.529858 s,
      deltaX: -1.888851 m,
      approachRate: -0.535107 m/s,
      posRepo size: 4

2025-08-22T05:23:50.494Z,1755840230.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:50.501Z,1755840230.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 38.898659 m,
      bearing: 83.380650 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108214 deg/s,
      cmd heading: 74.130509 deg,
      new cmd heading: 74.035547 deg.

2025-08-22T05:23:50.502Z,1755840230.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292164 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:50.830Z,1755840230.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T05:23:50.830Z,1755840230.830 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T05:23:50.831Z,1755840230.831 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T05:23:50.832Z,1755840230.832 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  39.299999 m (mode  2.000000 count ).
2025-08-22T05:23:50.832Z,1755840230.832 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T05:23:50.832Z,1755840230.832 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T05:23:50.835Z,1755840230.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:50.838Z,1755840230.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 38.702515 m,
      bearing: 83.342426 deg,
      approach rate: -0.556658 m/s,
      LOS rate: -0.109031 deg/s,
      cmd heading: 74.035549 deg,
      new cmd heading: 73.958712 deg.

2025-08-22T05:23:50.838Z,1755840230.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.290823 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:51.270Z,1755840231.270 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T05:23:51.270Z,1755840231.270 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T05:23:51.277Z,1755840231.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:51.285Z,1755840231.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 38.462952 m,
      bearing: 83.302102 deg,
      approach rate: -0.541597 m/s,
      LOS rate: -0.091730 deg/s,
      cmd heading: 73.958709 deg,
      new cmd heading: 73.877560 deg.

2025-08-22T05:23:51.286Z,1755840231.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.289407 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:51.675Z,1755840231.675 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T05:23:51.675Z,1755840231.675 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T05:23:51.681Z,1755840231.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:51.692Z,1755840231.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 38.228718 m,
      bearing: 83.262906 deg,
      approach rate: -0.579420 m/s,
      LOS rate: -0.097552 deg/s,
      cmd heading: 73.877560 deg,
      new cmd heading: 73.798688 deg.

2025-08-22T05:23:51.693Z,1755840231.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.288030 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:52.057Z,1755840232.057 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  +113,
2025-08-22T05:23:52.100Z,1755840232.100 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T05:23:52.100Z,1755840232.100 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T05:23:52.100Z,1755840232.100 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T05:23:52.100Z,1755840232.100 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T05:23:52.101Z,1755840232.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:52.107Z,1755840232.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:52.110Z,1755840232.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 37.991512 m,
      bearing: 83.223643 deg,
      approach rate: -0.562160 m/s,
      LOS rate: -0.093632 deg/s,
      cmd heading: 73.798685 deg,
      new cmd heading: 73.719668 deg.

2025-08-22T05:23:52.116Z,1755840232.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.286651 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:52.341Z,1755840232.341 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:23:52.341Z,1755840232.341 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:23:52.341Z,1755840232.341 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:23:52.474Z,1755840232.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:52.477Z,1755840232.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 37.777561 m,
      bearing: 83.188364 deg,
      approach rate: -0.576711 m/s,
      LOS rate: -0.095635 deg/s,
      cmd heading: 73.719666 deg,
      new cmd heading: 73.648708 deg.

2025-08-22T05:23:52.478Z,1755840232.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.285412 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:52.589Z,1755840232.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253798
2025-08-22T05:23:52.840Z,1755840232.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505357
2025-08-22T05:23:52.893Z,1755840232.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:52.900Z,1755840232.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 37.546268 m,
      bearing: 83.150409 deg,
      approach rate: -0.552300 m/s,
      LOS rate: -0.091191 deg/s,
      cmd heading: 73.648707 deg,
      new cmd heading: 73.572329 deg.

2025-08-22T05:23:52.901Z,1755840232.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284079 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:53.092Z,1755840233.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757296
2025-08-22T05:23:53.304Z,1755840233.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:53.323Z,1755840233.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 37.310120 m,
      bearing: 83.115906 deg,
      approach rate: -0.573947 m/s,
      LOS rate: -0.084388 deg/s,
      cmd heading: 73.572332 deg,
      new cmd heading: 73.502889 deg.

2025-08-22T05:23:53.324Z,1755840233.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.282867 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:53.344Z,1755840233.344 [DAT](INFO): DAT read: Rx Time:05:23:52.0935

2025-08-22T05:23:53.345Z,1755840233.345 [DAT](INFO): Rx dataTimestamp_ set to:1755840233.344571
2025-08-22T05:23:53.345Z,1755840233.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010500
2025-08-22T05:23:53.596Z,1755840233.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261358
2025-08-22T05:23:53.703Z,1755840233.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m.
2025-08-22T05:23:53.706Z,1755840233.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.073490 m,
      nav range: 37.081032 m,
      bearing: 83.082013 deg,
      approach rate: -0.574217 m/s,
      LOS rate: -0.085478 deg/s,
      cmd heading: 73.502890 deg,
      new cmd heading: 73.434685 deg.

2025-08-22T05:23:53.707Z,1755840233.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.281677 target range: 39.073490 and range: 39.30 m.
2025-08-22T05:23:53.868Z,1755840233.868 [DAT](INFO): DAT read: 05:23:52.0935 LVL= 24208, 30385, 25362, 32755, AGC= 61, IDX= 411, 0.00, 1.119,-0.692, 1.066, 0.785, PHS= 0.437,-1.432, 0.237, RAW= 144.4,   8.6, CAL= 144.0,   9.4, ROT=   6.0,  -9.4

2025-08-22T05:23:53.869Z,1755840233.869 [DAT](INFO): got valid direction response:
 05:23:52.0935 LVL= 24208, 30385, 25362, 32755, AGC= 61, IDX= 411, 0.00, 1.119,-0.692, 1.066, 0.785, PHS= 0.437,-1.432, 0.237, RAW= 144.4,   8.6, CAL= 144.0,   9.4, ROT=   6.0,  -9.4

2025-08-22T05:23:53.870Z,1755840233.870 [DAT](INFO): DAT read: Bearing 252.0,   2.4 (Local)

2025-08-22T05:23:53.870Z,1755840233.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.0,   2.4 (Local)

2025-08-22T05:23:53.872Z,1755840233.872 [DAT](INFO): DAT read: Range 11 to 50 : 37.4 m  (Round-trip  49.9 ms) speed  0.5 m/s

2025-08-22T05:23:53.873Z,1755840233.873 [DAT](INFO): DAT read: user:7486>

2025-08-22T05:23:53.874Z,1755840233.874 [DAT](INFO): DAT read: Tx time:05:23:53.1895

2025-08-22T05:23:53.874Z,1755840233.874 [DAT](INFO): Ping request sent.
2025-08-22T05:23:53.874Z,1755840233.874 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:53.874Z,1755840233.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:23:53.875Z,1755840233.875 [DAT](INFO): direction in FSK: [0.981168,0.103125,0.163326]
2025-08-22T05:23:53.876Z,1755840233.876 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:53.876Z,1755840233.876 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:53.879Z,1755840233.879 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:53.879Z,1755840233.879 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:53.883Z,1755840233.883 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008507
2025-08-22T05:23:54.100Z,1755840234.100 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.226356
2025-08-22T05:23:54.177Z,1755840234.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.400002 m,
      deltaT: 3.528293 s,
      deltaX: -1.899998 m,
      approachRate: -0.538503 m/s,
      rangeRepo size: 4

2025-08-22T05:23:54.184Z,1755840234.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.184219 m,
      bearing: 82.922543 deg,
      lat: 36.779323 deg,
      lon: -121.859569 deg,
      deltaT: 3.528293 s,
      deltaX: -1.889271 m,
      approachRate: -0.535463 m/s,
      posRepo size: 4

2025-08-22T05:23:54.185Z,1755840234.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:54.200Z,1755840234.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 36.903172 m,
      bearing: 83.052019 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.085478 deg/s,
      cmd heading: 73.434683 deg,
      new cmd heading: 73.354708 deg.

2025-08-22T05:23:54.201Z,1755840234.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.280281 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:54.353Z,1755840234.353 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.479272
2025-08-22T05:23:54.501Z,1755840234.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:54.503Z,1755840234.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:54.506Z,1755840234.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 36.697868 m,
      bearing: 83.016723 deg,
      approach rate: -0.619028 m/s,
      LOS rate: -0.107020 deg/s,
      cmd heading: 73.354709 deg,
      new cmd heading: 73.283721 deg.

2025-08-22T05:23:54.507Z,1755840234.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279042 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:54.605Z,1755840234.605 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.730711
2025-08-22T05:23:54.856Z,1755840234.856 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.982173
2025-08-22T05:23:54.911Z,1755840234.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:54.914Z,1755840234.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 36.463341 m,
      bearing: 82.976759 deg,
      approach rate: -0.574830 m/s,
      LOS rate: -0.098582 deg/s,
      cmd heading: 73.283722 deg,
      new cmd heading: 73.203280 deg.

2025-08-22T05:23:54.915Z,1755840234.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.277638 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:55.109Z,1755840235.109 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.234644
2025-08-22T05:23:55.319Z,1755840235.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:55.342Z,1755840235.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 36.228138 m,
      bearing: 82.936736 deg,
      approach rate: -0.576507 m/s,
      LOS rate: -0.098737 deg/s,
      cmd heading: 73.203283 deg,
      new cmd heading: 73.122718 deg.

2025-08-22T05:23:55.343Z,1755840235.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.276232 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:55.360Z,1755840235.360 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.486203
2025-08-22T05:23:55.614Z,1755840235.614 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.739556
2025-08-22T05:23:55.729Z,1755840235.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:55.736Z,1755840235.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 35.995968 m,
      bearing: 82.897252 deg,
      approach rate: -0.565518 m/s,
      LOS rate: -0.096795 deg/s,
      cmd heading: 73.122721 deg,
      new cmd heading: 73.043244 deg.

2025-08-22T05:23:55.737Z,1755840235.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274845 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:55.864Z,1755840235.864 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.990176
2025-08-22T05:23:56.118Z,1755840236.118 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.243889
2025-08-22T05:23:56.188Z,1755840236.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:56.190Z,1755840236.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 35.756687 m,
      bearing: 82.857479 deg,
      approach rate: -0.526872 m/s,
      LOS rate: -0.088163 deg/s,
      cmd heading: 73.043245 deg,
      new cmd heading: 72.963166 deg.

2025-08-22T05:23:56.196Z,1755840236.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.273448 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:56.368Z,1755840236.368 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.494223
2025-08-22T05:23:56.510Z,1755840236.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:56.512Z,1755840236.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:56.515Z,1755840236.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 35.554455 m,
      bearing: 82.823978 deg,
      approach rate: -0.615513 m/s,
      LOS rate: -0.102543 deg/s,
      cmd heading: 72.963168 deg,
      new cmd heading: 72.895785 deg.

2025-08-22T05:23:56.532Z,1755840236.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.272272 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:56.621Z,1755840236.621 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.746557
2025-08-22T05:23:56.873Z,1755840236.873 [DAT](INFO): DAT read: Rx Time:05:23:55.6410

2025-08-22T05:23:56.874Z,1755840236.874 [DAT](INFO): Rx dataTimestamp_ set to:1755840236.873221
2025-08-22T05:23:56.874Z,1755840236.874 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.000395
2025-08-22T05:23:56.978Z,1755840236.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:56.981Z,1755840236.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 35.294193 m,
      bearing: 82.780667 deg,
      approach rate: -0.558797 m/s,
      LOS rate: -0.093678 deg/s,
      cmd heading: 72.895788 deg,
      new cmd heading: 72.808527 deg.

2025-08-22T05:23:56.982Z,1755840236.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.270748 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:57.126Z,1755840237.126 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.252054
2025-08-22T05:23:57.379Z,1755840237.379 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=3.504321
2025-08-22T05:23:57.550Z,1755840237.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.18 m.
2025-08-22T05:23:57.573Z,1755840237.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.184219 m,
      nav range: 34.971584 m,
      bearing: 82.727787 deg,
      approach rate: -0.563725 m/s,
      LOS rate: -0.093253 deg/s,
      cmd heading: 72.808526 deg,
      new cmd heading: 72.701792 deg.

2025-08-22T05:23:57.574Z,1755840237.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.268886 target range: 37.184219 and range: 37.40 m.
2025-08-22T05:23:57.645Z,1755840237.645 [DAT](INFO): DAT read: 05:23:55.6410 LVL= 28800, 32753, 26210, 32755, AGC= 59, IDX= 417,-0.27, 2.210, 0.461, 2.108, 1.885, PHS= 0.427,-1.379, 0.179, RAW= 142.7,   9.2, CAL= 142.3,  10.0, ROT=   7.7, -10.0

2025-08-22T05:23:57.646Z,1755840237.646 [DAT](INFO): got valid direction response:
 05:23:55.6410 LVL= 28800, 32753, 26210, 32755, AGC= 59, IDX= 417,-0.27, 2.210, 0.461, 2.108, 1.885, PHS= 0.427,-1.379, 0.179, RAW= 142.7,   9.2, CAL= 142.3,  10.0, ROT=   7.7, -10.0

2025-08-22T05:23:57.647Z,1755840237.647 [DAT](INFO): DAT read: Bearing 251.7,   3.6 (Local)

2025-08-22T05:23:57.648Z,1755840237.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.7,   3.6 (Local)

2025-08-22T05:23:57.649Z,1755840237.649 [DAT](INFO): DAT read: Range 11 to 50 : 35.4 m  (Round-trip  47.3 ms) speed  0.5 m/s

2025-08-22T05:23:57.650Z,1755840237.650 [DAT](INFO): DAT read: user:7487>

2025-08-22T05:23:57.650Z,1755840237.650 [DAT](INFO): DAT read: Tx time:05:23:56.7395

2025-08-22T05:23:57.651Z,1755840237.651 [DAT](INFO): Ping request sent.
2025-08-22T05:23:57.651Z,1755840237.651 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:23:57.651Z,1755840237.651 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T05:23:57.652Z,1755840237.652 [DAT](INFO): direction in FSK: [0.975928,0.131951,0.173648]
2025-08-22T05:23:57.653Z,1755840237.653 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:57.653Z,1755840237.653 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:57.672Z,1755840237.672 [DAT](INFO): publishing transmit ping time
2025-08-22T05:23:57.672Z,1755840237.672 [DAT](INFO): publishing direction and range info
2025-08-22T05:23:57.684Z,1755840237.684 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.033051
2025-08-22T05:23:57.880Z,1755840237.880 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.229432
2025-08-22T05:23:58.118Z,1755840238.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.400002 m,
      deltaT: 3.778850 s,
      deltaX: -2.000000 m,
      approachRate: -0.529262 m/s,
      rangeRepo size: 4

2025-08-22T05:23:58.125Z,1755840238.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.195446 m,
      bearing: 83.679422 deg,
      lat: 36.779323 deg,
      lon: -121.859569 deg,
      deltaT: 3.778850 s,
      deltaX: -1.988773 m,
      approachRate: -0.526291 m/s,
      posRepo size: 4

2025-08-22T05:23:58.127Z,1755840238.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:23:58.134Z,1755840238.134 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.482579
2025-08-22T05:23:58.141Z,1755840238.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 34.698895 m,
      bearing: 82.683332 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.093253 deg/s,
      cmd heading: 72.701790 deg,
      new cmd heading: 72.596232 deg.

2025-08-22T05:23:58.142Z,1755840238.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.267043 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:23:58.385Z,1755840238.385 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.733931
2025-08-22T05:23:58.540Z,1755840238.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:23:58.542Z,1755840238.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:23:58.545Z,1755840238.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 34.424667 m,
      bearing: 82.634382 deg,
      approach rate: -0.643301 m/s,
      LOS rate: -0.115744 deg/s,
      cmd heading: 72.596230 deg,
      new cmd heading: 72.497550 deg.

2025-08-22T05:23:58.546Z,1755840238.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.265321 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:23:58.637Z,1755840238.637 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=0.986187
2025-08-22T05:23:58.888Z,1755840238.888 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.237405
2025-08-22T05:23:58.925Z,1755840238.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:23:58.954Z,1755840238.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 34.218498 m,
      bearing: 82.597536 deg,
      approach rate: -0.539336 m/s,
      LOS rate: -0.096971 deg/s,
      cmd heading: 72.497547 deg,
      new cmd heading: 72.423410 deg.

2025-08-22T05:23:58.955Z,1755840238.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264027 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:23:59.141Z,1755840239.141 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.490032
2025-08-22T05:23:59.341Z,1755840239.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:23:59.344Z,1755840239.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 33.988747 m,
      bearing: 82.555399 deg,
      approach rate: -0.552023 m/s,
      LOS rate: -0.101925 deg/s,
      cmd heading: 72.423412 deg,
      new cmd heading: 72.338570 deg.

2025-08-22T05:23:59.345Z,1755840239.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.262546 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:23:59.392Z,1755840239.392 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.741559
2025-08-22T05:23:59.644Z,1755840239.644 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=1.993310
2025-08-22T05:23:59.757Z,1755840239.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:23:59.764Z,1755840239.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 33.763126 m,
      bearing: 82.513917 deg,
      approach rate: -0.541958 m/s,
      LOS rate: -0.100310 deg/s,
      cmd heading: 72.338568 deg,
      new cmd heading: 72.255048 deg.

2025-08-22T05:23:59.765Z,1755840239.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.261088 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:23:59.896Z,1755840239.896 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.245362
2025-08-22T05:24:00.149Z,1755840240.149 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.497950
2025-08-22T05:24:00.215Z,1755840240.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:24:00.218Z,1755840240.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 33.510548 m,
      bearing: 82.471979 deg,
      approach rate: -0.551959 m/s,
      LOS rate: -0.092338 deg/s,
      cmd heading: 72.255048 deg,
      new cmd heading: 72.170540 deg.

2025-08-22T05:24:00.219Z,1755840240.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.259614 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:24:00.404Z,1755840240.404 [DAT](INFO): DAT read: Rx Time:05:23:59.1882

2025-08-22T05:24:00.404Z,1755840240.404 [DAT](INFO): Rx dataTimestamp_ set to:1755840240.404091
2025-08-22T05:24:00.405Z,1755840240.405 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.754056
2025-08-22T05:24:00.548Z,1755840240.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:00.550Z,1755840240.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:24:00.553Z,1755840240.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 33.325089 m,
      bearing: 82.441026 deg,
      approach rate: -0.552784 m/s,
      LOS rate: -0.092771 deg/s,
      cmd heading: 72.170538 deg,
      new cmd heading: 72.108289 deg.

2025-08-22T05:24:00.554Z,1755840240.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.258527 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:24:00.654Z,1755840240.654 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.002939
2025-08-22T05:24:00.908Z,1755840240.908 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.256091
2025-08-22T05:24:01.016Z,1755840241.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.20 m.
2025-08-22T05:24:01.019Z,1755840241.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.195446 m,
      nav range: 33.077267 m,
      bearing: 82.399675 deg,
      approach rate: -0.537670 m/s,
      LOS rate: -0.090388 deg/s,
      cmd heading: 72.108288 deg,
      new cmd heading: 72.024965 deg.

2025-08-22T05:24:01.024Z,1755840241.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.257073 target range: 35.195446 and range: 35.40 m.
2025-08-22T05:24:01.169Z,1755840241.169 [DAT](INFO): DAT read: 05:23:59.1882 LVL= 25504, 32753, 23330, 32755, AGC= 59, IDX= 422,-0.47,-2.795, 1.710,-2.889,-3.107, PHS= 0.414,-1.421, 0.175, RAW= 143.1,   9.7, CAL= 142.6,  10.5, ROT=   7.4, -10.5

2025-08-22T05:24:01.171Z,1755840241.171 [DAT](INFO): got valid direction response:
 05:23:59.1882 LVL= 25504, 32753, 23330, 32755, AGC= 59, IDX= 422,-0.47,-2.795, 1.710,-2.889,-3.107, PHS= 0.414,-1.421, 0.175, RAW= 143.1,   9.7, CAL= 142.6,  10.5, ROT=   7.4, -10.5

2025-08-22T05:24:01.172Z,1755840241.172 [DAT](INFO): DAT read: Bearing 251.9,   2.9 (Local)

2025-08-22T05:24:01.173Z,1755840241.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.9,   2.9 (Local)

2025-08-22T05:24:01.175Z,1755840241.175 [DAT](INFO): DAT read: Range 11 to 50 : 33.4 m  (Round-trip  44.6 ms) speed  0.4 m/s

2025-08-22T05:24:01.176Z,1755840241.176 [DAT](INFO): DAT read: user:7488>

2025-08-22T05:24:01.177Z,1755840241.177 [DAT](INFO): DAT read: Tx time:05:24:00.2895

2025-08-22T05:24:01.178Z,1755840241.178 [DAT](INFO): Ping request sent.
2025-08-22T05:24:01.178Z,1755840241.178 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:01.178Z,1755840241.178 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T05:24:01.180Z,1755840241.180 [DAT](INFO): direction in FSK: [0.975066,0.126639,0.182236]
2025-08-22T05:24:01.180Z,1755840241.180 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:01.180Z,1755840241.180 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:01.185Z,1755840241.185 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:01.185Z,1755840241.185 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:01.190Z,1755840241.190 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.012721
2025-08-22T05:24:01.412Z,1755840241.412 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.234560
2025-08-22T05:24:01.446Z,1755840241.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.400002 m,
      deltaT: 3.532374 s,
      deltaX: -2.000000 m,
      approachRate: -0.566191 m/s,
      rangeRepo size: 4

2025-08-22T05:24:01.448Z,1755840241.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.206314 m,
      bearing: 82.759563 deg,
      lat: 36.779322 deg,
      lon: -121.859568 deg,
      deltaT: 3.532374 s,
      deltaX: -1.989132 m,
      approachRate: -0.563115 m/s,
      posRepo size: 4

2025-08-22T05:24:01.449Z,1755840241.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:01.452Z,1755840241.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 32.943302 m,
      bearing: 82.536456 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090388 deg/s,
      cmd heading: 72.024966 deg,
      new cmd heading: 71.946547 deg.

2025-08-22T05:24:01.453Z,1755840241.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.255704 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:01.665Z,1755840241.665 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.487198
2025-08-22T05:24:01.805Z,1755840241.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:01.808Z,1755840241.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 32.748867 m,
      bearing: 82.496623 deg,
      approach rate: -0.540233 m/s,
      LOS rate: -0.111333 deg/s,
      cmd heading: 71.946549 deg,
      new cmd heading: 71.866409 deg.

2025-08-22T05:24:01.809Z,1755840241.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.254305 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:01.918Z,1755840241.918 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.739987
2025-08-22T05:24:02.169Z,1755840242.169 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=0.991529
2025-08-22T05:24:02.241Z,1755840242.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:02.244Z,1755840242.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 32.514103 m,
      bearing: 82.450318 deg,
      approach rate: -0.537717 m/s,
      LOS rate: -0.106827 deg/s,
      cmd heading: 71.866410 deg,
      new cmd heading: 71.773131 deg.

2025-08-22T05:24:02.245Z,1755840242.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.252677 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:02.420Z,1755840242.420 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.242593
2025-08-22T05:24:02.636Z,1755840242.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:02.638Z,1755840242.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:02.641Z,1755840242.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 32.303535 m,
      bearing: 82.408588 deg,
      approach rate: -0.531154 m/s,
      LOS rate: -0.105949 deg/s,
      cmd heading: 71.773130 deg,
      new cmd heading: 71.689127 deg.

2025-08-22T05:24:02.642Z,1755840242.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.251211 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:02.672Z,1755840242.672 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.494793
2025-08-22T05:24:02.924Z,1755840242.924 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=1.746489
2025-08-22T05:24:03.016Z,1755840243.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:03.019Z,1755840243.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 32.097641 m,
      bearing: 82.367573 deg,
      approach rate: -0.545100 m/s,
      LOS rate: -0.109284 deg/s,
      cmd heading: 71.689126 deg,
      new cmd heading: 71.606569 deg.

2025-08-22T05:24:03.020Z,1755840243.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.249770 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:03.180Z,1755840243.180 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.001351
2025-08-22T05:24:03.428Z,1755840243.428 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.250598
2025-08-22T05:24:03.452Z,1755840243.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:03.454Z,1755840243.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 31.862328 m,
      bearing: 82.318006 deg,
      approach rate: -0.539879 m/s,
      LOS rate: -0.114560 deg/s,
      cmd heading: 71.606569 deg,
      new cmd heading: 71.506705 deg.

2025-08-22T05:24:03.456Z,1755840243.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.248027 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:03.681Z,1755840243.681 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.503244
2025-08-22T05:24:03.832Z,1755840243.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:03.835Z,1755840243.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 31.657166 m,
      bearing: 82.275194 deg,
      approach rate: -0.538791 m/s,
      LOS rate: -0.113161 deg/s,
      cmd heading: 71.506705 deg,
      new cmd heading: 71.420526 deg.

2025-08-22T05:24:03.836Z,1755840243.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.246523 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:03.933Z,1755840243.933 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.755120
2025-08-22T05:24:04.187Z,1755840244.187 [DAT](INFO): DAT read: Rx Time:05:24:02.7358

2025-08-22T05:24:04.188Z,1755840244.188 [DAT](INFO): Rx dataTimestamp_ set to:1755840244.187302
2025-08-22T05:24:04.190Z,1755840244.190 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.012017
2025-08-22T05:24:04.286Z,1755840244.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:04.293Z,1755840244.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 31.416403 m,
      bearing: 82.221224 deg,
      approach rate: -0.530008 m/s,
      LOS rate: -0.119720 deg/s,
      cmd heading: 71.420529 deg,
      new cmd heading: 71.311761 deg.

2025-08-22T05:24:04.294Z,1755840244.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.244625 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:04.436Z,1755840244.436 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.258824
2025-08-22T05:24:04.646Z,1755840244.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:04.648Z,1755840244.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.21 m.
2025-08-22T05:24:04.651Z,1755840244.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.206314 m,
      nav range: 31.217443 m,
      bearing: 82.176727 deg,
      approach rate: -0.550216 m/s,
      LOS rate: -0.123838 deg/s,
      cmd heading: 71.311758 deg,
      new cmd heading: 71.222198 deg.

2025-08-22T05:24:04.652Z,1755840244.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.243062 target range: 33.206314 and range: 33.40 m.
2025-08-22T05:24:04.694Z,1755840244.694 [DAT](INFO): DAT read: 05:24:02.7358 LVL= 24400, 32209, 24706, 32035, AGC= 58, IDX= 412,-0.12,-0.971,-2.772,-1.035,-1.279, PHS= 0.410,-1.448, 0.200, RAW= 144.1,   9.5, CAL= 143.6,  10.4, ROT=   6.4, -10.4

2025-08-22T05:24:04.695Z,1755840244.695 [DAT](INFO): got valid direction response:
 05:24:02.7358 LVL= 24400, 32209, 24706, 32035, AGC= 58, IDX= 412,-0.12,-0.971,-2.772,-1.035,-1.279, PHS= 0.410,-1.448, 0.200, RAW= 144.1,   9.5, CAL= 143.6,  10.4, ROT=   6.4, -10.4

2025-08-22T05:24:04.696Z,1755840244.696 [DAT](INFO): DAT read: Bearing 251.3,   1.9 (Local)

2025-08-22T05:24:04.697Z,1755840244.697 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.3,   1.9 (Local)

2025-08-22T05:24:04.699Z,1755840244.699 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m  (Round-trip  42.1 ms) speed  0.4 m/s

2025-08-22T05:24:04.700Z,1755840244.700 [DAT](INFO): DAT read: user:7489>

2025-08-22T05:24:04.701Z,1755840244.701 [DAT](INFO): DAT read: Tx time:05:24:03.8395

2025-08-22T05:24:04.701Z,1755840244.701 [DAT](INFO): Ping request sent.
2025-08-22T05:24:04.702Z,1755840244.702 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:04.702Z,1755840244.702 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T05:24:04.704Z,1755840244.704 [DAT](INFO): direction in FSK: [0.977442,0.109638,0.180519]
2025-08-22T05:24:04.704Z,1755840244.704 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:04.705Z,1755840244.705 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:04.718Z,1755840244.718 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:04.719Z,1755840244.719 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:04.728Z,1755840244.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:24:04.736Z,1755840244.736 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.034643
2025-08-22T05:24:04.940Z,1755840244.940 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.238697
2025-08-22T05:24:05.063Z,1755840245.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.500000 m,
      deltaT: 3.526916 s,
      deltaX: -1.900002 m,
      approachRate: -0.538715 m/s,
      rangeRepo size: 4

2025-08-22T05:24:05.065Z,1755840245.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.316973 m,
      bearing: 81.165244 deg,
      lat: 36.779324 deg,
      lon: -121.859567 deg,
      deltaT: 3.526916 s,
      deltaX: -1.889341 m,
      approachRate: -0.535692 m/s,
      posRepo size: 4

2025-08-22T05:24:05.066Z,1755840245.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:05.069Z,1755840245.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 31.113695 m,
      bearing: 81.802726 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.123838 deg/s,
      cmd heading: 71.222201 deg,
      new cmd heading: 71.119627 deg.

2025-08-22T05:24:05.070Z,1755840245.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.241272 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:05.196Z,1755840245.196 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.493491
2025-08-22T05:24:05.444Z,1755840245.444 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.742708
2025-08-22T05:24:05.465Z,1755840245.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:05.468Z,1755840245.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 30.881872 m,
      bearing: 81.759735 deg,
      approach rate: -0.575122 m/s,
      LOS rate: -0.107455 deg/s,
      cmd heading: 71.119625 deg,
      new cmd heading: 71.032998 deg.

2025-08-22T05:24:05.469Z,1755840245.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.239760 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:05.697Z,1755840245.697 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=0.994999
2025-08-22T05:24:05.732Z,1755840245.732 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:24:05.855Z,1755840245.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:05.858Z,1755840245.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 30.668440 m,
      bearing: 81.720649 deg,
      approach rate: -0.548082 m/s,
      LOS rate: -0.101071 deg/s,
      cmd heading: 71.032997 deg,
      new cmd heading: 70.954280 deg.

2025-08-22T05:24:05.859Z,1755840245.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.238386 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:05.949Z,1755840245.949 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.246930
2025-08-22T05:24:06.204Z,1755840246.204 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.501200
2025-08-22T05:24:06.282Z,1755840246.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:06.285Z,1755840246.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 30.436302 m,
      bearing: 81.678054 deg,
      approach rate: -0.543707 m/s,
      LOS rate: -0.100524 deg/s,
      cmd heading: 70.954280 deg,
      new cmd heading: 70.868441 deg.

2025-08-22T05:24:06.286Z,1755840246.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.236888 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:06.453Z,1755840246.453 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=1.750995
2025-08-22T05:24:06.704Z,1755840246.704 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.002718
2025-08-22T05:24:06.710Z,1755840246.710 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:06.713Z,1755840246.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:06.716Z,1755840246.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 30.202856 m,
      bearing: 81.635928 deg,
      approach rate: -0.541408 m/s,
      LOS rate: -0.098455 deg/s,
      cmd heading: 70.868445 deg,
      new cmd heading: 70.783540 deg.

2025-08-22T05:24:06.717Z,1755840246.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.235406 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:06.957Z,1755840246.957 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.255214
2025-08-22T05:24:07.132Z,1755840247.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:07.134Z,1755840247.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 29.974731 m,
      bearing: 81.594125 deg,
      approach rate: -0.544999 m/s,
      LOS rate: -0.100629 deg/s,
      cmd heading: 70.783538 deg,
      new cmd heading: 70.699297 deg.

2025-08-22T05:24:07.136Z,1755840247.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.233935 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:07.212Z,1755840247.212 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.509743
2025-08-22T05:24:07.460Z,1755840247.460 [DAT](INFO): DAT read: Rx Time:05:24:06.2833

2025-08-22T05:24:07.461Z,1755840247.461 [DAT](INFO): Rx dataTimestamp_ set to:1755840247.460461
2025-08-22T05:24:07.461Z,1755840247.461 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=2.759674
2025-08-22T05:24:07.574Z,1755840247.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:07.578Z,1755840247.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 29.733797 m,
      bearing: 81.552300 deg,
      approach rate: -0.544354 m/s,
      LOS rate: -0.095262 deg/s,
      cmd heading: 70.699295 deg,
      new cmd heading: 70.614968 deg.

2025-08-22T05:24:07.579Z,1755840247.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.232464 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:07.712Z,1755840247.712 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.010650
2025-08-22T05:24:07.967Z,1755840247.967 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.265862
2025-08-22T05:24:07.994Z,1755840247.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.32 m.
2025-08-22T05:24:08.016Z,1755840248.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.316973 m,
      nav range: 29.500443 m,
      bearing: 81.513012 deg,
      approach rate: -0.555508 m/s,
      LOS rate: -0.094265 deg/s,
      cmd heading: 70.614969 deg,
      new cmd heading: 70.535773 deg.

2025-08-22T05:24:08.021Z,1755840248.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.231081 target range: 31.316973 and range: 31.50 m.
2025-08-22T05:24:08.237Z,1755840248.237 [DAT](INFO): DAT read: 05:24:06.2833 LVL= 24640, 32561, 21746, 31475, AGC= 57, IDX= 418, 0.36,-3.106, 1.410, 3.120, 2.885, PHS= 0.394,-1.430, 0.191, RAW= 144.2,   9.8, CAL= 143.7,  10.7, ROT=   6.3, -10.7

2025-08-22T05:24:08.240Z,1755840248.240 [DAT](INFO): got valid direction response:
 05:24:06.2833 LVL= 24640, 32561, 21746, 31475, AGC= 57, IDX= 418, 0.36,-3.106, 1.410, 3.120, 2.885, PHS= 0.394,-1.430, 0.191, RAW= 144.2,   9.8, CAL= 143.7,  10.7, ROT=   6.3, -10.7

2025-08-22T05:24:08.244Z,1755840248.244 [DAT](INFO): DAT read: Bearing 250.5,   1.8 (Local)

2025-08-22T05:24:08.245Z,1755840248.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.5,   1.8 (Local)

2025-08-22T05:24:08.249Z,1755840248.249 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m  (Round-trip  39.6 ms) speed  0.4 m/s

2025-08-22T05:24:08.251Z,1755840248.251 [DAT](INFO): DAT read: user:7490>

2025-08-22T05:24:08.252Z,1755840248.252 [DAT](INFO): DAT read: Tx time:05:24:07.3895

2025-08-22T05:24:08.252Z,1755840248.252 [DAT](INFO): Ping request sent.
2025-08-22T05:24:08.252Z,1755840248.252 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:08.252Z,1755840248.252 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T05:24:08.253Z,1755840248.253 [DAT](INFO): direction in FSK: [0.976679,0.107826,0.185667]
2025-08-22T05:24:08.254Z,1755840248.254 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:08.254Z,1755840248.254 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:08.290Z,1755840248.290 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:08.290Z,1755840248.290 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:08.298Z,1755840248.298 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.045613
2025-08-22T05:24:08.464Z,1755840248.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 3.530347 s,
      deltaX: -1.799999 m,
      approachRate: -0.509865 m/s,
      rangeRepo size: 4

2025-08-22T05:24:08.466Z,1755840248.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.527164 m,
      bearing: 79.807602 deg,
      lat: 36.779324 deg,
      lon: -121.859567 deg,
      deltaT: 3.530347 s,
      deltaX: -1.789808 m,
      approachRate: -0.506978 m/s,
      posRepo size: 4

2025-08-22T05:24:08.468Z,1755840248.468 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.216372
2025-08-22T05:24:08.469Z,1755840248.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:08.472Z,1755840248.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 29.249640 m,
      bearing: 81.468363 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.094265 deg/s,
      cmd heading: 70.535773 deg,
      new cmd heading: 70.448151 deg.

2025-08-22T05:24:08.473Z,1755840248.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.229552 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:08.720Z,1755840248.720 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.468167
2025-08-22T05:24:08.811Z,1755840248.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:08.813Z,1755840248.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:08.816Z,1755840248.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 29.042437 m,
      bearing: 81.431522 deg,
      approach rate: -0.584165 m/s,
      LOS rate: -0.104607 deg/s,
      cmd heading: 70.448149 deg,
      new cmd heading: 70.373941 deg.

2025-08-22T05:24:08.817Z,1755840248.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.228257 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:08.972Z,1755840248.972 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.720199
2025-08-22T05:24:09.228Z,1755840249.228 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=0.974869
2025-08-22T05:24:09.277Z,1755840249.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:09.291Z,1755840249.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 28.815683 m,
      bearing: 81.391060 deg,
      approach rate: -0.495934 m/s,
      LOS rate: -0.089190 deg/s,
      cmd heading: 70.373939 deg,
      new cmd heading: 70.292379 deg.

2025-08-22T05:24:09.292Z,1755840249.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.226833 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:09.476Z,1755840249.476 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.224185
2025-08-22T05:24:09.659Z,1755840249.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:09.662Z,1755840249.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 28.565935 m,
      bearing: 81.351177 deg,
      approach rate: -0.643424 m/s,
      LOS rate: -0.103648 deg/s,
      cmd heading: 70.292380 deg,
      new cmd heading: 70.211917 deg.

2025-08-22T05:24:09.663Z,1755840249.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.225429 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:09.728Z,1755840249.728 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.476385
2025-08-22T05:24:09.980Z,1755840249.980 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.728266
2025-08-22T05:24:10.036Z,1755840250.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:10.038Z,1755840250.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 28.358250 m,
      bearing: 81.317839 deg,
      approach rate: -0.569658 m/s,
      LOS rate: -0.092112 deg/s,
      cmd heading: 70.211920 deg,
      new cmd heading: 70.144756 deg.

2025-08-22T05:24:10.044Z,1755840250.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.224257 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:10.235Z,1755840250.235 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=1.982467
2025-08-22T05:24:10.449Z,1755840250.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:10.452Z,1755840250.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 28.120878 m,
      bearing: 81.278237 deg,
      approach rate: -0.557323 m/s,
      LOS rate: -0.093767 deg/s,
      cmd heading: 70.144759 deg,
      new cmd heading: 70.064885 deg.

2025-08-22T05:24:10.453Z,1755840250.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.222863 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:10.484Z,1755840250.484 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.232316
2025-08-22T05:24:10.736Z,1755840250.736 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.484309
2025-08-22T05:24:10.831Z,1755840250.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:10.833Z,1755840250.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:10.836Z,1755840250.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 27.907187 m,
      bearing: 81.242604 deg,
      approach rate: -0.557021 m/s,
      LOS rate: -0.093593 deg/s,
      cmd heading: 70.064886 deg,
      new cmd heading: 69.993076 deg.

2025-08-22T05:24:10.837Z,1755840250.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.221610 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:10.988Z,1755840250.988 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.736184
2025-08-22T05:24:11.247Z,1755840251.247 [DAT](INFO): DAT read: Rx Time:05:24:09.8306

2025-08-22T05:24:11.249Z,1755840251.249 [DAT](INFO): Rx dataTimestamp_ set to:1755840251.247760
2025-08-22T05:24:11.251Z,1755840251.251 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=2.997995
2025-08-22T05:24:11.312Z,1755840251.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:11.314Z,1755840251.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 27.681000 m,
      bearing: 81.205118 deg,
      approach rate: -0.485250 m/s,
      LOS rate: -0.081078 deg/s,
      cmd heading: 69.993074 deg,
      new cmd heading: 69.917489 deg.

2025-08-22T05:24:11.324Z,1755840251.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.220290 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:11.496Z,1755840251.496 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.244234
2025-08-22T05:24:11.687Z,1755840251.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.53 m.
2025-08-22T05:24:11.690Z,1755840251.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.527164 m,
      nav range: 27.436960 m,
      bearing: 81.170723 deg,
      approach rate: -0.635882 m/s,
      LOS rate: -0.090418 deg/s,
      cmd heading: 69.917491 deg,
      new cmd heading: 69.848089 deg.

2025-08-22T05:24:11.691Z,1755840251.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.219079 target range: 29.527164 and range: 29.70 m.
2025-08-22T05:24:11.756Z,1755840251.756 [DAT](INFO): DAT read: 05:24:09.8306 LVL= 23456, 32225, 24050, 32755, AGC= 59, IDX= 408, 0.32,-0.540,-2.351,-0.613,-0.828, PHS= 0.390,-1.478, 0.172, RAW= 143.9,  10.4, CAL= 143.4,  11.3, ROT=   6.6, -11.3

2025-08-22T05:24:11.758Z,1755840251.758 [DAT](INFO): got valid direction response:
 05:24:09.8306 LVL= 23456, 32225, 24050, 32755, AGC= 59, IDX= 408, 0.32,-0.540,-2.351,-0.613,-0.828, PHS= 0.390,-1.478, 0.172, RAW= 143.9,  10.4, CAL= 143.4,  11.3, ROT=   6.6, -11.3

2025-08-22T05:24:11.760Z,1755840251.760 [DAT](INFO): DAT read: Bearing 250.1,   2.5 (Local)

2025-08-22T05:24:11.760Z,1755840251.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.1,   2.5 (Local)

2025-08-22T05:24:11.762Z,1755840251.762 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m  (Round-trip  37.1 ms) speed  0.4 m/s

2025-08-22T05:24:11.768Z,1755840251.768 [DAT](INFO): DAT read: user:7491>

2025-08-22T05:24:11.769Z,1755840251.769 [DAT](INFO): DAT read: Tx time:05:24:10.9394

2025-08-22T05:24:11.770Z,1755840251.770 [DAT](INFO): Ping request sent.
2025-08-22T05:24:11.770Z,1755840251.770 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:11.770Z,1755840251.770 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T05:24:11.776Z,1755840251.776 [DAT](INFO): direction in FSK: [0.974116,0.112709,0.195946]
2025-08-22T05:24:11.776Z,1755840251.776 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:11.777Z,1755840251.777 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:11.793Z,1755840251.793 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:11.793Z,1755840251.793 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:11.801Z,1755840251.801 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.031567
2025-08-22T05:24:12.006Z,1755840252.006 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.234660
2025-08-22T05:24:12.092Z,1755840252.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 3.529637 s,
      deltaX: -1.900002 m,
      approachRate: -0.538299 m/s,
      rangeRepo size: 4

2025-08-22T05:24:12.096Z,1755840252.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.638298 m,
      bearing: 79.316169 deg,
      lat: 36.779327 deg,
      lon: -121.859567 deg,
      deltaT: 3.529637 s,
      deltaX: -1.888866 m,
      approachRate: -0.535145 m/s,
      posRepo size: 4

2025-08-22T05:24:12.098Z,1755840252.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:12.102Z,1755840252.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 27.278883 m,
      bearing: 80.418611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090418 deg/s,
      cmd heading: 69.848089 deg,
      new cmd heading: 69.774424 deg.

2025-08-22T05:24:12.105Z,1755840252.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.217793 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:12.255Z,1755840252.255 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.485143
2025-08-22T05:24:12.472Z,1755840252.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:12.474Z,1755840252.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 27.061338 m,
      bearing: 80.378298 deg,
      approach rate: -0.570799 m/s,
      LOS rate: -0.106624 deg/s,
      cmd heading: 69.774426 deg,
      new cmd heading: 69.693152 deg.

2025-08-22T05:24:12.476Z,1755840252.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.216375 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:12.505Z,1755840252.505 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.734925
2025-08-22T05:24:12.756Z,1755840252.756 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=0.986772
2025-08-22T05:24:12.860Z,1755840252.860 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:12.862Z,1755840252.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:12.865Z,1755840252.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 26.842949 m,
      bearing: 80.337825 deg,
      approach rate: -0.558880 m/s,
      LOS rate: -0.104417 deg/s,
      cmd heading: 69.693153 deg,
      new cmd heading: 69.611549 deg.

2025-08-22T05:24:12.866Z,1755840252.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.214951 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:13.008Z,1755840253.008 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.238553
2025-08-22T05:24:13.263Z,1755840253.263 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.492856
2025-08-22T05:24:13.269Z,1755840253.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:13.272Z,1755840253.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 26.618692 m,
      bearing: 80.296647 deg,
      approach rate: -0.551027 m/s,
      LOS rate: -0.102031 deg/s,
      cmd heading: 69.611546 deg,
      new cmd heading: 69.528497 deg.

2025-08-22T05:24:13.276Z,1755840253.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.213501 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:13.512Z,1755840253.512 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.742452
2025-08-22T05:24:13.683Z,1755840253.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:13.686Z,1755840253.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 26.392567 m,
      bearing: 80.241262 deg,
      approach rate: -0.546613 m/s,
      LOS rate: -0.135031 deg/s,
      cmd heading: 69.528498 deg,
      new cmd heading: 69.416778 deg.

2025-08-22T05:24:13.687Z,1755840253.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.211551 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T05:14:13.5Z
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:24:13.692Z,1755840253.692 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T05:24:13.766Z,1755840253.766 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=1.995576
2025-08-22T05:24:14.016Z,1755840254.016 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.246469
2025-08-22T05:24:14.089Z,1755840254.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:14.094Z,1755840254.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 26.177122 m,
      bearing: 80.188753 deg,
      approach rate: -0.531461 m/s,
      LOS rate: -0.130594 deg/s,
      cmd heading: 69.416777 deg,
      new cmd heading: 69.310896 deg.

2025-08-22T05:24:14.096Z,1755840254.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.209703 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:14.103Z,1755840254.103 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T05:24:14.103Z,1755840254.103 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T05:24:14.103Z,1755840254.103 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T05:24:14.104Z,1755840254.104 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:24:14.104Z,1755840254.104 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T05:24:14.269Z,1755840254.269 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.499022
2025-08-22T05:24:14.520Z,1755840254.520 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=2.750727
2025-08-22T05:24:14.622Z,1755840254.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:14.625Z,1755840254.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 25.876396 m,
      bearing: 80.128953 deg,
      approach rate: -0.563337 m/s,
      LOS rate: -0.113324 deg/s,
      cmd heading: 69.310895 deg,
      new cmd heading: 69.189904 deg.

2025-08-22T05:24:14.626Z,1755840254.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.207592 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:14.775Z,1755840254.775 [DAT](INFO): DAT read: Rx Time:05:24:13.3780

2025-08-22T05:24:14.776Z,1755840254.776 [DAT](INFO): Rx dataTimestamp_ set to:1755840254.775665
2025-08-22T05:24:14.777Z,1755840254.777 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.007141
2025-08-22T05:24:15.010Z,1755840255.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:15.012Z,1755840255.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.64 m.
2025-08-22T05:24:15.015Z,1755840255.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.638298 m,
      nav range: 25.659369 m,
      bearing: 80.085548 deg,
      approach rate: -0.556738 m/s,
      LOS rate: -0.112288 deg/s,
      cmd heading: 69.189905 deg,
      new cmd heading: 69.102361 deg.

2025-08-22T05:24:15.016Z,1755840255.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.206064 target range: 27.638298 and range: 27.80 m.
2025-08-22T05:24:15.025Z,1755840255.025 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.254932
2025-08-22T05:24:15.285Z,1755840255.285 [DAT](INFO): DAT read: 05:24:13.3780 LVL= 23728, 28961, 22738, 32755, AGC= 62, IDX= 413,-0.11, 1.033,-0.763, 0.973, 0.757, PHS= 0.378,-1.475, 0.172, RAW= 144.2,  10.5, CAL= 143.7,  11.5, ROT=   6.3, -11.5

2025-08-22T05:24:15.286Z,1755840255.286 [DAT](INFO): got valid direction response:
 05:24:13.3780 LVL= 23728, 28961, 22738, 32755, AGC= 62, IDX= 413,-0.11, 1.033,-0.763, 0.973, 0.757, PHS= 0.378,-1.475, 0.172, RAW= 144.2,  10.5, CAL= 143.7,  11.5, ROT=   6.3, -11.5

2025-08-22T05:24:15.292Z,1755840255.292 [DAT](INFO): DAT read: Bearing 249.3,   2.5 (Local)

2025-08-22T05:24:15.293Z,1755840255.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.3,   2.5 (Local)

2025-08-22T05:24:15.294Z,1755840255.294 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m  (Round-trip  34.4 ms) speed  0.4 m/s

2025-08-22T05:24:15.295Z,1755840255.295 [DAT](INFO): DAT read: user:7492>

2025-08-22T05:24:15.296Z,1755840255.296 [DAT](INFO): DAT read: Tx time:05:24:14.4910

2025-08-22T05:24:15.296Z,1755840255.296 [DAT](INFO): Ping request sent.
2025-08-22T05:24:15.296Z,1755840255.296 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:15.297Z,1755840255.297 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T05:24:15.298Z,1755840255.298 [DAT](INFO): direction in FSK: [0.974007,0.107531,0.199368]
2025-08-22T05:24:15.298Z,1755840255.298 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:15.298Z,1755840255.298 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:15.375Z,1755840255.375 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:15.376Z,1755840255.376 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:15.379Z,1755840255.379 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.082279
2025-08-22T05:24:15.514Z,1755840255.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 3.528437 s,
      deltaX: -2.000000 m,
      approachRate: -0.566823 m/s,
      rangeRepo size: 4

2025-08-22T05:24:15.520Z,1755840255.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.650135 m,
      bearing: 78.315773 deg,
      lat: 36.779331 deg,
      lon: -121.859567 deg,
      deltaT: 3.528437 s,
      deltaX: -1.988163 m,
      approachRate: -0.563468 m/s,
      posRepo size: 4

2025-08-22T05:24:15.521Z,1755840255.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:15.528Z,1755840255.528 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.231790
2025-08-22T05:24:15.532Z,1755840255.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 25.465883 m,
      bearing: 78.903829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.112288 deg/s,
      cmd heading: 69.102363 deg,
      new cmd heading: 68.989787 deg.

2025-08-22T05:24:15.533Z,1755840255.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.204099 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:15.780Z,1755840255.780 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.483676
2025-08-22T05:24:15.892Z,1755840255.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:15.899Z,1755840255.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 25.264797 m,
      bearing: 78.852313 deg,
      approach rate: -0.530308 m/s,
      LOS rate: -0.136938 deg/s,
      cmd heading: 68.989787 deg,
      new cmd heading: 68.885937 deg.

2025-08-22T05:24:15.900Z,1755840255.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.202286 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:16.032Z,1755840256.032 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.735794
2025-08-22T05:24:16.284Z,1755840256.284 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=0.987538
2025-08-22T05:24:16.366Z,1755840256.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:16.381Z,1755840256.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 25.040638 m,
      bearing: 78.793905 deg,
      approach rate: -0.474250 m/s,
      LOS rate: -0.124680 deg/s,
      cmd heading: 68.885934 deg,
      new cmd heading: 68.768072 deg.

2025-08-22T05:24:16.382Z,1755840256.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.200229 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:16.536Z,1755840256.536 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.239881
2025-08-22T05:24:16.785Z,1755840256.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:16.788Z,1755840256.788 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.491856
2025-08-22T05:24:16.790Z,1755840256.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 24.780748 m,
      bearing: 78.725568 deg,
      approach rate: -0.618554 m/s,
      LOS rate: -0.164351 deg/s,
      cmd heading: 68.768073 deg,
      new cmd heading: 68.629966 deg.

2025-08-22T05:24:16.791Z,1755840256.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.197819 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:17.040Z,1755840257.040 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.743647
2025-08-22T05:24:17.129Z,1755840257.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:17.131Z,1755840257.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:17.134Z,1755840257.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 24.598663 m,
      bearing: 78.677457 deg,
      approach rate: -0.526263 m/s,
      LOS rate: -0.140080 deg/s,
      cmd heading: 68.629966 deg,
      new cmd heading: 68.533032 deg.

2025-08-22T05:24:17.135Z,1755840257.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.196127 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:17.292Z,1755840257.292 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=1.995753
2025-08-22T05:24:17.544Z,1755840257.544 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.247708
2025-08-22T05:24:17.560Z,1755840257.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:17.563Z,1755840257.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 24.383150 m,
      bearing: 78.619749 deg,
      approach rate: -0.502413 m/s,
      LOS rate: -0.135721 deg/s,
      cmd heading: 68.533032 deg,
      new cmd heading: 68.416596 deg.

2025-08-22T05:24:17.568Z,1755840257.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.194095 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:17.737Z,1755840257.737 [CTD_Seabird](ERROR): Failed to parse device response: 66.930,3.74571,2603.05
2025-08-22T05:24:17.796Z,1755840257.796 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.499684
2025-08-22T05:24:17.929Z,1755840257.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:17.932Z,1755840257.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 24.177961 m,
      bearing: 78.564892 deg,
      approach rate: -0.555521 m/s,
      LOS rate: -0.149777 deg/s,
      cmd heading: 68.416598 deg,
      new cmd heading: 68.305954 deg.

2025-08-22T05:24:17.933Z,1755840257.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.192164 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:18.049Z,1755840258.049 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=2.752010
2025-08-22T05:24:18.300Z,1755840258.300 [DAT](INFO): DAT read: Rx Time:05:24:16.9270

2025-08-22T05:24:18.301Z,1755840258.301 [DAT](INFO): Rx dataTimestamp_ set to:1755840258.300574
2025-08-22T05:24:18.301Z,1755840258.301 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.004851
2025-08-22T05:24:18.369Z,1755840258.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:18.408Z,1755840258.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 23.969889 m,
      bearing: 78.509423 deg,
      approach rate: -0.493377 m/s,
      LOS rate: -0.132668 deg/s,
      cmd heading: 68.305956 deg,
      new cmd heading: 68.194055 deg.

2025-08-22T05:24:18.409Z,1755840258.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.190211 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:18.552Z,1755840258.552 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.255661
2025-08-22T05:24:18.782Z,1755840258.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m.
2025-08-22T05:24:18.789Z,1755840258.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.650135 m,
      nav range: 23.743307 m,
      bearing: 78.459265 deg,
      approach rate: -0.526272 m/s,
      LOS rate: -0.117613 deg/s,
      cmd heading: 68.194057 deg,
      new cmd heading: 68.092783 deg.

2025-08-22T05:24:18.790Z,1755840258.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.188443 target range: 25.650135 and range: 25.80 m.
2025-08-22T05:24:18.811Z,1755840258.811 [DAT](INFO): DAT read: 05:24:16.9270 LVL= 25376, 32753, 24786, 32755, AGC= 60, IDX= 419, 0.36,-1.516, 3.055,-1.507,-1.740, PHS= 0.325,-1.443, 0.189, RAW= 146.0,  10.9, CAL= 145.7,  11.9, ROT=   4.3, -11.9

2025-08-22T05:24:18.812Z,1755840258.812 [DAT](INFO): got valid direction response:
 05:24:16.9270 LVL= 25376, 32753, 24786, 32755, AGC= 60, IDX= 419, 0.36,-1.516, 3.055,-1.507,-1.740, PHS= 0.325,-1.443, 0.189, RAW= 146.0,  10.9, CAL= 145.7,  11.9, ROT=   4.3, -11.9

2025-08-22T05:24:18.813Z,1755840258.813 [DAT](INFO): DAT read: Bearing 249.0,   1.1 (Local)

2025-08-22T05:24:18.813Z,1755840258.813 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.0,   1.1 (Local)

2025-08-22T05:24:18.815Z,1755840258.815 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m  (Round-trip  31.9 ms) speed  0.4 m/s

2025-08-22T05:24:18.815Z,1755840258.815 [DAT](INFO): DAT read: user:7493>

2025-08-22T05:24:18.816Z,1755840258.816 [DAT](INFO): DAT read: Tx time:05:24:18.0410

2025-08-22T05:24:18.816Z,1755840258.816 [DAT](INFO): Ping request sent.
2025-08-22T05:24:18.817Z,1755840258.817 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:18.817Z,1755840258.817 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T05:24:18.818Z,1755840258.818 [DAT](INFO): direction in FSK: [0.975755,0.073367,0.206204]
2025-08-22T05:24:18.818Z,1755840258.818 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:18.818Z,1755840258.818 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:18.822Z,1755840258.822 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:18.822Z,1755840258.822 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:18.826Z,1755840258.826 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.008995
2025-08-22T05:24:19.057Z,1755840259.057 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.240403
2025-08-22T05:24:19.193Z,1755840259.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 3.528003 s,
      deltaX: -1.900000 m,
      approachRate: -0.538548 m/s,
      rangeRepo size: 4

2025-08-22T05:24:19.195Z,1755840259.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.761290 m,
      bearing: 75.363855 deg,
      lat: 36.779332 deg,
      lon: -121.859567 deg,
      deltaT: 3.528003 s,
      deltaX: -1.888845 m,
      approachRate: -0.535387 m/s,
      posRepo size: 4

2025-08-22T05:24:19.197Z,1755840259.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:19.208Z,1755840259.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 23.499687 m,
      bearing: 78.302471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117613 deg/s,
      cmd heading: 68.092785 deg,
      new cmd heading: 67.996208 deg.

2025-08-22T05:24:19.209Z,1755840259.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.186758 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:19.308Z,1755840259.308 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.491784
2025-08-22T05:24:19.560Z,1755840259.560 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.743716
2025-08-22T05:24:19.609Z,1755840259.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:19.615Z,1755840259.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:19.618Z,1755840259.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 23.275648 m,
      bearing: 78.253132 deg,
      approach rate: -0.535052 m/s,
      LOS rate: -0.118968 deg/s,
      cmd heading: 67.996207 deg,
      new cmd heading: 67.896578 deg.

2025-08-22T05:24:19.619Z,1755840259.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.185019 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:19.812Z,1755840259.812 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=0.995644
2025-08-22T05:24:19.981Z,1755840259.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:19.992Z,1755840259.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 23.071169 m,
      bearing: 78.208428 deg,
      approach rate: -0.552297 m/s,
      LOS rate: -0.121815 deg/s,
      cmd heading: 67.896575 deg,
      new cmd heading: 67.806375 deg.

2025-08-22T05:24:19.993Z,1755840259.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.183444 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:20.064Z,1755840260.064 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.247726
2025-08-22T05:24:20.316Z,1755840260.316 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.499641
2025-08-22T05:24:20.418Z,1755840260.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:20.436Z,1755840260.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 22.849909 m,
      bearing: 78.160505 deg,
      approach rate: -0.507632 m/s,
      LOS rate: -0.111013 deg/s,
      cmd heading: 67.806375 deg,
      new cmd heading: 67.709601 deg.

2025-08-22T05:24:20.437Z,1755840260.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.181755 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:20.570Z,1755840260.570 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=1.753515
2025-08-22T05:24:20.806Z,1755840260.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:20.809Z,1755840260.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 22.615084 m,
      bearing: 78.104737 deg,
      approach rate: -0.604217 m/s,
      LOS rate: -0.144983 deg/s,
      cmd heading: 67.709598 deg,
      new cmd heading: 67.596905 deg.

2025-08-22T05:24:20.810Z,1755840260.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.179789 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:20.820Z,1755840260.820 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.003500
2025-08-22T05:24:21.074Z,1755840261.074 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.257164
2025-08-22T05:24:21.203Z,1755840261.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:21.206Z,1755840261.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 22.401878 m,
      bearing: 78.053087 deg,
      approach rate: -0.536890 m/s,
      LOS rate: -0.131303 deg/s,
      cmd heading: 67.596907 deg,
      new cmd heading: 67.492623 deg.

2025-08-22T05:24:21.207Z,1755840261.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.177969 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:21.324Z,1755840261.324 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.507699
2025-08-22T05:24:21.581Z,1755840261.581 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=2.763253
2025-08-22T05:24:21.637Z,1755840261.637 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:21.644Z,1755840261.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:21.653Z,1755840261.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 22.161615 m,
      bearing: 78.007513 deg,
      approach rate: -0.550521 m/s,
      LOS rate: -0.105557 deg/s,
      cmd heading: 67.492624 deg,
      new cmd heading: 67.400488 deg.

2025-08-22T05:24:21.653Z,1755840261.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.176360 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:21.828Z,1755840261.828 [DAT](INFO): DAT read: Rx Time:05:24:20.4745

2025-08-22T05:24:21.829Z,1755840261.829 [DAT](INFO): Rx dataTimestamp_ set to:1755840261.828424
2025-08-22T05:24:21.829Z,1755840261.829 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.012687
2025-08-22T05:24:22.000Z,1755840262.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m.
2025-08-22T05:24:22.003Z,1755840262.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.761290 m,
      nav range: 21.956923 m,
      bearing: 77.968434 deg,
      approach rate: -0.567414 m/s,
      LOS rate: -0.109339 deg/s,
      cmd heading: 67.400491 deg,
      new cmd heading: 67.321604 deg.

2025-08-22T05:24:22.004Z,1755840262.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.174984 target range: 23.761290 and range: 23.90 m.
2025-08-22T05:24:22.082Z,1755840262.082 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=3.265115
2025-08-22T05:24:22.338Z,1755840262.338 [DAT](INFO): DAT read: 05:24:20.4745 LVL= 22208, 28337, 20818, 30019, AGC= 57, IDX= 410, 0.32,-1.190,-2.955,-1.160,-1.423, PHS= 0.334,-1.488, 0.219, RAW= 146.8,  10.6, CAL= 146.4,  11.6, ROT=   3.6, -11.6

2025-08-22T05:24:22.339Z,1755840262.339 [DAT](INFO): got valid direction response:
 05:24:20.4745 LVL= 22208, 28337, 20818, 30019, AGC= 57, IDX= 410, 0.32,-1.190,-2.955,-1.160,-1.423, PHS= 0.334,-1.488, 0.219, RAW= 146.8,  10.6, CAL= 146.4,  11.6, ROT=   3.6, -11.6

2025-08-22T05:24:22.340Z,1755840262.340 [DAT](INFO): DAT read: Bearing 247.6,   1.0 (Local)

2025-08-22T05:24:22.341Z,1755840262.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,   1.0 (Local)

2025-08-22T05:24:22.342Z,1755840262.342 [DAT](INFO): DAT read: Range 11 to 50 : 22.0 m  (Round-trip  29.4 ms) speed  0.4 m/s

2025-08-22T05:24:22.343Z,1755840262.343 [DAT](INFO): DAT read: user:7494>

2025-08-22T05:24:22.345Z,1755840262.345 [DAT](INFO): DAT read: Tx time:05:24:21.5893

2025-08-22T05:24:22.346Z,1755840262.346 [DAT](INFO): Ping request sent.
2025-08-22T05:24:22.346Z,1755840262.346 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:22.346Z,1755840262.346 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T05:24:22.347Z,1755840262.347 [DAT](INFO): direction in FSK: [0.977642,0.061508,0.201078]
2025-08-22T05:24:22.347Z,1755840262.347 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:22.348Z,1755840262.348 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:22.351Z,1755840262.351 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:22.351Z,1755840262.351 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:22.450Z,1755840262.450 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.103894
2025-08-22T05:24:22.522Z,1755840262.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.000000 m,
      deltaT: 3.527773 s,
      deltaX: -1.900000 m,
      approachRate: -0.538583 m/s,
      rangeRepo size: 4

2025-08-22T05:24:22.528Z,1755840262.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.872055 m,
      bearing: 73.860767 deg,
      lat: 36.779334 deg,
      lon: -121.859568 deg,
      deltaT: 3.527773 s,
      deltaX: -1.889235 m,
      approachRate: -0.535532 m/s,
      posRepo size: 4

2025-08-22T05:24:22.528Z,1755840262.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:22.535Z,1755840262.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 21.671051 m,
      bearing: 77.342052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.109339 deg/s,
      cmd heading: 67.321602 deg,
      new cmd heading: 67.207702 deg.

2025-08-22T05:24:22.536Z,1755840262.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.172996 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:22.586Z,1755840262.586 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.239528
2025-08-22T05:24:22.836Z,1755840262.836 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.490378
2025-08-22T05:24:22.917Z,1755840262.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:22.924Z,1755840262.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 21.446510 m,
      bearing: 77.288119 deg,
      approach rate: -0.567459 m/s,
      LOS rate: -0.137728 deg/s,
      cmd heading: 67.207702 deg,
      new cmd heading: 67.098706 deg.

2025-08-22T05:24:22.925Z,1755840262.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171093 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:23.089Z,1755840263.089 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.743344
2025-08-22T05:24:23.283Z,1755840263.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:23.286Z,1755840263.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 21.229536 m,
      bearing: 77.235621 deg,
      approach rate: -0.592329 m/s,
      LOS rate: -0.144782 deg/s,
      cmd heading: 67.098706 deg,
      new cmd heading: 66.992637 deg.

2025-08-22T05:24:23.287Z,1755840263.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.169242 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:23.341Z,1755840263.341 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=0.995603
2025-08-22T05:24:23.593Z,1755840263.593 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.247411
2025-08-22T05:24:23.707Z,1755840263.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:23.709Z,1755840263.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:23.712Z,1755840263.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 20.993643 m,
      bearing: 77.179818 deg,
      approach rate: -0.553357 m/s,
      LOS rate: -0.132372 deg/s,
      cmd heading: 66.992640 deg,
      new cmd heading: 66.879781 deg.

2025-08-22T05:24:23.713Z,1755840263.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167272 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:23.844Z,1755840263.844 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.498428
2025-08-22T05:24:24.096Z,1755840264.096 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=1.750559
2025-08-22T05:24:24.103Z,1755840264.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:24.106Z,1755840264.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 20.775774 m,
      bearing: 77.127601 deg,
      approach rate: -0.552901 m/s,
      LOS rate: -0.133906 deg/s,
      cmd heading: 66.879778 deg,
      new cmd heading: 66.774248 deg.

2025-08-22T05:24:24.107Z,1755840264.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.165430 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:24.353Z,1755840264.353 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.005874
2025-08-22T05:24:24.542Z,1755840264.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:24.545Z,1755840264.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 20.532127 m,
      bearing: 77.057420 deg,
      approach rate: -0.555609 m/s,
      LOS rate: -0.161938 deg/s,
      cmd heading: 66.774245 deg,
      new cmd heading: 66.632218 deg.

2025-08-22T05:24:24.546Z,1755840264.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.162952 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:24.600Z,1755840264.600 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.254440
2025-08-22T05:24:24.852Z,1755840264.852 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.506398
2025-08-22T05:24:24.906Z,1755840264.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:24.909Z,1755840264.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 20.330067 m,
      bearing: 76.998304 deg,
      approach rate: -0.555238 m/s,
      LOS rate: -0.164058 deg/s,
      cmd heading: 66.632218 deg,
      new cmd heading: 66.512811 deg.

2025-08-22T05:24:24.910Z,1755840264.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.160868 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:25.104Z,1755840265.104 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=2.758413
2025-08-22T05:24:25.319Z,1755840265.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:25.322Z,1755840265.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 20.100952 m,
      bearing: 76.930365 deg,
      approach rate: -0.554451 m/s,
      LOS rate: -0.166286 deg/s,
      cmd heading: 66.512812 deg,
      new cmd heading: 66.375384 deg.

2025-08-22T05:24:25.323Z,1755840265.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.158469 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:25.357Z,1755840265.357 [DAT](INFO): DAT read: Rx Time:05:24:24.0205

2025-08-22T05:24:25.358Z,1755840265.358 [DAT](INFO): Rx dataTimestamp_ set to:1755840265.356969
2025-08-22T05:24:25.358Z,1755840265.358 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.012301
2025-08-22T05:24:25.609Z,1755840265.609 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=3.262726
2025-08-22T05:24:25.798Z,1755840265.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:25.805Z,1755840265.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.87 m.
2025-08-22T05:24:25.813Z,1755840265.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.872055 m,
      nav range: 19.853811 m,
      bearing: 76.951385 deg,
      approach rate: -0.508238 m/s,
      LOS rate: 0.043766 deg/s,
      cmd heading: 66.375382 deg,
      new cmd heading: 66.417946 deg.

2025-08-22T05:24:25.814Z,1755840265.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159212 target range: 21.872055 and range: 22.00 m.
2025-08-22T05:24:25.866Z,1755840265.866 [DAT](INFO): DAT read: 05:24:24.0205 LVL= 25840, 32241, 22162, 29747, AGC= 58, IDX= 417, 0.03,-1.970, 2.596,-1.821,-2.139, PHS= 0.270,-1.503, 0.273, RAW= 150.1,  10.8, CAL= 149.9,  11.9, ROT=   0.1, -11.9

2025-08-22T05:24:25.868Z,1755840265.868 [DAT](INFO): got valid direction response:
 05:24:24.0205 LVL= 25840, 32241, 22162, 29747, AGC= 58, IDX= 417, 0.03,-1.970, 2.596,-1.821,-2.139, PHS= 0.270,-1.503, 0.273, RAW= 150.1,  10.8, CAL= 149.9,  11.9, ROT=   0.1, -11.9

2025-08-22T05:24:25.869Z,1755840265.869 [DAT](INFO): DAT read: Bearing 247.4,  -1.8 (Local)

2025-08-22T05:24:25.870Z,1755840265.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.4,  -1.8 (Local)

2025-08-22T05:24:25.872Z,1755840265.872 [DAT](INFO): DAT read: Range 11 to 50 : 20.2 m  (Round-trip  27.0 ms) speed  0.4 m/s

2025-08-22T05:24:25.873Z,1755840265.873 [DAT](INFO): DAT read: user:7495>

2025-08-22T05:24:25.874Z,1755840265.874 [DAT](INFO): DAT read: Tx time:05:24:25.1393

2025-08-22T05:24:25.874Z,1755840265.874 [DAT](INFO): Ping request sent.
2025-08-22T05:24:25.875Z,1755840265.875 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:25.875Z,1755840265.875 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T05:24:25.877Z,1755840265.877 [DAT](INFO): direction in FSK: [0.978507,0.001708,0.206204]
2025-08-22T05:24:25.878Z,1755840265.878 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:25.878Z,1755840265.878 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:25.883Z,1755840265.883 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:25.883Z,1755840265.883 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:25.905Z,1755840265.905 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.030790
2025-08-22T05:24:26.112Z,1755840266.112 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.237655
2025-08-22T05:24:26.202Z,1755840266.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.200001 m,
      deltaT: 3.527826 s,
      deltaX: -1.799999 m,
      approachRate: -0.510229 m/s,
      rangeRepo size: 4

2025-08-22T05:24:26.208Z,1755840266.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.082790 m,
      bearing: 69.824592 deg,
      lat: 36.779342 deg,
      lon: -121.859570 deg,
      deltaT: 3.527826 s,
      deltaX: -1.789265 m,
      approachRate: -0.507186 m/s,
      posRepo size: 4

2025-08-22T05:24:26.209Z,1755840266.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:26.216Z,1755840266.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 19.636328 m,
      bearing: 74.087103 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.043766 deg/s,
      cmd heading: 66.417948 deg,
      new cmd heading: 66.452640 deg.

2025-08-22T05:24:26.217Z,1755840266.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.159817 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:26.365Z,1755840266.365 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.489949
2025-08-22T05:24:26.616Z,1755840266.616 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.741788
2025-08-22T05:24:26.617Z,1755840266.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:26.628Z,1755840266.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 19.400412 m,
      bearing: 73.989480 deg,
      approach rate: -0.575902 m/s,
      LOS rate: -0.241210 deg/s,
      cmd heading: 66.452638 deg,
      new cmd heading: 66.255017 deg.

2025-08-22T05:24:26.629Z,1755840266.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.156368 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:26.869Z,1755840266.869 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=0.994730
2025-08-22T05:24:27.120Z,1755840267.120 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.245573
2025-08-22T05:24:27.203Z,1755840267.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:27.205Z,1755840267.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 19.073553 m,
      bearing: 73.852638 deg,
      approach rate: -0.552644 m/s,
      LOS rate: -0.235333 deg/s,
      cmd heading: 66.255021 deg,
      new cmd heading: 65.976649 deg.

2025-08-22T05:24:27.206Z,1755840267.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.151510 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:27.372Z,1755840267.372 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.497673
2025-08-22T05:24:27.598Z,1755840267.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:27.614Z,1755840267.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 18.842850 m,
      bearing: 73.754978 deg,
      approach rate: -0.587594 m/s,
      LOS rate: -0.251781 deg/s,
      cmd heading: 65.976649 deg,
      new cmd heading: 65.778940 deg.

2025-08-22T05:24:27.615Z,1755840267.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.148059 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:27.624Z,1755840267.624 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=1.749716
2025-08-22T05:24:27.877Z,1755840267.877 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.002216
2025-08-22T05:24:27.951Z,1755840267.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:27.957Z,1755840267.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:27.960Z,1755840267.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 18.619909 m,
      bearing: 73.655683 deg,
      approach rate: -0.616208 m/s,
      LOS rate: -0.277738 deg/s,
      cmd heading: 65.778943 deg,
      new cmd heading: 65.577976 deg.

2025-08-22T05:24:27.961Z,1755840267.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.144552 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:28.128Z,1755840268.128 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.253684
2025-08-22T05:24:28.328Z,1755840268.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:28.331Z,1755840268.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 18.406189 m,
      bearing: 73.560288 deg,
      approach rate: -0.575751 m/s,
      LOS rate: -0.259972 deg/s,
      cmd heading: 65.577978 deg,
      new cmd heading: 65.384974 deg.

2025-08-22T05:24:28.332Z,1755840268.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.141183 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:28.380Z,1755840268.380 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.505860
2025-08-22T05:24:28.632Z,1755840268.632 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=2.757938
2025-08-22T05:24:28.759Z,1755840268.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:28.762Z,1755840268.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 18.168205 m,
      bearing: 73.458957 deg,
      approach rate: -0.552578 m/s,
      LOS rate: -0.238366 deg/s,
      cmd heading: 65.384971 deg,
      new cmd heading: 65.179653 deg.

2025-08-22T05:24:28.763Z,1755840268.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.137600 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:28.884Z,1755840268.884 [DAT](INFO): DAT read: Rx Time:05:24:27.5678

2025-08-22T05:24:28.885Z,1755840268.885 [DAT](INFO): Rx dataTimestamp_ set to:1755840268.884633
2025-08-22T05:24:28.885Z,1755840268.885 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.010906
2025-08-22T05:24:29.136Z,1755840269.136 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=3.261720
2025-08-22T05:24:29.159Z,1755840269.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.08 m.
2025-08-22T05:24:29.171Z,1755840269.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.082790 m,
      nav range: 17.958027 m,
      bearing: 73.369382 deg,
      approach rate: -0.526216 m/s,
      LOS rate: -0.226889 deg/s,
      cmd heading: 65.179655 deg,
      new cmd heading: 64.998410 deg.

2025-08-22T05:24:29.173Z,1755840269.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.134436 target range: 20.082790 and range: 20.20 m.
2025-08-22T05:24:29.397Z,1755840269.397 [DAT](INFO): DAT read: 05:24:27.5678 LVL= 21872, 29025, 19954, 31011, AGC= 57, IDX= 422,-0.01,-0.465,-2.157,-0.238,-0.567, PHS= 0.205,-1.545, 0.285, RAW= 152.2,  11.8, CAL= 152.2,  13.0, ROT= 357.8, -13.0

2025-08-22T05:24:29.399Z,1755840269.399 [DAT](INFO): got valid direction response:
 05:24:27.5678 LVL= 21872, 29025, 19954, 31011, AGC= 57, IDX= 422,-0.01,-0.465,-2.157,-0.238,-0.567, PHS= 0.205,-1.545, 0.285, RAW= 152.2,  11.8, CAL= 152.2,  13.0, ROT= 357.8, -13.0

2025-08-22T05:24:29.401Z,1755840269.401 [DAT](INFO): DAT read: Bearing 247.2,  -4.3 (Local)

2025-08-22T05:24:29.402Z,1755840269.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.2,  -4.3 (Local)

2025-08-22T05:24:29.422Z,1755840269.422 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m  (Round-trip  24.4 ms) speed  0.4 m/s

2025-08-22T05:24:29.423Z,1755840269.423 [DAT](INFO): DAT read: user:7496>

2025-08-22T05:24:29.424Z,1755840269.424 [DAT](INFO): DAT read: Tx time:05:24:28.6893

2025-08-22T05:24:29.424Z,1755840269.424 [DAT](INFO): Ping request sent.
2025-08-22T05:24:29.424Z,1755840269.424 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:29.425Z,1755840269.425 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T05:24:29.426Z,1755840269.426 [DAT](INFO): direction in FSK: [0.973652,-0.037404,0.224951]
2025-08-22T05:24:29.426Z,1755840269.426 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:29.426Z,1755840269.426 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:29.447Z,1755840269.447 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:29.449Z,1755840269.449 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:29.477Z,1755840269.477 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.052451
2025-08-22T05:24:29.640Z,1755840269.640 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.215732
2025-08-22T05:24:29.759Z,1755840269.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.528530 s,
      deltaX: -1.900002 m,
      approachRate: -0.538468 m/s,
      rangeRepo size: 4

2025-08-22T05:24:29.761Z,1755840269.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.193844 m,
      bearing: 66.542753 deg,
      lat: 36.779345 deg,
      lon: -121.859572 deg,
      deltaT: 3.528530 s,
      deltaX: -1.888947 m,
      approachRate: -0.535335 m/s,
      posRepo size: 4

2025-08-22T05:24:29.762Z,1755840269.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:29.769Z,1755840269.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 17.565937 m,
      bearing: 72.146262 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.226889 deg/s,
      cmd heading: 64.998409 deg,
      new cmd heading: 64.727914 deg.

2025-08-22T05:24:29.770Z,1755840269.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.129715 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:29.892Z,1755840269.892 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.467952
2025-08-22T05:24:30.145Z,1755840270.145 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.720882
2025-08-22T05:24:30.254Z,1755840270.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:30.257Z,1755840270.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:30.260Z,1755840270.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 17.284277 m,
      bearing: 71.995291 deg,
      approach rate: -0.560906 m/s,
      LOS rate: -0.305545 deg/s,
      cmd heading: 64.727913 deg,
      new cmd heading: 64.421056 deg.

2025-08-22T05:24:30.261Z,1755840270.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.124359 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:30.397Z,1755840270.397 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=0.972406
2025-08-22T05:24:30.648Z,1755840270.648 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.223784
2025-08-22T05:24:30.732Z,1755840270.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:30.734Z,1755840270.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 17.041666 m,
      bearing: 71.875164 deg,
      approach rate: -0.528778 m/s,
      LOS rate: -0.265549 deg/s,
      cmd heading: 64.421053 deg,
      new cmd heading: 64.177379 deg.

2025-08-22T05:24:30.739Z,1755840270.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.120107 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:30.900Z,1755840270.900 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.476023
2025-08-22T05:24:31.117Z,1755840271.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:31.120Z,1755840271.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 16.838007 m,
      bearing: 71.773548 deg,
      approach rate: -0.507457 m/s,
      LOS rate: -0.256259 deg/s,
      cmd heading: 64.177380 deg,
      new cmd heading: 63.971690 deg.

2025-08-22T05:24:31.121Z,1755840271.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.116517 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:31.155Z,1755840271.155 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.730425
2025-08-22T05:24:31.408Z,1755840271.408 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=1.983783
2025-08-22T05:24:31.501Z,1755840271.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:31.503Z,1755840271.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 16.626787 m,
      bearing: 71.667314 deg,
      approach rate: -0.550284 m/s,
      LOS rate: -0.280284 deg/s,
      cmd heading: 63.971688 deg,
      new cmd heading: 63.756522 deg.

2025-08-22T05:24:31.504Z,1755840271.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.112761 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:31.660Z,1755840271.660 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.235863
2025-08-22T05:24:31.912Z,1755840271.912 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.487904
2025-08-22T05:24:31.934Z,1755840271.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:31.937Z,1755840271.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 16.396767 m,
      bearing: 71.555208 deg,
      approach rate: -0.530904 m/s,
      LOS rate: -0.262376 deg/s,
      cmd heading: 63.756524 deg,
      new cmd heading: 63.529170 deg.

2025-08-22T05:24:31.938Z,1755840271.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.108793 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:32.165Z,1755840272.165 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.740247
2025-08-22T05:24:32.317Z,1755840272.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:32.319Z,1755840272.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:32.322Z,1755840272.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 16.191954 m,
      bearing: 71.456331 deg,
      approach rate: -0.531118 m/s,
      LOS rate: -0.259651 deg/s,
      cmd heading: 63.529167 deg,
      new cmd heading: 63.328912 deg.

2025-08-22T05:24:32.323Z,1755840272.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.105298 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:32.420Z,1755840272.420 [DAT](INFO): DAT read: Rx Time:05:24:31.1154

2025-08-22T05:24:32.420Z,1755840272.420 [DAT](INFO): Rx dataTimestamp_ set to:1755840272.420102
2025-08-22T05:24:32.421Z,1755840272.421 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=2.996538
2025-08-22T05:24:32.673Z,1755840272.673 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=3.248218
2025-08-22T05:24:32.747Z,1755840272.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m.
2025-08-22T05:24:32.754Z,1755840272.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.193844 m,
      nav range: 15.967542 m,
      bearing: 71.328845 deg,
      approach rate: -0.525125 m/s,
      LOS rate: -0.302511 deg/s,
      cmd heading: 63.328913 deg,
      new cmd heading: 63.070358 deg.

2025-08-22T05:24:32.755Z,1755840272.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.100785 target range: 18.193844 and range: 18.30 m.
2025-08-22T05:24:32.930Z,1755840272.930 [DAT](INFO): DAT read: 05:24:31.1154 LVL= 20208, 25425, 20722, 30195, AGC= 55, IDX= 413,-0.12,-1.473,-3.086,-1.180,-1.528, PHS= 0.157,-1.513, 0.304, RAW= 154.2,  12.0, CAL= 154.3,  13.4, ROT= 355.7, -13.4

2025-08-22T05:24:32.931Z,1755840272.931 [DAT](INFO): got valid direction response:
 05:24:31.1154 LVL= 20208, 25425, 20722, 30195, AGC= 55, IDX= 413,-0.12,-1.473,-3.086,-1.180,-1.528, PHS= 0.157,-1.513, 0.304, RAW= 154.2,  12.0, CAL= 154.3,  13.4, ROT= 355.7, -13.4

2025-08-22T05:24:32.935Z,1755840272.935 [DAT](INFO): DAT read: Bearing 246.1,  -6.0 (Local)

2025-08-22T05:24:32.944Z,1755840272.944 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.1,  -6.0 (Local)

2025-08-22T05:24:32.946Z,1755840272.946 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m  (Round-trip  21.9 ms) speed  0.4 m/s

2025-08-22T05:24:32.946Z,1755840272.946 [DAT](INFO): DAT read: user:7497>

2025-08-22T05:24:32.968Z,1755840272.968 [DAT](INFO): DAT read: Tx time:05:24:32.2393

2025-08-22T05:24:32.969Z,1755840272.969 [DAT](INFO): Ping request sent.
2025-08-22T05:24:32.969Z,1755840272.969 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:24:32.969Z,1755840272.969 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T05:24:32.978Z,1755840272.978 [DAT](INFO): direction in FSK: [0.970038,-0.072937,0.231748]
2025-08-22T05:24:32.978Z,1755840272.978 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:32.978Z,1755840272.978 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:32.996Z,1755840272.996 [DAT](INFO): publishing transmit ping time
2025-08-22T05:24:32.996Z,1755840272.996 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:33.014Z,1755840273.014 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.044502
2025-08-22T05:24:33.177Z,1755840273.177 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.207864
2025-08-22T05:24:33.181Z,1755840273.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 3.535369 s,
      deltaX: -1.900000 m,
      approachRate: -0.537426 m/s,
      rangeRepo size: 4

2025-08-22T05:24:33.183Z,1755840273.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.304682 m,
      bearing: 63.079764 deg,
      lat: 36.779355 deg,
      lon: -121.859574 deg,
      deltaT: 3.535369 s,
      deltaX: -1.889162 m,
      approachRate: -0.534361 m/s,
      posRepo size: 4

2025-08-22T05:24:33.188Z,1755840273.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:33.201Z,1755840273.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 16.052269 m,
      bearing: 67.158192 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.302511 deg/s,
      cmd heading: 63.070356 deg,
      new cmd heading: 62.811308 deg.

2025-08-22T05:24:33.202Z,1755840273.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.096264 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:33.430Z,1755840273.430 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.461081
2025-08-22T05:24:33.565Z,1755840273.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:33.584Z,1755840273.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 15.849931 m,
      bearing: 66.989206 deg,
      approach rate: -0.519415 m/s,
      LOS rate: -0.439335 deg/s,
      cmd heading: 62.811308 deg,
      new cmd heading: 62.469025 deg.

2025-08-22T05:24:33.593Z,1755840273.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.090290 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:33.681Z,1755840273.681 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.712185
2025-08-22T05:24:33.933Z,1755840273.933 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=0.963441
2025-08-22T05:24:33.993Z,1755840273.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:33.997Z,1755840273.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 15.611459 m,
      bearing: 66.798983 deg,
      approach rate: -0.560659 m/s,
      LOS rate: -0.454055 deg/s,
      cmd heading: 62.469026 deg,
      new cmd heading: 62.082774 deg.

2025-08-22T05:24:33.998Z,1755840273.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.083549 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:34.184Z,1755840274.184 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.215355
2025-08-22T05:24:34.348Z,1755840274.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:34.350Z,1755840274.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:34.353Z,1755840274.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 15.423767 m,
      bearing: 66.647533 deg,
      approach rate: -0.521262 m/s,
      LOS rate: -0.425728 deg/s,
      cmd heading: 62.082772 deg,
      new cmd heading: 61.776190 deg.

2025-08-22T05:24:34.354Z,1755840274.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.078198 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:34.438Z,1755840274.438 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.468960
2025-08-22T05:24:34.688Z,1755840274.688 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.719148
2025-08-22T05:24:34.785Z,1755840274.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:34.787Z,1755840274.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 15.189631 m,
      bearing: 66.457346 deg,
      approach rate: -0.538691 m/s,
      LOS rate: -0.444317 deg/s,
      cmd heading: 61.776192 deg,
      new cmd heading: 61.389962 deg.

2025-08-22T05:24:34.788Z,1755840274.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.071457 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:34.940Z,1755840274.940 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=1.971160
2025-08-22T05:24:35.169Z,1755840275.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T05:24:35.174Z,1755840275.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.304682 m,
      nav range: 14.985485 m,
      bearing: 66.287824 deg,
      approach rate: -0.530424 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 61.389959 deg,
      new cmd heading: 61.046301 deg.

2025-08-22T05:24:35.176Z,1755840275.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.065459 target range: 16.304682 and range: 16.40 m.
2025-08-22T05:24:35.196Z,1755840275.196 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=2.226712
2025-08-22T05:24:35.448Z,1755840275.448 [DAT](INFO): DAT read: Rx Time:05:24:34.3880 

2025-08-22T05:24:35.450Z,1755840275.450 [DAT](INFO): Rx dataTimestamp_ set to:1755840275.448722
2025-08-22T05:24:35.453Z,1755840275.453 [DAT](INFO): DAT read: Bearing 245.4,  -8.2 (Local)

2025-08-22T05:24:35.455Z,1755840275.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  -8.2 (Local)

2025-08-22T05:24:35.469Z,1755840275.469 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.4

2025-08-22T05:24:35.490Z,1755840275.490 [DAT](INFO): DAT read: 05:24:34.3880 LVL= 19136, 24209, 18866, 30787, AGC= 56, IDX= 421,-0.26,-3.014, 1.703,-2.606,-3.008, PHS= 0.096,-1.527, 0.358, RAW= 157.4,  12.1, CAL= 157.6,  13.5, ROT= 352.4, -13.5

2025-08-22T05:24:35.491Z,1755840275.491 [DAT](INFO): got valid direction response:
 05:24:34.3880 LVL= 19136, 24209, 18866, 30787, AGC= 56, IDX= 421,-0.26,-3.014, 1.703,-2.606,-3.008, PHS= 0.096,-1.527, 0.358, RAW= 157.4,  12.1, CAL= 157.6,  13.5, ROT= 352.4, -13.5

2025-08-22T05:24:35.491Z,1755840275.491 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T05:24:35.496Z,1755840275.496 [DAT](INFO): direction in FSK: [0.963828,-0.128602,0.233445]
2025-08-22T05:24:35.496Z,1755840275.496 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:35.504Z,1755840275.504 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.535032
2025-08-22T05:24:35.675Z,1755840275.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 2.524989 s,
      deltaX: -1.700000 m,
      approachRate: -0.673270 m/s,
      rangeRepo size: 4

2025-08-22T05:24:35.677Z,1755840275.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.614690 m,
      bearing: 59.085215 deg,
      lat: 36.779360 deg,
      lon: -121.859576 deg,
      deltaT: 2.524989 s,
      deltaX: -1.689992 m,
      approachRate: -0.669307 m/s,
      posRepo size: 4

2025-08-22T05:24:35.678Z,1755840275.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-22T05:24:35.685Z,1755840275.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.614690 m,
      nav range: 14.840138 m,
      bearing: 63.751507 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 61.046298 deg,
      new cmd heading: 60.598885 deg.

2025-08-22T05:24:35.686Z,1755840275.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.057650 target range: 14.614690 and range: 14.70 m.
2025-08-22T05:24:35.696Z,1755840275.696 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=2.727333
2025-08-22T05:24:35.852Z,1755840275.852 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:24:35.953Z,1755840275.953 [DAT](INFO): DAT read: Rx Time:05:24:34.8877 

2025-08-22T05:24:35.954Z,1755840275.954 [DAT](INFO): Rx dataTimestamp_ set to:1755840275.953259
2025-08-22T05:24:35.958Z,1755840275.958 [DAT](INFO): DAT read: Bearing 245.0,  -9.1 (Local)

2025-08-22T05:24:35.968Z,1755840275.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.0,  -9.1 (Local)

2025-08-22T05:24:35.988Z,1755840275.988 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-08-22T05:24:36.001Z,1755840276.001 [DAT](INFO): DAT read: 05:24:34.8877 LVL= 21024, 25201, 22098, 29683, AGC= 56, IDX= 498, 0.08,-3.002, 1.713,-2.559,-2.986, PHS= 0.086,-1.539, 0.383, RAW= 158.2,  11.9, CAL= 158.5,  13.3, ROT= 351.5, -13.3

2025-08-22T05:24:36.002Z,1755840276.002 [DAT](INFO): got valid direction response:
 05:24:34.8877 LVL= 21024, 25201, 22098, 29683, AGC= 56, IDX= 498, 0.08,-3.002, 1.713,-2.559,-2.986, PHS= 0.086,-1.539, 0.383, RAW= 158.2,  11.9, CAL= 158.5,  13.3, ROT= 351.5, -13.3

2025-08-22T05:24:36.003Z,1755840276.003 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T05:24:36.012Z,1755840276.012 [DAT](INFO): direction in FSK: [0.962489,-0.143845,0.230050]
2025-08-22T05:24:36.012Z,1755840276.012 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:36.029Z,1755840276.029 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.059603
2025-08-22T05:24:36.182Z,1755840276.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.504537 s,
      deltaX: -0.400000 m,
      approachRate: -0.792805 m/s,
      rangeRepo size: 4

2025-08-22T05:24:36.189Z,1755840276.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.216877 m,
      bearing: 58.192813 deg,
      lat: 36.779364 deg,
      lon: -121.859580 deg,
      deltaT: 0.504537 s,
      deltaX: -0.397813 m,
      approachRate: -0.788471 m/s,
      posRepo size: 4

2025-08-22T05:24:36.189Z,1755840276.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m.
2025-08-22T05:24:36.196Z,1755840276.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.216877 m,
      nav range: 14.403323 m,
      bearing: 61.311350 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 60.598886 deg,
      new cmd heading: 60.142353 deg.

2025-08-22T05:24:36.197Z,1755840276.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.049682 target range: 14.216877 and range: 14.30 m.
2025-08-22T05:24:36.201Z,1755840276.201 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=3.231564
2025-08-22T05:24:36.457Z,1755840276.457 [DAT](INFO): DAT read: Rx Time:05:24:35.3875 

2025-08-22T05:24:36.459Z,1755840276.459 [DAT](INFO): Rx dataTimestamp_ set to:1755840276.457487
2025-08-22T05:24:36.463Z,1755840276.463 [DAT](INFO): DAT read: Bearing 245.4,  -9.7 (Local)

2025-08-22T05:24:36.464Z,1755840276.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  -9.7 (Local)

2025-08-22T05:24:36.472Z,1755840276.472 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.4

2025-08-22T05:24:36.481Z,1755840276.481 [DAT](INFO): DAT read: 05:24:35.3875 LVL= 19808, 24929, 19794, 31395, AGC= 56, IDX= 496,-0.45, 1.131,-0.412, 1.582, 1.167, PHS= 0.065,-1.535, 0.370, RAW= 158.6,  12.4, CAL= 158.9,  13.9, ROT= 351.1, -13.9

2025-08-22T05:24:36.482Z,1755840276.482 [DAT](INFO): got valid direction response:
 05:24:35.3875 LVL= 19808, 24929, 19794, 31395, AGC= 56, IDX= 496,-0.45, 1.131,-0.412, 1.582, 1.167, PHS= 0.065,-1.535, 0.370, RAW= 158.6,  12.4, CAL= 158.9,  13.9, ROT= 351.1, -13.9

2025-08-22T05:24:36.482Z,1755840276.482 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T05:24:36.504Z,1755840276.504 [DAT](INFO): direction in FSK: [0.959029,-0.150180,0.240228]
2025-08-22T05:24:36.504Z,1755840276.504 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:36.516Z,1755840276.516 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.546575
2025-08-22T05:24:36.646Z,1755840276.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504228 s,
      deltaX: -0.500000 m,
      approachRate: -0.991615 m/s,
      rangeRepo size: 4

2025-08-22T05:24:36.676Z,1755840276.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.719783 m,
      bearing: 57.371915 deg,
      lat: 36.779367 deg,
      lon: -121.859587 deg,
      deltaT: 0.504228 s,
      deltaX: -0.497094 m,
      approachRate: -0.985852 m/s,
      posRepo size: 4

2025-08-22T05:24:36.677Z,1755840276.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-22T05:24:36.684Z,1755840276.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.719783 m,
      nav range: 13.754178 m,
      bearing: 58.350768 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 60.142356 deg,
      new cmd heading: 59.734434 deg.

2025-08-22T05:24:36.684Z,1755840276.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.042563 target range: 13.719783 and range: 13.80 m.
2025-08-22T05:24:36.704Z,1755840276.704 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=3.735232
2025-08-22T05:24:36.856Z,1755840276.856 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:24:36.961Z,1755840276.961 [DAT](INFO): DAT read: Rx Time:05:24:35.8875 

2025-08-22T05:24:36.966Z,1755840276.966 [DAT](INFO): Rx dataTimestamp_ set to:1755840276.962141
2025-08-22T05:24:36.970Z,1755840276.970 [DAT](INFO): DAT read: Bearing 245.4, -10.3 (Local)

2025-08-22T05:24:36.975Z,1755840276.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4, -10.3 (Local)

2025-08-22T05:24:36.977Z,1755840276.977 [DAT](INFO): DAT read: Range 11 to 50 :    13.8 m (trip time 9.2 ms) speed 0.4

2025-08-22T05:24:36.987Z,1755840276.987 [DAT](INFO): DAT read: 05:24:35.8875 LVL= 21376, 25041, 20818, 30787, AGC= 56, IDX= 511,-0.07, 2.622, 1.083, 3.095, 2.673, PHS= 0.052,-1.545, 0.378, RAW= 159.1,  12.5, CAL= 159.5,  14.1, ROT= 350.5, -14.1

2025-08-22T05:24:37.037Z,1755840277.037 [DAT](INFO): got valid direction response:
 05:24:35.8875 LVL= 21376, 25041, 20818, 30787, AGC= 56, IDX= 511,-0.07, 2.622, 1.083, 3.095, 2.673, PHS= 0.052,-1.545, 0.378, RAW= 159.1,  12.5, CAL= 159.5,  14.1, ROT= 350.5, -14.1

2025-08-22T05:24:37.068Z,1755840277.068 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T05:24:37.069Z,1755840277.069 [DAT](INFO): direction in FSK: [0.956571,-0.160075,0.243615]
2025-08-22T05:24:37.070Z,1755840277.070 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:37.089Z,1755840277.089 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=4.120287
2025-08-22T05:24:37.182Z,1755840277.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 0.504654 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:37.188Z,1755840277.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.719612 m,
      bearing: 56.561897 deg,
      lat: 36.779368 deg,
      lon: -121.859589 deg,
      deltaT: 0.504654 s,
      deltaX: -0.000171 m,
      approachRate: -0.000338 m/s,
      posRepo size: 4

2025-08-22T05:24:37.189Z,1755840277.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-22T05:24:37.199Z,1755840277.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.719612 m,
      nav range: 13.363065 m,
      bearing: 57.591641 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 59.734437 deg,
      new cmd heading: 59.249793 deg.

2025-08-22T05:24:37.204Z,1755840277.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.034104 target range: 13.719612 and range: 13.80 m.
2025-08-22T05:24:37.208Z,1755840277.208 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=4.239296
2025-08-22T05:24:37.465Z,1755840277.465 [DAT](INFO): DAT read: Rx Time:05:24:36.3872 

2025-08-22T05:24:37.467Z,1755840277.467 [DAT](INFO): Rx dataTimestamp_ set to:1755840277.465763
2025-08-22T05:24:37.471Z,1755840277.471 [DAT](INFO): DAT read: Bearing 245.4, -10.7 (Local)

2025-08-22T05:24:37.472Z,1755840277.472 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4, -10.7 (Local)

2025-08-22T05:24:37.474Z,1755840277.474 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.4

2025-08-22T05:24:37.518Z,1755840277.518 [DAT](INFO): DAT read: 05:24:36.3872 LVL= 21872, 25313, 21106, 31907, AGC= 55, IDX= 508, 0.24, 3.061, 1.528,-2.741, 3.123, PHS= 0.040,-1.550, 0.375, RAW= 159.4,  12.7, CAL= 159.8,  14.4, ROT= 350.2, -14.4

2025-08-22T05:24:37.524Z,1755840277.524 [DAT](INFO): got valid direction response:
 05:24:36.3872 LVL= 21872, 25313, 21106, 31907, AGC= 55, IDX= 508, 0.24, 3.061, 1.528,-2.741, 3.123, PHS= 0.040,-1.550, 0.375, RAW= 159.4,  12.7, CAL= 159.8,  14.4, ROT= 350.2, -14.4

2025-08-22T05:24:37.524Z,1755840277.524 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T05:24:37.525Z,1755840277.525 [DAT](INFO): direction in FSK: [0.954450,-0.164862,0.248690]
2025-08-22T05:24:37.525Z,1755840277.525 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:37.533Z,1755840277.533 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=4.563807
2025-08-22T05:24:37.628Z,1755840277.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.503622 s,
      deltaX: -0.400001 m,
      approachRate: -0.794248 m/s,
      rangeRepo size: 4

2025-08-22T05:24:37.630Z,1755840277.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.321942 m,
      bearing: 56.027782 deg,
      lat: 36.779368 deg,
      lon: -121.859590 deg,
      deltaT: 0.503622 s,
      deltaX: -0.397670 m,
      approachRate: -0.789620 m/s,
      posRepo size: 4

2025-08-22T05:24:37.635Z,1755840277.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m.
2025-08-22T05:24:37.653Z,1755840277.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.321942 m,
      nav range: 13.072909 m,
      bearing: 56.795565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 59.249794 deg,
      new cmd heading: 58.851340 deg.

2025-08-22T05:24:37.665Z,1755840277.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.027150 target range: 13.321942 and range: 13.40 m.
2025-08-22T05:24:37.712Z,1755840277.712 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=4.743241
2025-08-22T05:24:37.969Z,1755840277.969 [DAT](INFO): DAT read: Rx Time:05:24:36.8871 

2025-08-22T05:24:37.972Z,1755840277.972 [DAT](INFO): Rx dataTimestamp_ set to:1755840277.970005
2025-08-22T05:24:37.973Z,1755840277.973 [DAT](INFO): DAT read: Bearing 245.5, -10.7 (Local)

2025-08-22T05:24:37.974Z,1755840277.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.5, -10.7 (Local)

2025-08-22T05:24:37.976Z,1755840277.976 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.4

2025-08-22T05:24:37.985Z,1755840277.985 [DAT](INFO): DAT read: 05:24:36.8871 LVL= 17328, 20289, 18418, 24643, AGC= 54, IDX= 508,-0.26, 2.185, 0.647, 2.658, 2.255, PHS= 0.032,-1.563, 0.359, RAW= 159.2,  13.1, CAL= 159.6,  14.9, ROT= 350.4, -14.9

2025-08-22T05:24:37.986Z,1755840277.986 [DAT](INFO): got valid direction response:
 05:24:36.8871 LVL= 17328, 20289, 18418, 24643, AGC= 54, IDX= 508,-0.26, 2.185, 0.647, 2.658, 2.255, PHS= 0.032,-1.563, 0.359, RAW= 159.2,  13.1, CAL= 159.6,  14.9, ROT= 350.4, -14.9

2025-08-22T05:24:37.986Z,1755840277.986 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T05:24:37.987Z,1755840277.987 [DAT](INFO): direction in FSK: [0.952843,-0.161162,0.257133]
2025-08-22T05:24:37.987Z,1755840277.987 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:37.991Z,1755840277.991 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=5.021733
2025-08-22T05:24:38.172Z,1755840278.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504242 s,
      deltaX: -0.200000 m,
      approachRate: -0.396635 m/s,
      rangeRepo size: 4

2025-08-22T05:24:38.180Z,1755840278.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.123104 m,
      bearing: 55.704724 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.504242 s,
      deltaX: -0.198838 m,
      approachRate: -0.394331 m/s,
      posRepo size: 4

2025-08-22T05:24:38.181Z,1755840278.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-22T05:24:38.188Z,1755840278.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.123104 m,
      nav range: 12.776016 m,
      bearing: 55.749828 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 58.851341 deg,
      new cmd heading: 58.370024 deg.

2025-08-22T05:24:38.189Z,1755840278.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.018749 target range: 13.123104 and range: 13.20 m.
2025-08-22T05:24:38.220Z,1755840278.220 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=5.251395
2025-08-22T05:24:38.474Z,1755840278.474 [DAT](INFO): DAT read: Rx Time:05:24:37.3869 

2025-08-22T05:24:38.475Z,1755840278.475 [DAT](INFO): Rx dataTimestamp_ set to:1755840278.474806
2025-08-22T05:24:38.477Z,1755840278.477 [DAT](INFO): DAT read: Bearing 245.1, -11.0 (Local)

2025-08-22T05:24:38.477Z,1755840278.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.1, -11.0 (Local)

2025-08-22T05:24:38.479Z,1755840278.479 [DAT](INFO): DAT read: Range 11 to 50 :    12.9 m (trip time 8.6 ms) speed 0.4

2025-08-22T05:24:38.484Z,1755840278.484 [DAT](INFO): DAT read: 05:24:37.3869 LVL= 21744, 24881, 21282, 30403, AGC= 56, IDX= 505, 0.06, 2.357, 0.820, 2.839, 2.432, PHS= 0.027,-1.567, 0.363, RAW= 159.4,  13.1, CAL= 159.9,  15.0, ROT= 350.1, -15.0

2025-08-22T05:24:38.485Z,1755840278.485 [DAT](INFO): got valid direction response:
 05:24:37.3869 LVL= 21744, 24881, 21282, 30403, AGC= 56, IDX= 505, 0.06, 2.357, 0.820, 2.839, 2.432, PHS= 0.027,-1.567, 0.363, RAW= 159.4,  13.1, CAL= 159.9,  15.0, ROT= 350.1, -15.0

2025-08-22T05:24:38.485Z,1755840278.485 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T05:24:38.486Z,1755840278.486 [DAT](INFO): direction in FSK: [0.951543,-0.166071,0.258819]
2025-08-22T05:24:38.486Z,1755840278.486 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:38.524Z,1755840278.524 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=5.555284
2025-08-22T05:24:38.623Z,1755840278.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 0.504801 s,
      deltaX: -0.300000 m,
      approachRate: -0.594294 m/s,
      rangeRepo size: 4

2025-08-22T05:24:38.630Z,1755840278.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.824851 m,
      bearing: 55.065334 deg,
      lat: 36.779369 deg,
      lon: -121.859592 deg,
      deltaT: 0.504801 s,
      deltaX: -0.298253 m,
      approachRate: -0.590833 m/s,
      posRepo size: 4

2025-08-22T05:24:38.631Z,1755840278.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.82 m.
2025-08-22T05:24:38.653Z,1755840278.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.824851 m,
      nav range: 12.486919 m,
      bearing: 55.120133 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 58.370025 deg,
      new cmd heading: 57.970046 deg.

2025-08-22T05:24:38.664Z,1755840278.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.011768 target range: 12.824851 and range: 12.90 m.
2025-08-22T05:24:38.726Z,1755840278.726 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=5.757210
2025-08-22T05:24:38.977Z,1755840278.977 [DAT](INFO): DAT read: Rx Time:05:24:37.8867 

2025-08-22T05:24:38.977Z,1755840278.977 [DAT](INFO): Rx dataTimestamp_ set to:1755840278.977108
2025-08-22T05:24:38.979Z,1755840278.979 [DAT](INFO): DAT read: Bearing 245.2, -10.7 (Local)

2025-08-22T05:24:38.979Z,1755840278.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.2, -10.7 (Local)

2025-08-22T05:24:38.981Z,1755840278.981 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-08-22T05:24:38.986Z,1755840278.986 [DAT](INFO): DAT read: 05:24:37.8867 LVL= 21616, 26801, 20930, 32755, AGC= 54, IDX= 503, 0.46, 1.340,-0.193, 1.803, 1.419, PHS= 0.022,-1.568, 0.340, RAW= 158.9,  13.5, CAL= 159.5,  15.5, ROT= 350.5, -15.5

2025-08-22T05:24:38.987Z,1755840278.987 [DAT](INFO): got valid direction response:
 05:24:37.8867 LVL= 21616, 26801, 20930, 32755, AGC= 54, IDX= 503, 0.46, 1.340,-0.193, 1.803, 1.419, PHS= 0.022,-1.568, 0.340, RAW= 158.9,  13.5, CAL= 159.5,  15.5, ROT= 350.5, -15.5

2025-08-22T05:24:38.987Z,1755840278.987 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T05:24:38.988Z,1755840278.988 [DAT](INFO): direction in FSK: [0.950415,-0.159045,0.267238]
2025-08-22T05:24:38.988Z,1755840278.989 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:38.996Z,1755840278.996 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=6.027085
2025-08-22T05:24:39.130Z,1755840279.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.502302 s,
      deltaX: -0.299999 m,
      approachRate: -0.597249 m/s,
      rangeRepo size: 4

2025-08-22T05:24:39.136Z,1755840279.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.526514 m,
      bearing: 55.145887 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.502302 s,
      deltaX: -0.298337 m,
      approachRate: -0.593939 m/s,
      posRepo size: 4

2025-08-22T05:24:39.137Z,1755840279.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-22T05:24:39.144Z,1755840279.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.526514 m,
      nav range: 12.231360 m,
      bearing: 54.754764 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.446462 deg/s,
      cmd heading: 57.970049 deg,
      new cmd heading: 57.510327 deg.

2025-08-22T05:24:39.146Z,1755840279.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.003745 target range: 12.526514 and range: 12.60 m.
2025-08-22T05:24:39.230Z,1755840279.230 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=6.260729
2025-08-22T05:24:39.446Z,1755840279.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:39.466Z,1755840279.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-22T05:24:39.475Z,1755840279.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.526514 m,
      nav range: 12.067803 m,
      bearing: 54.485221 deg,
      approach rate: -0.489337 m/s,
      LOS rate: -0.817357 deg/s,
      cmd heading: 57.510329 deg,
      new cmd heading: 56.963956 deg.

2025-08-22T05:24:39.481Z,1755840279.481 [DAT](INFO): DAT read: Rx Time:05:24:38.3864 

2025-08-22T05:24:39.481Z,1755840279.481 [DAT](INFO): Rx dataTimestamp_ set to:1755840279.481118
2025-08-22T05:24:39.483Z,1755840279.483 [DAT](INFO): DAT read: Bearing 244.8, -10.5 (Local)

2025-08-22T05:24:39.483Z,1755840279.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.8, -10.5 (Local)

2025-08-22T05:24:39.485Z,1755840279.485 [DAT](INFO): DAT read: Range 11 to 50 :    12.3 m (trip time 8.2 ms) speed 0.4

2025-08-22T05:24:39.490Z,1755840279.490 [DAT](INFO): DAT read: 05:24:38.3864 LVL= 20976, 24449, 22978, 30835, AGC= 55, IDX= 501,-0.12,-1.700, 3.052,-1.249,-1.621, PHS= 0.023,-1.566, 0.329, RAW= 158.7,  13.7, CAL= 159.2,  15.7, ROT= 350.8, -15.7

2025-08-22T05:24:39.491Z,1755840279.491 [DAT](INFO): got valid direction response:
 05:24:38.3864 LVL= 20976, 24449, 22978, 30835, AGC= 55, IDX= 501,-0.12,-1.700, 3.052,-1.249,-1.621, PHS= 0.023,-1.566, 0.329, RAW= 158.7,  13.7, CAL= 159.2,  15.7, ROT= 350.8, -15.7

2025-08-22T05:24:39.491Z,1755840279.491 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T05:24:39.492Z,1755840279.492 [DAT](INFO): direction in FSK: [0.950308,-0.153916,0.270600]
2025-08-22T05:24:39.493Z,1755840279.493 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:39.496Z,1755840279.496 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=6.527270
2025-08-22T05:24:39.498Z,1755840279.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.994209 target range: 12.526514 and range: 12.60 m.
2025-08-22T05:24:39.732Z,1755840279.732 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=6.763038
2025-08-22T05:24:39.880Z,1755840279.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 0.504010 s,
      deltaX: -0.300000 m,
      approachRate: -0.595227 m/s,
      rangeRepo size: 4

2025-08-22T05:24:39.882Z,1755840279.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.228338 m,
      bearing: 54.849608 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.504010 s,
      deltaX: -0.298176 m,
      approachRate: -0.591607 m/s,
      posRepo size: 4

2025-08-22T05:24:39.882Z,1755840279.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-22T05:24:39.889Z,1755840279.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.228338 m,
      nav range: 11.825593 m,
      bearing: 54.131297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.817357 deg/s,
      cmd heading: 56.963955 deg,
      new cmd heading: 56.292220 deg.

2025-08-22T05:24:39.890Z,1755840279.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.982485 target range: 12.228338 and range: 12.30 m.
2025-08-22T05:24:39.986Z,1755840279.986 [DAT](INFO): DAT read: Rx Time:05:24:38.8863 

2025-08-22T05:24:39.987Z,1755840279.987 [DAT](INFO): Rx dataTimestamp_ set to:1755840279.986087
2025-08-22T05:24:39.989Z,1755840279.989 [DAT](INFO): DAT read: Bearing 244.1, -11.2 (Local)

2025-08-22T05:24:39.989Z,1755840279.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.1, -11.2 (Local)

2025-08-22T05:24:39.992Z,1755840279.992 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.4

2025-08-22T05:24:40.002Z,1755840280.002 [DAT](INFO): DAT read: 05:24:38.8863 LVL= 19600, 24689, 21106, 29171, AGC= 54, IDX= 500, 0.13, 0.928,-0.606, 1.406, 1.015, PHS= 0.015,-1.576, 0.347, RAW= 159.3,  13.5, CAL= 159.9,  15.5, ROT= 350.1, -15.5

2025-08-22T05:24:40.009Z,1755840280.009 [DAT](INFO): got valid direction response:
 05:24:38.8863 LVL= 19600, 24689, 21106, 29171, AGC= 54, IDX= 500, 0.13, 0.928,-0.606, 1.406, 1.015, PHS= 0.015,-1.576, 0.347, RAW= 159.3,  13.5, CAL= 159.9,  15.5, ROT= 350.1, -15.5

2025-08-22T05:24:40.010Z,1755840280.010 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T05:24:40.011Z,1755840280.011 [DAT](INFO): direction in FSK: [0.949281,-0.165676,0.267238]
2025-08-22T05:24:40.012Z,1755840280.012 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:40.023Z,1755840280.023 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=7.046006
2025-08-22T05:24:40.236Z,1755840280.236 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=7.267286
2025-08-22T05:24:40.297Z,1755840280.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.504969 s,
      deltaX: -0.100000 m,
      approachRate: -0.198033 m/s,
      rangeRepo size: 4

2025-08-22T05:24:40.299Z,1755840280.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.128921 m,
      bearing: 53.880707 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.504969 s,
      deltaX: -0.099418 m,
      approachRate: -0.196879 m/s,
      posRepo size: 4

2025-08-22T05:24:40.300Z,1755840280.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-22T05:24:40.303Z,1755840280.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.128921 m,
      nav range: 11.628804 m,
      bearing: 53.781590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.817357 deg/s,
      cmd heading: 56.292220 deg,
      new cmd heading: 55.603097 deg.

2025-08-22T05:24:40.312Z,1755840280.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.970457 target range: 12.128921 and range: 12.20 m.
2025-08-22T05:24:40.489Z,1755840280.489 [DAT](INFO): DAT read: Rx Time:05:24:39.3860 

2025-08-22T05:24:40.489Z,1755840280.489 [DAT](INFO): Rx dataTimestamp_ set to:1755840280.489083
2025-08-22T05:24:40.491Z,1755840280.491 [DAT](INFO): DAT read: Bearing 243.6, -11.3 (Local)

2025-08-22T05:24:40.491Z,1755840280.491 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.6, -11.3 (Local)

2025-08-22T05:24:40.493Z,1755840280.493 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-08-22T05:24:40.507Z,1755840280.507 [DAT](INFO): DAT read: 05:24:39.3860 LVL= 19376, 25073, 20978, 29027, AGC= 54, IDX= 497, 0.46,-0.274,-1.803, 0.211,-0.184, PHS= 0.012,-1.573, 0.351, RAW= 159.5,  13.5, CAL= 160.1,  15.5, ROT= 349.9, -15.5

2025-08-22T05:24:40.517Z,1755840280.517 [DAT](INFO): got valid direction response:
 05:24:39.3860 LVL= 19376, 25073, 20978, 29027, AGC= 54, IDX= 497, 0.46,-0.274,-1.803, 0.211,-0.184, PHS= 0.012,-1.573, 0.351, RAW= 159.5,  13.5, CAL= 160.1,  15.5, ROT= 349.9, -15.5

2025-08-22T05:24:40.517Z,1755840280.517 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T05:24:40.519Z,1755840280.519 [DAT](INFO): direction in FSK: [0.948697,-0.168989,0.267238]
2025-08-22T05:24:40.549Z,1755840280.549 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:40.584Z,1755840280.584 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.615386
2025-08-22T05:24:40.740Z,1755840280.740 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=7.771301
2025-08-22T05:24:40.748Z,1755840280.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.502996 s,
      deltaX: -0.500000 m,
      approachRate: -0.994044 m/s,
      rangeRepo size: 4

2025-08-22T05:24:40.750Z,1755840280.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.631834 m,
      bearing: 53.390094 deg,
      lat: 36.779368 deg,
      lon: -121.859591 deg,
      deltaT: 0.502996 s,
      deltaX: -0.497087 m,
      approachRate: -0.988251 m/s,
      posRepo size: 4

2025-08-22T05:24:40.755Z,1755840280.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-22T05:24:40.758Z,1755840280.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.631834 m,
      nav range: 11.341922 m,
      bearing: 53.636396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.817357 deg/s,
      cmd heading: 55.603098 deg,
      new cmd heading: 54.872136 deg.

2025-08-22T05:24:40.759Z,1755840280.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.957699 target range: 11.631834 and range: 11.70 m.
2025-08-22T05:24:40.993Z,1755840280.993 [DAT](INFO): DAT read: Rx Time:05:24:39.8860 

2025-08-22T05:24:40.993Z,1755840280.993 [DAT](INFO): Rx dataTimestamp_ set to:1755840280.993086
2025-08-22T05:24:40.995Z,1755840280.995 [DAT](INFO): DAT read: Bearing 238.8, -11.8 (Local)

2025-08-22T05:24:40.995Z,1755840280.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.8, -11.8 (Local)

2025-08-22T05:24:40.997Z,1755840280.997 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-08-22T05:24:41.002Z,1755840281.002 [DAT](INFO): DAT read: 05:24:39.8860 LVL= 20256, 25585, 17826, 31635, AGC= 52, IDX= 513,-0.15, 0.451,-1.358, 1.056, 0.449, PHS= 0.104,-1.762, 0.563, RAW= 160.7,  10.3, CAL= 160.7,  11.2, ROT= 349.3, -11.2

2025-08-22T05:24:41.003Z,1755840281.003 [DAT](INFO): got valid direction response:
 05:24:39.8860 LVL= 20256, 25585, 17826, 31635, AGC= 52, IDX= 513,-0.15, 0.451,-1.358, 1.056, 0.449, PHS= 0.104,-1.762, 0.563, RAW= 160.7,  10.3, CAL= 160.7,  11.2, ROT= 349.3, -11.2

2025-08-22T05:24:41.003Z,1755840281.003 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T05:24:41.004Z,1755840281.004 [DAT](INFO): direction in FSK: [0.963899,-0.182131,0.194234]
2025-08-22T05:24:41.004Z,1755840281.004 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:41.008Z,1755840281.008 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=8.039333
2025-08-22T05:24:41.184Z,1755840281.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:41.186Z,1755840281.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.631866 m,
      bearing: 52.351668 deg,
      lat: 36.779368 deg,
      lon: -121.859590 deg,
      deltaT: 0.504003 s,
      deltaX: 0.000032 m,
      approachRate: 0.000064 m/s,
      posRepo size: 4

2025-08-22T05:24:41.186Z,1755840281.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-22T05:24:41.193Z,1755840281.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.631866 m,
      nav range: 11.177665 m,
      bearing: 53.517583 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.817357 deg/s,
      cmd heading: 54.872135 deg,
      new cmd heading: 54.161368 deg.

2025-08-22T05:24:41.194Z,1755840281.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.945294 target range: 11.631866 and range: 11.70 m.
2025-08-22T05:24:41.245Z,1755840281.245 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=8.275936
2025-08-22T05:24:41.491Z,1755840281.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:41.493Z,1755840281.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-22T05:24:41.497Z,1755840281.497 [DAT](INFO): DAT read: Rx Time:05:24:40.3857 

2025-08-22T05:24:41.498Z,1755840281.498 [DAT](INFO): Rx dataTimestamp_ set to:1755840281.497375
2025-08-22T05:24:41.499Z,1755840281.499 [DAT](INFO): DAT read: Bearing 243.7, -11.0 (Local)

2025-08-22T05:24:41.499Z,1755840281.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.7, -11.0 (Local)

2025-08-22T05:24:41.501Z,1755840281.501 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-08-22T05:24:41.506Z,1755840281.506 [DAT](INFO): DAT read: 05:24:40.3857 LVL= 19440, 25521, 18290, 32755, AGC= 52, IDX= 510, 0.07,-0.238,-1.728, 0.236,-0.127, PHS=-0.009,-1.557, 0.319, RAW= 159.4,  14.3, CAL= 160.1,  16.5, ROT= 349.9, -16.5

2025-08-22T05:24:41.507Z,1755840281.507 [DAT](INFO): got valid direction response:
 05:24:40.3857 LVL= 19440, 25521, 18290, 32755, AGC= 52, IDX= 510, 0.07,-0.238,-1.728, 0.236,-0.127, PHS=-0.009,-1.557, 0.319, RAW= 159.4,  14.3, CAL= 160.1,  16.5, ROT= 349.9, -16.5

2025-08-22T05:24:41.507Z,1755840281.507 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T05:24:41.508Z,1755840281.508 [DAT](INFO): direction in FSK: [0.943961,-0.168145,0.284015]
2025-08-22T05:24:41.509Z,1755840281.509 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:41.520Z,1755840281.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.631866 m,
      nav range: 10.993392 m,
      bearing: 53.177390 deg,
      approach rate: -0.584870 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 54.161368 deg,
      new cmd heading: 53.469616 deg.

2025-08-22T05:24:41.521Z,1755840281.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.933221 target range: 11.631866 and range: 11.70 m.
2025-08-22T05:24:41.530Z,1755840281.530 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=8.560835
2025-08-22T05:24:41.751Z,1755840281.751 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=8.781427
2025-08-22T05:24:41.963Z,1755840281.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504289 s,
      deltaX: -0.400000 m,
      approachRate: -0.793195 m/s,
      rangeRepo size: 4

2025-08-22T05:24:41.969Z,1755840281.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.234219 m,
      bearing: 52.406821 deg,
      lat: 36.779369 deg,
      lon: -121.859590 deg,
      deltaT: 0.504289 s,
      deltaX: -0.397648 m,
      approachRate: -0.788532 m/s,
      posRepo size: 4

2025-08-22T05:24:41.970Z,1755840281.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T05:24:41.977Z,1755840281.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.234219 m,
      nav range: 10.826997 m,
      bearing: 52.436693 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 53.469617 deg,
      new cmd heading: 52.459080 deg.

2025-08-22T05:24:41.978Z,1755840281.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.915584 target range: 11.234219 and range: 11.30 m.
2025-08-22T05:24:42.004Z,1755840282.004 [DAT](INFO): DAT read: Rx Time:05:24:40.8856 

2025-08-22T05:24:42.005Z,1755840282.005 [DAT](INFO): Rx dataTimestamp_ set to:1755840282.004355
2025-08-22T05:24:42.006Z,1755840282.006 [DAT](INFO): DAT read: Bearing 242.7, -11.4 (Local)

2025-08-22T05:24:42.006Z,1755840282.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.7, -11.4 (Local)

2025-08-22T05:24:42.008Z,1755840282.008 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-08-22T05:24:42.013Z,1755840282.013 [DAT](INFO): DAT read: 05:24:40.8856 LVL= 20368, 25553, 23250, 30883, AGC= 55, IDX= 509, 0.34, 1.788, 0.265, 2.293, 1.896, PHS=-0.006,-1.586, 0.353, RAW= 160.0,  13.8, CAL= 160.6,  15.9, ROT= 349.4, -15.9

2025-08-22T05:24:42.014Z,1755840282.014 [DAT](INFO): got valid direction response:
 05:24:40.8856 LVL= 20368, 25553, 23250, 30883, AGC= 55, IDX= 509, 0.34, 1.788, 0.265, 2.293, 1.896, PHS=-0.006,-1.586, 0.353, RAW= 160.0,  13.8, CAL= 160.6,  15.9, ROT= 349.4, -15.9

2025-08-22T05:24:42.014Z,1755840282.014 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T05:24:42.020Z,1755840282.020 [DAT](INFO): direction in FSK: [0.945330,-0.176914,0.273959]
2025-08-22T05:24:42.020Z,1755840282.020 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:42.046Z,1755840282.046 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.065005
2025-08-22T05:24:42.252Z,1755840282.252 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=9.283318
2025-08-22T05:24:42.364Z,1755840282.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.506980 s,
      deltaX: -0.200000 m,
      approachRate: -0.394493 m/s,
      rangeRepo size: 4

2025-08-22T05:24:42.366Z,1755840282.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.035383 m,
      bearing: 51.560204 deg,
      lat: 36.779370 deg,
      lon: -121.859590 deg,
      deltaT: 0.506980 s,
      deltaX: -0.198835 m,
      approachRate: -0.392196 m/s,
      posRepo size: 4

2025-08-22T05:24:42.367Z,1755840282.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-22T05:24:42.374Z,1755840282.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.035383 m,
      nav range: 10.631882 m,
      bearing: 51.704441 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 52.459080 deg,
      new cmd heading: 51.559562 deg.

2025-08-22T05:24:42.375Z,1755840282.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.899884 target range: 11.035383 and range: 11.10 m.
2025-08-22T05:24:42.506Z,1755840282.506 [DAT](INFO): DAT read: Rx Time:05:24:41.3854 

2025-08-22T05:24:42.506Z,1755840282.506 [DAT](INFO): Rx dataTimestamp_ set to:1755840282.506191
2025-08-22T05:24:42.508Z,1755840282.508 [DAT](INFO): DAT read: Bearing 243.2, -11.1 (Local)

2025-08-22T05:24:42.509Z,1755840282.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.2, -11.1 (Local)

2025-08-22T05:24:42.513Z,1755840282.513 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-08-22T05:24:42.518Z,1755840282.518 [DAT](INFO): DAT read: 05:24:41.3854 LVL= 18768, 25969, 23026, 30707, AGC= 54, IDX= 507,-0.20,-1.188,-2.688,-0.700,-1.064, PHS=-0.022,-1.579, 0.320, RAW= 159.7,  14.5, CAL= 160.5,  16.8, ROT= 349.5, -16.8

2025-08-22T05:24:42.541Z,1755840282.541 [DAT](INFO): got valid direction response:
 05:24:41.3854 LVL= 18768, 25969, 23026, 30707, AGC= 54, IDX= 507,-0.20,-1.188,-2.688,-0.700,-1.064, PHS=-0.022,-1.579, 0.320, RAW= 159.7,  14.5, CAL= 160.5,  16.8, ROT= 349.5, -16.8

2025-08-22T05:24:42.542Z,1755840282.542 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T05:24:42.558Z,1755840282.558 [DAT](INFO): direction in FSK: [0.941289,-0.174458,0.289032]
2025-08-22T05:24:42.559Z,1755840282.559 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:42.574Z,1755840282.574 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.605198
2025-08-22T05:24:42.759Z,1755840282.759 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=9.789589
2025-08-22T05:24:42.816Z,1755840282.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.501836 s,
      deltaX: -0.300000 m,
      approachRate: -0.597805 m/s,
      rangeRepo size: 4

2025-08-22T05:24:42.818Z,1755840282.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.737129 m,
      bearing: 51.360798 deg,
      lat: 36.779369 deg,
      lon: -121.859590 deg,
      deltaT: 0.501836 s,
      deltaX: -0.298254 m,
      approachRate: -0.594326 m/s,
      posRepo size: 4

2025-08-22T05:24:42.819Z,1755840282.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-22T05:24:42.822Z,1755840282.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.737129 m,
      nav range: 10.357529 m,
      bearing: 51.496492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 51.559561 deg,
      new cmd heading: 50.567011 deg.

2025-08-22T05:24:42.823Z,1755840282.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.882561 target range: 10.737129 and range: 10.80 m.
2025-08-22T05:24:43.009Z,1755840283.009 [DAT](INFO): DAT read: Rx Time:05:24:41.8852 

2025-08-22T05:24:43.009Z,1755840283.009 [DAT](INFO): Rx dataTimestamp_ set to:1755840283.008944
2025-08-22T05:24:43.010Z,1755840283.010 [DAT](INFO): DAT read: Bearing 242.3, -11.5 (Local)

2025-08-22T05:24:43.011Z,1755840283.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.3, -11.5 (Local)

2025-08-22T05:24:43.013Z,1755840283.013 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-08-22T05:24:43.017Z,1755840283.017 [DAT](INFO): DAT read: 05:24:41.8852 LVL= 18448, 25937, 23234, 30931, AGC= 55, IDX= 505, 0.10, 0.010,-1.491, 0.523, 0.135, PHS=-0.022,-1.580, 0.345, RAW= 160.3,  14.1, CAL= 161.0,  16.3, ROT= 349.0, -16.3

2025-08-22T05:24:43.018Z,1755840283.018 [DAT](INFO): got valid direction response:
 05:24:41.8852 LVL= 18448, 25937, 23234, 30931, AGC= 55, IDX= 505, 0.10, 0.010,-1.491, 0.523, 0.135, PHS=-0.022,-1.580, 0.345, RAW= 160.3,  14.1, CAL= 161.0,  16.3, ROT= 349.0, -16.3

2025-08-22T05:24:43.019Z,1755840283.019 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T05:24:43.020Z,1755840283.020 [DAT](INFO): direction in FSK: [0.942171,-0.183140,0.280667]
2025-08-22T05:24:43.020Z,1755840283.020 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:43.026Z,1755840283.026 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.056524
2025-08-22T05:24:43.221Z,1755840283.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.502753 s,
      deltaX: -0.300000 m,
      approachRate: -0.596715 m/s,
      rangeRepo size: 4

2025-08-22T05:24:43.223Z,1755840283.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.438885 m,
      bearing: 50.462282 deg,
      lat: 36.779369 deg,
      lon: -121.859590 deg,
      deltaT: 0.502753 s,
      deltaX: -0.298244 m,
      approachRate: -0.593223 m/s,
      posRepo size: 4

2025-08-22T05:24:43.228Z,1755840283.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-08-22T05:24:43.230Z,1755840283.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.438885 m,
      nav range: 10.173855 m,
      bearing: 51.029599 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 50.567012 deg,
      new cmd heading: 49.678717 deg.

2025-08-22T05:24:43.235Z,1755840283.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.867057 target range: 10.438885 and range: 10.50 m.
2025-08-22T05:24:43.260Z,1755840283.260 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=10.291282
2025-08-22T05:24:43.513Z,1755840283.513 [DAT](INFO): DAT read: Rx Time:05:24:42.3849 

2025-08-22T05:24:43.513Z,1755840283.513 [DAT](INFO): Rx dataTimestamp_ set to:1755840283.512968
2025-08-22T05:24:43.515Z,1755840283.515 [DAT](INFO): DAT read: Bearing 243.3, -10.7 (Local)

2025-08-22T05:24:43.515Z,1755840283.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.3, -10.7 (Local)

2025-08-22T05:24:43.517Z,1755840283.517 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-08-22T05:24:43.522Z,1755840283.522 [DAT](INFO): DAT read: 05:24:42.3849 LVL= 18928, 26273, 21586, 32755, AGC= 53, IDX= 503,-0.36, 2.536, 1.048, 3.014, 2.677, PHS=-0.039,-1.584, 0.293, RAW= 159.5,  15.2, CAL= 160.4,  17.7, ROT= 349.6, -17.7

2025-08-22T05:24:43.525Z,1755840283.525 [DAT](INFO): got valid direction response:
 05:24:42.3849 LVL= 18928, 26273, 21586, 32755, AGC= 53, IDX= 503,-0.36, 2.536, 1.048, 3.014, 2.677, PHS=-0.039,-1.584, 0.293, RAW= 159.5,  15.2, CAL= 160.4,  17.7, ROT= 349.6, -17.7

2025-08-22T05:24:43.526Z,1755840283.526 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T05:24:43.560Z,1755840283.560 [DAT](INFO): direction in FSK: [0.937011,-0.171973,0.304033]
2025-08-22T05:24:43.560Z,1755840283.560 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:43.564Z,1755840283.564 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.594629
2025-08-22T05:24:43.649Z,1755840283.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.504024 s,
      deltaX: -0.400000 m,
      approachRate: -0.793612 m/s,
      rangeRepo size: 4

2025-08-22T05:24:43.655Z,1755840283.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.041214 m,
      bearing: 50.713480 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.504024 s,
      deltaX: -0.397671 m,
      approachRate: -0.788992 m/s,
      posRepo size: 4

2025-08-22T05:24:43.656Z,1755840283.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T05:24:43.659Z,1755840283.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.041214 m,
      nav range: 9.910300 m,
      bearing: 50.449622 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 49.678718 deg,
      new cmd heading: 48.738224 deg.

2025-08-22T05:24:43.664Z,1755840283.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.850643 target range: 10.041214 and range: 10.10 m.
2025-08-22T05:24:43.768Z,1755840283.768 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=10.797506
2025-08-22T05:24:44.017Z,1755840284.017 [DAT](INFO): DAT read: Rx Time:05:24:42.8849 

2025-08-22T05:24:44.017Z,1755840284.017 [DAT](INFO): Rx dataTimestamp_ set to:1755840284.017119
2025-08-22T05:24:44.019Z,1755840284.019 [DAT](INFO): DAT read: Bearing 242.0, -11.5 (Local)

2025-08-22T05:24:44.019Z,1755840284.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0, -11.5 (Local)

2025-08-22T05:24:44.022Z,1755840284.022 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-08-22T05:24:44.031Z,1755840284.031 [DAT](INFO): DAT read: 05:24:42.8849 LVL= 22800, 26257, 27106, 32755, AGC= 55, IDX= 502, 0.05,-1.400,-2.891,-0.888,-1.262, PHS=-0.036,-1.584, 0.330, RAW= 160.4,  14.5, CAL= 161.1,  16.9, ROT= 348.9, -16.9

2025-08-22T05:24:44.037Z,1755840284.037 [DAT](INFO): got valid direction response:
 05:24:42.8849 LVL= 22800, 26257, 27106, 32755, AGC= 55, IDX= 502, 0.05,-1.400,-2.891,-0.888,-1.262, PHS=-0.036,-1.584, 0.330, RAW= 160.4,  14.5, CAL= 161.1,  16.9, ROT= 348.9, -16.9

2025-08-22T05:24:44.038Z,1755840284.038 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T05:24:44.039Z,1755840284.039 [DAT](INFO): direction in FSK: [0.938914,-0.184208,0.290702]
2025-08-22T05:24:44.045Z,1755840284.045 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:44.058Z,1755840284.058 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.088798
2025-08-22T05:24:44.145Z,1755840284.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.504151 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:44.154Z,1755840284.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.041161 m,
      bearing: 50.003718 deg,
      lat: 36.779369 deg,
      lon: -121.859591 deg,
      deltaT: 0.504151 s,
      deltaX: -0.000053 m,
      approachRate: -0.000106 m/s,
      posRepo size: 4

2025-08-22T05:24:44.155Z,1755840284.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T05:24:44.163Z,1755840284.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.041161 m,
      nav range: 9.655760 m,
      bearing: 49.879915 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.097843 deg/s,
      cmd heading: 48.738225 deg,
      new cmd heading: 47.660117 deg.

2025-08-22T05:24:44.184Z,1755840284.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.831826 target range: 10.041161 and range: 10.10 m.
2025-08-22T05:24:44.269Z,1755840284.269 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=11.299617
2025-08-22T05:24:44.400Z,1755840284.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:44.431Z,1755840284.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T05:24:44.468Z,1755840284.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.041161 m,
      nav range: 9.524625 m,
      bearing: 49.579839 deg,
      approach rate: -0.453259 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 47.660117 deg,
      new cmd heading: 47.051729 deg.

2025-08-22T05:24:44.469Z,1755840284.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.821208 target range: 10.041161 and range: 10.10 m.
2025-08-22T05:24:44.523Z,1755840284.523 [DAT](INFO): DAT read: Rx Time:05:24:43.3846 

2025-08-22T05:24:44.524Z,1755840284.524 [DAT](INFO): Rx dataTimestamp_ set to:1755840284.523331
2025-08-22T05:24:44.527Z,1755840284.527 [DAT](INFO): DAT read: Bearing 242.7, -10.8 (Local)

2025-08-22T05:24:44.529Z,1755840284.529 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.7, -10.8 (Local)

2025-08-22T05:24:44.532Z,1755840284.532 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-08-22T05:24:44.550Z,1755840284.550 [DAT](INFO): DAT read: 05:24:43.3846 LVL= 20720, 27025, 25586, 31107, AGC= 54, IDX= 500,-0.42, 1.766, 0.268, 2.248, 1.917, PHS=-0.049,-1.605, 0.287, RAW= 159.6,  15.4, CAL= 160.5,  18.1, ROT= 349.5, -18.1

2025-08-22T05:24:44.556Z,1755840284.556 [DAT](INFO): got valid direction response:
 05:24:43.3846 LVL= 20720, 27025, 25586, 31107, AGC= 54, IDX= 500,-0.42, 1.766, 0.268, 2.248, 1.917, PHS=-0.049,-1.605, 0.287, RAW= 159.6,  15.4, CAL= 160.5,  18.1, ROT= 349.5, -18.1

2025-08-22T05:24:44.557Z,1755840284.557 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T05:24:44.559Z,1755840284.559 [DAT](INFO): direction in FSK: [0.934599,-0.173218,0.310676]
2025-08-22T05:24:44.564Z,1755840284.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:44.573Z,1755840284.573 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=11.603587
2025-08-22T05:24:44.775Z,1755840284.775 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=11.805387
2025-08-22T05:24:44.874Z,1755840284.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.506212 s,
      deltaX: -0.500000 m,
      approachRate: -0.987728 m/s,
      rangeRepo size: 4

2025-08-22T05:24:44.888Z,1755840284.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.544074 m,
      bearing: 49.231001 deg,
      lat: 36.779369 deg,
      lon: -121.859592 deg,
      deltaT: 0.506212 s,
      deltaX: -0.497087 m,
      approachRate: -0.981973 m/s,
      posRepo size: 4

2025-08-22T05:24:44.889Z,1755840284.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-22T05:24:44.890Z,1755840284.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-08-22T05:24:44.890Z,1755840284.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T05:24:44.896Z,1755840284.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 9.212857 m,
      bearing: 48.811614 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 47.051729 deg,
      new cmd heading: 46.116742 deg.

2025-08-22T05:24:44.897Z,1755840284.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.804889 target range: 9.544074 and range: 9.60 m.
2025-08-22T05:24:45.028Z,1755840285.028 [DAT](INFO): DAT read: Rx Time:05:24:43.8846 

2025-08-22T05:24:45.029Z,1755840285.029 [DAT](INFO): Rx dataTimestamp_ set to:1755840285.028752
2025-08-22T05:24:45.031Z,1755840285.031 [DAT](INFO): DAT read: Bearing 241.5, -11.5 (Local)

2025-08-22T05:24:45.032Z,1755840285.032 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.5, -11.5 (Local)

2025-08-22T05:24:45.036Z,1755840285.036 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-08-22T05:24:45.050Z,1755840285.050 [DAT](INFO): DAT read: 05:24:43.8846 LVL= 20848, 27617, 24050, 30563, AGC= 54, IDX= 499, 0.04,-2.249, 2.543,-1.736,-2.098, PHS=-0.049,-1.597, 0.318, RAW= 160.4,  14.9, CAL= 161.2,  17.5, ROT= 348.8, -17.5

2025-08-22T05:24:45.056Z,1755840285.056 [DAT](INFO): got valid direction response:
 05:24:43.8846 LVL= 20848, 27617, 24050, 30563, AGC= 54, IDX= 499, 0.04,-2.249, 2.543,-1.736,-2.098, PHS=-0.049,-1.597, 0.318, RAW= 160.4,  14.9, CAL= 161.2,  17.5, ROT= 348.8, -17.5

2025-08-22T05:24:45.057Z,1755840285.057 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T05:24:45.058Z,1755840285.058 [DAT](INFO): direction in FSK: [0.935553,-0.185245,0.300706]
2025-08-22T05:24:45.059Z,1755840285.059 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:45.086Z,1755840285.086 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=12.116469
2025-08-22T05:24:45.277Z,1755840285.277 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=12.307453
2025-08-22T05:24:45.334Z,1755840285.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.505421 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:45.337Z,1755840285.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.544004 m,
      bearing: 48.119528 deg,
      lat: 36.779369 deg,
      lon: -121.859592 deg,
      deltaT: 0.505421 s,
      deltaX: -0.000070 m,
      approachRate: -0.000138 m/s,
      posRepo size: 4

2025-08-22T05:24:45.338Z,1755840285.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:45.340Z,1755840285.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 8.978363 m,
      bearing: 48.239173 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 46.116741 deg,
      new cmd heading: 45.148711 deg.

2025-08-22T05:24:45.341Z,1755840285.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.787994 target range: 9.544074 and range: 9.60 m.
2025-08-22T05:24:45.530Z,1755840285.530 [DAT](INFO): DAT read: Rx Time:05:24:44.3844 

2025-08-22T05:24:45.531Z,1755840285.531 [DAT](INFO): Rx dataTimestamp_ set to:1755840285.530554
2025-08-22T05:24:45.533Z,1755840285.533 [DAT](INFO): DAT read: Bearing 242.0, -10.8 (Local)

2025-08-22T05:24:45.534Z,1755840285.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0, -10.8 (Local)

2025-08-22T05:24:45.538Z,1755840285.538 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-08-22T05:24:45.549Z,1755840285.549 [DAT](INFO): DAT read: 05:24:44.3844 LVL= 19312, 27889, 21330, 30067, AGC= 52, IDX= 497,-0.34, 0.911,-0.576, 1.389, 1.075, PHS=-0.062,-1.606, 0.270, RAW= 159.5,  15.9, CAL= 160.5,  18.7, ROT= 349.5, -18.7

2025-08-22T05:24:45.555Z,1755840285.555 [DAT](INFO): got valid direction response:
 05:24:44.3844 LVL= 19312, 27889, 21330, 30067, AGC= 52, IDX= 497,-0.34, 0.911,-0.576, 1.389, 1.075, PHS=-0.062,-1.606, 0.270, RAW= 159.5,  15.9, CAL= 160.5,  18.7, ROT= 349.5, -18.7

2025-08-22T05:24:45.556Z,1755840285.556 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T05:24:45.557Z,1755840285.557 [DAT](INFO): direction in FSK: [0.931349,-0.172616,0.320613]
2025-08-22T05:24:45.557Z,1755840285.557 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:45.569Z,1755840285.569 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=12.599616
2025-08-22T05:24:45.756Z,1755840285.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.501802 s,
      deltaX: -0.300000 m,
      approachRate: -0.597846 m/s,
      rangeRepo size: 4

2025-08-22T05:24:45.772Z,1755840285.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.245754 m,
      bearing: 48.407993 deg,
      lat: 36.779368 deg,
      lon: -121.859591 deg,
      deltaT: 1.007223 s,
      deltaX: -0.298320 m,
      approachRate: -0.296181 m/s,
      posRepo size: 4

2025-08-22T05:24:45.783Z,1755840285.783 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=12.813163
2025-08-22T05:24:45.800Z,1755840285.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.54 m.
2025-08-22T05:24:45.824Z,1755840285.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 8.783992 m,
      bearing: 47.752499 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 45.148712 deg,
      new cmd heading: 44.272361 deg.

2025-08-22T05:24:45.825Z,1755840285.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.772698 target range: 9.544074 and range: 9.30 m.
2025-08-22T05:24:46.034Z,1755840286.034 [DAT](INFO): DAT read: Rx Time:05:24:44.8843 

2025-08-22T05:24:46.036Z,1755840286.036 [DAT](INFO): Rx dataTimestamp_ set to:1755840286.034661
2025-08-22T05:24:46.037Z,1755840286.037 [DAT](INFO): DAT read: Bearing 253.7,  -9.2 (Local)

2025-08-22T05:24:46.038Z,1755840286.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.7,  -9.2 (Local)

2025-08-22T05:24:46.041Z,1755840286.041 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-08-22T05:24:46.049Z,1755840286.049 [DAT](INFO): DAT read: 05:24:44.8843 LVL= 22256, 27857, 26178, 30355, AGC= 54, IDX= 512, 0.12,-1.630, 2.934,-1.228,-1.297, PHS=-0.231,-2.007, 0.025, RAW= 156.6,  22.2, CAL= 159.3,  31.0, ROT= 350.7, -31.0

2025-08-22T05:24:46.057Z,1755840286.057 [DAT](INFO): got valid direction response:
 05:24:44.8843 LVL= 22256, 27857, 26178, 30355, AGC= 54, IDX= 512, 0.12,-1.630, 2.934,-1.228,-1.297, PHS=-0.231,-2.007, 0.025, RAW= 156.6,  22.2, CAL= 159.3,  31.0, ROT= 350.7, -31.0

2025-08-22T05:24:46.058Z,1755840286.058 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T05:24:46.065Z,1755840286.065 [DAT](INFO): direction in FSK: [0.845901,-0.138521,0.515038]
2025-08-22T05:24:46.065Z,1755840286.065 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:46.073Z,1755840286.073 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=13.104080
2025-08-22T05:24:46.283Z,1755840286.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.504107 s,
      deltaX: -0.100000 m,
      approachRate: -0.198371 m/s,
      rangeRepo size: 4

2025-08-22T05:24:46.284Z,1755840286.284 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=13.315335
2025-08-22T05:24:46.293Z,1755840286.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.146322 m,
      bearing: 49.979012 deg,
      lat: 36.779368 deg,
      lon: -121.859591 deg,
      deltaT: 1.511330 s,
      deltaX: -0.397752 m,
      approachRate: -0.263180 m/s,
      posRepo size: 4

2025-08-22T05:24:46.294Z,1755840286.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.54 m.
2025-08-22T05:24:46.301Z,1755840286.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 8.530006 m,
      bearing: 47.118867 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 44.272361 deg,
      new cmd heading: 43.154709 deg.

2025-08-22T05:24:46.302Z,1755840286.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.753192 target range: 9.544074 and range: 9.20 m.
2025-08-22T05:24:46.538Z,1755840286.538 [DAT](INFO): DAT read: Rx Time:05:24:45.3841 

2025-08-22T05:24:46.540Z,1755840286.540 [DAT](INFO): Rx dataTimestamp_ set to:1755840286.538612
2025-08-22T05:24:46.541Z,1755840286.541 [DAT](INFO): DAT read: Bearing 240.9, -10.1 (Local)

2025-08-22T05:24:46.542Z,1755840286.542 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.9, -10.1 (Local)

2025-08-22T05:24:46.546Z,1755840286.546 [DAT](INFO): DAT read: Range 11 to 50 :     8.9 m (trip time 5.9 ms) speed 0.4

2025-08-22T05:24:46.553Z,1755840286.553 [DAT](INFO): DAT read: 05:24:45.3841 LVL= 20016, 27697, 22738, 28771, AGC= 52, IDX= 510,-0.16, 0.159,-1.341, 0.612, 0.320, PHS=-0.059,-1.616, 0.248, RAW= 158.8,  16.2, CAL= 159.9,  19.1, ROT= 350.1, -19.1

2025-08-22T05:24:46.554Z,1755840286.554 [DAT](INFO): got valid direction response:
 05:24:45.3841 LVL= 20016, 27697, 22738, 28771, AGC= 52, IDX= 510,-0.16, 0.159,-1.341, 0.612, 0.320, PHS=-0.059,-1.616, 0.248, RAW= 158.8,  16.2, CAL= 159.9,  19.1, ROT= 350.1, -19.1

2025-08-22T05:24:46.555Z,1755840286.555 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T05:24:46.556Z,1755840286.556 [DAT](INFO): direction in FSK: [0.930878,-0.162464,0.327218]
2025-08-22T05:24:46.556Z,1755840286.556 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:46.562Z,1755840286.562 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=13.592098
2025-08-22T05:24:46.705Z,1755840286.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.900000 m,
      deltaT: 0.503951 s,
      deltaX: -0.300000 m,
      approachRate: -0.595296 m/s,
      rangeRepo size: 4

2025-08-22T05:24:46.707Z,1755840286.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.848072 m,
      bearing: 49.018065 deg,
      lat: 36.779368 deg,
      lon: -121.859591 deg,
      deltaT: 2.015281 s,
      deltaX: -0.696002 m,
      approachRate: -0.345362 m/s,
      posRepo size: 4

2025-08-22T05:24:46.712Z,1755840286.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.54 m.
2025-08-22T05:24:46.714Z,1755840286.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 8.335126 m,
      bearing: 46.604538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 43.154710 deg,
      new cmd heading: 42.267006 deg.

2025-08-22T05:24:46.720Z,1755840286.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.737698 target range: 9.544074 and range: 8.90 m.
2025-08-22T05:24:46.793Z,1755840286.793 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=13.823229
2025-08-22T05:24:47.042Z,1755840287.042 [DAT](INFO): DAT read: Rx Time:05:24:45.8840 

2025-08-22T05:24:47.043Z,1755840287.043 [DAT](INFO): Rx dataTimestamp_ set to:1755840287.042376
2025-08-22T05:24:47.046Z,1755840287.046 [DAT](INFO): DAT read: Bearing 238.7, -10.5 (Local)

2025-08-22T05:24:47.046Z,1755840287.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.7, -10.5 (Local)

2025-08-22T05:24:47.049Z,1755840287.049 [DAT](INFO): DAT read: Range 11 to 50 :     8.7 m (trip time 5.8 ms) speed 0.4

2025-08-22T05:24:47.055Z,1755840287.055 [DAT](INFO): DAT read: 05:24:45.8840 LVL= 24608, 30321, 26274, 32755, AGC= 53, IDX= 508, 0.38, 1.344,-0.198, 1.829, 1.485, PHS=-0.038,-1.637, 0.300, RAW= 159.4,  15.2, CAL= 160.3,  17.7, ROT= 349.7, -17.7

2025-08-22T05:24:47.056Z,1755840287.056 [DAT](INFO): got valid direction response:
 05:24:45.8840 LVL= 24608, 30321, 26274, 32755, AGC= 53, IDX= 508, 0.38, 1.344,-0.198, 1.829, 1.485, PHS=-0.038,-1.637, 0.300, RAW= 159.4,  15.2, CAL= 160.3,  17.7, ROT= 349.7, -17.7

2025-08-22T05:24:47.056Z,1755840287.056 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T05:24:47.057Z,1755840287.057 [DAT](INFO): direction in FSK: [0.937309,-0.170338,0.304033]
2025-08-22T05:24:47.058Z,1755840287.058 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:47.061Z,1755840287.061 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=14.092139
2025-08-22T05:24:47.251Z,1755840287.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.700000 m,
      deltaT: 0.503764 s,
      deltaX: -0.200000 m,
      approachRate: -0.397011 m/s,
      rangeRepo size: 4

2025-08-22T05:24:47.261Z,1755840287.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.649241 m,
      bearing: 48.580017 deg,
      lat: 36.779367 deg,
      lon: -121.859591 deg,
      deltaT: 2.519045 s,
      deltaX: -0.894833 m,
      approachRate: -0.355227 m/s,
      posRepo size: 4

2025-08-22T05:24:47.262Z,1755840287.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.54 m.
2025-08-22T05:24:47.269Z,1755840287.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 8.088097 m,
      bearing: 45.907534 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 42.267007 deg,
      new cmd heading: 41.125334 deg.

2025-08-22T05:24:47.270Z,1755840287.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.717772 target range: 9.544074 and range: 8.70 m.
2025-08-22T05:24:47.292Z,1755840287.292 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=14.323258
2025-08-22T05:24:47.546Z,1755840287.546 [DAT](INFO): DAT read: Rx Time:05:24:46.3837 

2025-08-22T05:24:47.547Z,1755840287.547 [DAT](INFO): Rx dataTimestamp_ set to:1755840287.546486
2025-08-22T05:24:47.549Z,1755840287.549 [DAT](INFO): DAT read: Bearing 237.6, -10.3 (Local)

2025-08-22T05:24:47.549Z,1755840287.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.6, -10.3 (Local)

2025-08-22T05:24:47.551Z,1755840287.551 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-08-22T05:24:47.556Z,1755840287.556 [DAT](INFO): DAT read: 05:24:46.3837 LVL= 22960, 29041, 24626, 32755, AGC= 52, IDX= 506, 0.09,-0.401,-1.946, 0.076,-0.271, PHS=-0.028,-1.630, 0.303, RAW= 159.2,  15.0, CAL= 160.0,  17.4, ROT= 350.0, -17.4

2025-08-22T05:24:47.557Z,1755840287.557 [DAT](INFO): got valid direction response:
 05:24:46.3837 LVL= 22960, 29041, 24626, 32755, AGC= 52, IDX= 506, 0.09,-0.401,-1.946, 0.076,-0.271, PHS=-0.028,-1.630, 0.303, RAW= 159.2,  15.0, CAL= 160.0,  17.4, ROT= 350.0, -17.4

2025-08-22T05:24:47.557Z,1755840287.557 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T05:24:47.558Z,1755840287.558 [DAT](INFO): direction in FSK: [0.939743,-0.165702,0.299041]
2025-08-22T05:24:47.559Z,1755840287.559 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:47.604Z,1755840287.604 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=14.606064
2025-08-22T05:24:47.673Z,1755840287.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.504110 s,
      deltaX: -0.400000 m,
      approachRate: -0.793477 m/s,
      rangeRepo size: 4

2025-08-22T05:24:47.679Z,1755840287.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.251575 m,
      bearing: 46.765777 deg,
      lat: 36.779367 deg,
      lon: -121.859591 deg,
      deltaT: 3.023155 s,
      deltaX: -1.292499 m,
      approachRate: -0.427533 m/s,
      posRepo size: 4

2025-08-22T05:24:47.680Z,1755840287.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.54 m.
2025-08-22T05:24:47.683Z,1755840287.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 7.894866 m,
      bearing: 45.397162 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 41.125334 deg,
      new cmd heading: 40.231119 deg.

2025-08-22T05:24:47.688Z,1755840287.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.702165 target range: 9.544074 and range: 8.30 m.
2025-08-22T05:24:47.800Z,1755840287.800 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=14.829375
2025-08-22T05:24:48.049Z,1755840288.049 [DAT](INFO): DAT read: Rx Time:05:24:46.8837 

2025-08-22T05:24:48.049Z,1755840288.049 [DAT](INFO): Rx dataTimestamp_ set to:1755840288.049094
2025-08-22T05:24:48.051Z,1755840288.051 [DAT](INFO): DAT read: Bearing 238.5,  -9.3 (Local)

2025-08-22T05:24:48.051Z,1755840288.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.5,  -9.3 (Local)

2025-08-22T05:24:48.054Z,1755840288.054 [DAT](INFO): DAT read: Range 11 to 50 :     8.3 m (trip time 5.5 ms) speed 0.4

2025-08-22T05:24:48.058Z,1755840288.058 [DAT](INFO): DAT read: 05:24:46.8837 LVL= 24976, 29985, 26322, 32755, AGC= 52, IDX= 506,-0.16,-1.039,-2.580,-0.609,-0.886, PHS=-0.051,-1.649, 0.233, RAW= 158.0,  16.4, CAL= 159.1,  19.2, ROT= 350.9, -19.2

2025-08-22T05:24:48.060Z,1755840288.060 [DAT](INFO): got valid direction response:
 05:24:46.8837 LVL= 24976, 29985, 26322, 32755, AGC= 52, IDX= 506,-0.16,-1.039,-2.580,-0.609,-0.886, PHS=-0.051,-1.649, 0.233, RAW= 158.0,  16.4, CAL= 159.1,  19.2, ROT= 350.9, -19.2

2025-08-22T05:24:48.060Z,1755840288.060 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T05:24:48.061Z,1755840288.061 [DAT](INFO): direction in FSK: [0.932490,-0.149361,0.328867]
2025-08-22T05:24:48.061Z,1755840288.061 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:48.065Z,1755840288.065 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=15.095714
2025-08-22T05:24:48.149Z,1755840288.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.300000 m,
      deltaT: 0.502608 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:48.160Z,1755840288.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.251550 m,
      bearing: 47.082754 deg,
      lat: 36.779367 deg,
      lon: -121.859589 deg,
      deltaT: 3.525763 s,
      deltaX: -1.292524 m,
      approachRate: -0.366594 m/s,
      posRepo size: 4

2025-08-22T05:24:48.162Z,1755840288.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.54 m.
2025-08-22T05:24:48.170Z,1755840288.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 7.694400 m,
      bearing: 44.865890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 40.231119 deg,
      new cmd heading: 39.257667 deg.

2025-08-22T05:24:48.180Z,1755840288.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.685176 target range: 9.544074 and range: 8.30 m.
2025-08-22T05:24:48.301Z,1755840288.301 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=15.331401
2025-08-22T05:24:48.500Z,1755840288.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:48.502Z,1755840288.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:48.529Z,1755840288.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 7.496716 m,
      bearing: 44.355633 deg,
      approach rate: -0.539253 m/s,
      LOS rate: -1.428593 deg/s,
      cmd heading: 39.257667 deg,
      new cmd heading: 38.210373 deg.

2025-08-22T05:24:48.530Z,1755840288.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.666897 target range: 9.544074 and range: 8.30 m.
2025-08-22T05:24:48.553Z,1755840288.553 [DAT](INFO): DAT read: Rx Time:05:24:47.3835 

2025-08-22T05:24:48.553Z,1755840288.553 [DAT](INFO): Rx dataTimestamp_ set to:1755840288.553164
2025-08-22T05:24:48.555Z,1755840288.555 [DAT](INFO): DAT read: Bearing 235.7,  -9.8 (Local)

2025-08-22T05:24:48.555Z,1755840288.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.7,  -9.8 (Local)

2025-08-22T05:24:48.557Z,1755840288.557 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-08-22T05:24:48.562Z,1755840288.562 [DAT](INFO): DAT read: 05:24:47.3835 LVL= 26144, 28321, 29426, 32755, AGC= 52, IDX= 503, 0.48,-1.009,-2.575,-0.539,-0.882, PHS=-0.025,-1.648, 0.299, RAW= 158.9,  15.0, CAL= 159.8,  17.5, ROT= 350.2, -17.5

2025-08-22T05:24:48.563Z,1755840288.563 [DAT](INFO): got valid direction response:
 05:24:47.3835 LVL= 26144, 28321, 29426, 32755, AGC= 52, IDX= 503, 0.48,-1.009,-2.575,-0.539,-0.882, PHS=-0.025,-1.648, 0.299, RAW= 158.9,  15.0, CAL= 159.8,  17.5, ROT= 350.2, -17.5

2025-08-22T05:24:48.563Z,1755840288.563 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T05:24:48.564Z,1755840288.564 [DAT](INFO): direction in FSK: [0.939800,-0.162332,0.300706]
2025-08-22T05:24:48.564Z,1755840288.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:48.573Z,1755840288.573 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=15.603734
2025-08-22T05:24:48.809Z,1755840288.809 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=15.838497
2025-08-22T05:24:48.990Z,1755840288.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504070 s,
      deltaX: -0.300000 m,
      approachRate: -0.595156 m/s,
      rangeRepo size: 4

2025-08-22T05:24:49.028Z,1755840289.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.953299 m,
      bearing: 44.891072 deg,
      lat: 36.779367 deg,
      lon: -121.859589 deg,
      deltaT: 4.029833 s,
      deltaX: -1.590775 m,
      approachRate: -0.394750 m/s,
      posRepo size: 4

2025-08-22T05:24:49.030Z,1755840289.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m.
2025-08-22T05:24:49.048Z,1755840289.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 7.277406 m,
      bearing: 43.758625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 38.210373 deg,
      new cmd heading: 37.185575 deg.

2025-08-22T05:24:49.049Z,1755840289.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.649011 target range: 9.544074 and range: 8.00 m.
2025-08-22T05:24:49.057Z,1755840289.057 [DAT](INFO): DAT read: Rx Time:05:24:47.8835 

2025-08-22T05:24:49.058Z,1755840289.058 [DAT](INFO): Rx dataTimestamp_ set to:1755840289.057387
2025-08-22T05:24:49.059Z,1755840289.059 [DAT](INFO): DAT read: Bearing 235.0, -10.5 (Local)

2025-08-22T05:24:49.059Z,1755840289.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.0, -10.5 (Local)

2025-08-22T05:24:49.061Z,1755840289.061 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-08-22T05:24:49.066Z,1755840289.066 [DAT](INFO): DAT read: 05:24:47.8835 LVL= 26672, 25697, 27954, 32755, AGC= 51, IDX= 503, 0.19, 0.194,-1.356, 0.693, 0.341, PHS=-0.045,-1.652, 0.308, RAW= 159.7,  15.2, CAL= 160.6,  17.7, ROT= 349.4, -17.7

2025-08-22T05:24:49.067Z,1755840289.067 [DAT](INFO): got valid direction response:
 05:24:47.8835 LVL= 26672, 25697, 27954, 32755, AGC= 51, IDX= 503, 0.19, 0.194,-1.356, 0.693, 0.341, PHS=-0.045,-1.652, 0.308, RAW= 159.7,  15.2, CAL= 160.6,  17.7, ROT= 349.4, -17.7

2025-08-22T05:24:49.067Z,1755840289.067 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T05:24:49.068Z,1755840289.068 [DAT](INFO): direction in FSK: [0.936405,-0.175243,0.304033]
2025-08-22T05:24:49.069Z,1755840289.069 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:49.076Z,1755840289.076 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=16.107334
2025-08-22T05:24:49.320Z,1755840289.320 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=16.351280
2025-08-22T05:24:49.372Z,1755840289.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504223 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:49.374Z,1755840289.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.953299 m,
      bearing: 44.099029 deg,
      lat: 36.779367 deg,
      lon: -121.859588 deg,
      deltaT: 4.534056 s,
      deltaX: -1.590775 m,
      approachRate: -0.350850 m/s,
      posRepo size: 4

2025-08-22T05:24:49.392Z,1755840289.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m.
2025-08-22T05:24:49.394Z,1755840289.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 7.104493 m,
      bearing: 43.260236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 37.185575 deg,
      new cmd heading: 36.381631 deg.

2025-08-22T05:24:49.395Z,1755840289.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.634979 target range: 9.544074 and range: 8.00 m.
2025-08-22T05:24:49.573Z,1755840289.573 [DAT](INFO): DAT read: Rx Time:05:24:48.3833 

2025-08-22T05:24:49.573Z,1755840289.573 [DAT](INFO): Rx dataTimestamp_ set to:1755840289.573055
2025-08-22T05:24:49.575Z,1755840289.575 [DAT](INFO): DAT read: Bearing 235.5, -11.2 (Local)

2025-08-22T05:24:49.575Z,1755840289.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.5, -11.2 (Local)

2025-08-22T05:24:49.577Z,1755840289.577 [DAT](INFO): DAT read: Range 11 to 50 :     7.7 m (trip time 5.1 ms) speed 0.4

2025-08-22T05:24:49.582Z,1755840289.582 [DAT](INFO): DAT read: 05:24:48.3833 LVL= 24816, 23793, 26498, 32755, AGC= 50, IDX= 501,-0.02,-2.882, 1.914,-2.376,-2.693, PHS=-0.087,-1.631, 0.273, RAW= 160.2,  16.3, CAL= 161.3,  19.2, ROT= 348.7, -19.2

2025-08-22T05:24:49.583Z,1755840289.583 [DAT](INFO): got valid direction response:
 05:24:48.3833 LVL= 24816, 23793, 26498, 32755, AGC= 50, IDX= 501,-0.02,-2.882, 1.914,-2.376,-2.693, PHS=-0.087,-1.631, 0.273, RAW= 160.2,  16.3, CAL= 161.3,  19.2, ROT= 348.7, -19.2

2025-08-22T05:24:49.583Z,1755840289.583 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T05:24:49.584Z,1755840289.584 [DAT](INFO): direction in FSK: [0.926069,-0.185047,0.328867]
2025-08-22T05:24:49.584Z,1755840289.584 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:49.590Z,1755840289.590 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=16.620478
2025-08-22T05:24:49.757Z,1755840289.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 0.515668 s,
      deltaX: -0.300000 m,
      approachRate: -0.581770 m/s,
      rangeRepo size: 4

2025-08-22T05:24:49.775Z,1755840289.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.655050 m,
      bearing: 41.251010 deg,
      lat: 36.779370 deg,
      lon: -121.859589 deg,
      deltaT: 5.049724 s,
      deltaX: -1.889024 m,
      approachRate: -0.374085 m/s,
      posRepo size: 4

2025-08-22T05:24:49.780Z,1755840289.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.54 m.
2025-08-22T05:24:49.782Z,1755840289.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.928518 m,
      bearing: 42.793963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 36.381631 deg,
      new cmd heading: 35.572046 deg.

2025-08-22T05:24:49.784Z,1755840289.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.620849 target range: 9.544074 and range: 7.70 m.
2025-08-22T05:24:49.828Z,1755840289.828 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=16.857971
2025-08-22T05:24:50.078Z,1755840290.078 [DAT](INFO): DAT read: Rx Time:05:24:48.8833 

2025-08-22T05:24:50.079Z,1755840290.079 [DAT](INFO): Rx dataTimestamp_ set to:1755840290.077955
2025-08-22T05:24:50.082Z,1755840290.082 [DAT](INFO): DAT read: Bearing 235.1, -13.5 (Local)

2025-08-22T05:24:50.082Z,1755840290.082 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.1, -13.5 (Local)

2025-08-22T05:24:50.085Z,1755840290.085 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-08-22T05:24:50.090Z,1755840290.090 [DAT](INFO): DAT read: 05:24:48.8833 LVL= 24032, 23841, 22242, 32755, AGC= 48, IDX= 501,-0.22,-2.798, 2.123,-2.224,-2.559, PHS=-0.137,-1.556, 0.291, RAW= 162.8,  16.5, CAL= 163.8,  19.9, ROT= 346.2, -19.9

2025-08-22T05:24:50.091Z,1755840290.091 [DAT](INFO): got valid direction response:
 05:24:48.8833 LVL= 24032, 23841, 22242, 32755, AGC= 48, IDX= 501,-0.22,-2.798, 2.123,-2.224,-2.559, PHS=-0.137,-1.556, 0.291, RAW= 162.8,  16.5, CAL= 163.8,  19.9, ROT= 346.2, -19.9

2025-08-22T05:24:50.092Z,1755840290.092 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T05:24:50.093Z,1755840290.093 [DAT](INFO): direction in FSK: [0.913146,-0.224290,0.340380]
2025-08-22T05:24:50.093Z,1755840290.093 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:50.097Z,1755840290.097 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=17.127592
2025-08-22T05:24:50.284Z,1755840290.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504900 s,
      deltaX: -0.200000 m,
      approachRate: -0.396118 m/s,
      rangeRepo size: 4

2025-08-22T05:24:50.286Z,1755840290.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.456205 m,
      bearing: 37.986117 deg,
      lat: 36.779371 deg,
      lon: -121.859589 deg,
      deltaT: 5.554624 s,
      deltaX: -2.087869 m,
      approachRate: -0.375879 m/s,
      posRepo size: 4

2025-08-22T05:24:50.287Z,1755840290.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.46 m. 9.54 m.
2025-08-22T05:24:50.293Z,1755840290.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.695107 m,
      bearing: 42.153387 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 35.572045 deg,
      new cmd heading: 34.473630 deg.

2025-08-22T05:24:50.294Z,1755840290.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.601678 target range: 9.544074 and range: 7.50 m.
2025-08-22T05:24:50.328Z,1755840290.328 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=17.359259
2025-08-22T05:24:50.579Z,1755840290.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:50.581Z,1755840290.581 [DAT](INFO): DAT read: Rx Time:05:24:49.3831 

2025-08-22T05:24:50.581Z,1755840290.581 [DAT](INFO): Rx dataTimestamp_ set to:1755840290.581099
2025-08-22T05:24:50.583Z,1755840290.583 [DAT](INFO): DAT read: Bearing 229.9, -13.6 (Local)

2025-08-22T05:24:50.583Z,1755840290.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.9, -13.6 (Local)

2025-08-22T05:24:50.585Z,1755840290.585 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.4

2025-08-22T05:24:50.590Z,1755840290.590 [DAT](INFO): DAT read: 05:24:49.3831 LVL= 22752, 20849, 23506, 31523, AGC= 48, IDX= 498, 0.42,-2.042, 2.744,-1.406,-1.874, PHS=-0.066,-1.620, 0.424, RAW= 163.3,  13.6, CAL= 163.8,  15.9, ROT= 346.2, -15.9

2025-08-22T05:24:50.591Z,1755840290.591 [DAT](INFO): got valid direction response:
 05:24:49.3831 LVL= 22752, 20849, 23506, 31523, AGC= 48, IDX= 498, 0.42,-2.042, 2.744,-1.406,-1.874, PHS=-0.066,-1.620, 0.424, RAW= 163.3,  13.6, CAL= 163.8,  15.9, ROT= 346.2, -15.9

2025-08-22T05:24:50.591Z,1755840290.591 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T05:24:50.592Z,1755840290.592 [DAT](INFO): direction in FSK: [0.933980,-0.229407,0.273959]
2025-08-22T05:24:50.592Z,1755840290.592 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:50.597Z,1755840290.597 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=17.627968
2025-08-22T05:24:50.622Z,1755840290.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503144 s,
      deltaX: -0.300000 m,
      approachRate: -0.596251 m/s,
      rangeRepo size: 4

2025-08-22T05:24:50.623Z,1755840290.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:50.630Z,1755840290.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.549519 m,
      bearing: 41.749774 deg,
      approach rate: -0.425814 m/s,
      LOS rate: -1.206709 deg/s,
      cmd heading: 34.473631 deg,
      new cmd heading: 33.648526 deg.

2025-08-22T05:24:50.631Z,1755840290.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587278 target range: 9.544074 and range: 7.20 m.
2025-08-22T05:24:50.836Z,1755840290.836 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=17.865730
2025-08-22T05:24:51.054Z,1755840291.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:51.061Z,1755840291.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.354827 m,
      bearing: 41.238664 deg,
      approach rate: -0.450230 m/s,
      LOS rate: -1.218154 deg/s,
      cmd heading: 33.648527 deg,
      new cmd heading: 32.595123 deg.

2025-08-22T05:24:51.061Z,1755840291.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568892 target range: 9.544074 and range: 7.20 m.
2025-08-22T05:24:51.085Z,1755840291.085 [DAT](INFO): DAT read: Rx Time:05:24:49.8830 

2025-08-22T05:24:51.085Z,1755840291.085 [DAT](INFO): Rx dataTimestamp_ set to:1755840291.085045
2025-08-22T05:24:51.087Z,1755840291.087 [DAT](INFO): DAT read: Bearing 223.2, -15.9 (Local)

2025-08-22T05:24:51.087Z,1755840291.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.2, -15.9 (Local)

2025-08-22T05:24:51.090Z,1755840291.090 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-08-22T05:24:51.094Z,1755840291.094 [DAT](INFO): DAT read: 05:24:49.8830 LVL= 20608, 20129, 20978, 32755, AGC= 47, IDX= 497, 0.14,-2.152, 2.690,-1.399,-2.051, PHS= 0.001,-1.497, 0.607, RAW= 166.3,   9.5, CAL= 166.1,  10.3, ROT= 343.9, -10.3

2025-08-22T05:24:51.095Z,1755840291.095 [DAT](INFO): got valid direction response:
 05:24:49.8830 LVL= 20608, 20129, 20978, 32755, AGC= 47, IDX= 497, 0.14,-2.152, 2.690,-1.399,-2.051, PHS= 0.001,-1.497, 0.607, RAW= 166.3,   9.5, CAL= 166.1,  10.3, ROT= 343.9, -10.3

2025-08-22T05:24:51.096Z,1755840291.096 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T05:24:51.097Z,1755840291.097 [DAT](INFO): direction in FSK: [0.945296,-0.272846,0.178802]
2025-08-22T05:24:51.097Z,1755840291.097 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:51.101Z,1755840291.101 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=18.131620
2025-08-22T05:24:51.336Z,1755840291.336 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=18.367184
2025-08-22T05:24:51.405Z,1755840291.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.503946 s,
      deltaX: -0.100000 m,
      approachRate: -0.198434 m/s,
      rangeRepo size: 4

2025-08-22T05:24:51.421Z,1755840291.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.058516 m,
      bearing: 32.497045 deg,
      lat: 36.779374 deg,
      lon: -121.859594 deg,
      deltaT: 6.561714 s,
      deltaX: -2.485559 m,
      approachRate: -0.378797 m/s,
      posRepo size: 4

2025-08-22T05:24:51.429Z,1755840291.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.54 m.
2025-08-22T05:24:51.461Z,1755840291.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.188636 m,
      bearing: 40.799265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 32.595124 deg,
      new cmd heading: 31.856913 deg.

2025-08-22T05:24:51.468Z,1755840291.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556008 target range: 9.544074 and range: 7.10 m.
2025-08-22T05:24:51.589Z,1755840291.589 [DAT](INFO): DAT read: Rx Time:05:24:50.3828 

2025-08-22T05:24:51.590Z,1755840291.590 [DAT](INFO): Rx dataTimestamp_ set to:1755840291.589283
2025-08-22T05:24:51.591Z,1755840291.591 [DAT](INFO): DAT read: Bearing 223.4, -13.4 (Local)

2025-08-22T05:24:51.591Z,1755840291.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.4, -13.4 (Local)

2025-08-22T05:24:51.593Z,1755840291.593 [DAT](INFO): DAT read: Range 11 to 50 :     6.8 m (trip time 4.5 ms) speed 0.4

2025-08-22T05:24:51.598Z,1755840291.598 [DAT](INFO): DAT read: 05:24:50.3828 LVL= 21712, 19825, 23154, 31443, AGC= 48, IDX= 495,-0.17, 2.970, 1.438,-2.651, 3.040, PHS= 0.032,-1.557, 0.549, RAW= 163.6,  10.3, CAL= 163.6,  11.3, ROT= 346.4, -11.3

2025-08-22T05:24:51.599Z,1755840291.599 [DAT](INFO): got valid direction response:
 05:24:50.3828 LVL= 21712, 19825, 23154, 31443, AGC= 48, IDX= 495,-0.17, 2.970, 1.438,-2.651, 3.040, PHS= 0.032,-1.557, 0.549, RAW= 163.6,  10.3, CAL= 163.6,  11.3, ROT= 346.4, -11.3

2025-08-22T05:24:51.600Z,1755840291.600 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T05:24:51.600Z,1755840291.600 [DAT](INFO): direction in FSK: [0.953119,-0.230584,0.195946]
2025-08-22T05:24:51.601Z,1755840291.601 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:51.605Z,1755840291.605 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.635969
2025-08-22T05:24:51.809Z,1755840291.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.800000 m,
      deltaT: 0.504238 s,
      deltaX: -0.300000 m,
      approachRate: -0.594957 m/s,
      rangeRepo size: 4

2025-08-22T05:24:51.811Z,1755840291.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.760269 m,
      bearing: 34.127079 deg,
      lat: 36.779376 deg,
      lon: -121.859594 deg,
      deltaT: 7.065952 s,
      deltaX: -2.783805 m,
      approachRate: -0.393975 m/s,
      posRepo size: 4

2025-08-22T05:24:51.812Z,1755840291.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.54 m.
2025-08-22T05:24:51.814Z,1755840291.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 6.006776 m,
      bearing: 40.316601 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 31.856914 deg,
      new cmd heading: 31.007952 deg.

2025-08-22T05:24:51.815Z,1755840291.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541191 target range: 9.544074 and range: 6.80 m.
2025-08-22T05:24:51.840Z,1755840291.840 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=18.871262
2025-08-22T05:24:52.093Z,1755840292.093 [DAT](INFO): DAT read: Rx Time:05:24:50.8827 

2025-08-22T05:24:52.093Z,1755840292.093 [DAT](INFO): Rx dataTimestamp_ set to:1755840292.092979
2025-08-22T05:24:52.095Z,1755840292.095 [DAT](INFO): DAT read: Bearing 218.8,  -5.3 (Local)

2025-08-22T05:24:52.095Z,1755840292.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 218.8,  -5.3 (Local)

2025-08-22T05:24:52.097Z,1755840292.097 [DAT](INFO): DAT read: Range 11 to 50 :     6.6 m (trip time 4.4 ms) speed 0.4

2025-08-22T05:24:52.102Z,1755840292.102 [DAT](INFO): DAT read: 05:24:50.8827 LVL= 18096, 18977, 20034, 31971, AGC= 47, IDX= 510, 0.29, 2.355, 0.488, 2.751, 2.151, PHS= 0.306,-1.617, 0.556, RAW= 156.0,   7.4, CAL= 155.5,   7.6, ROT= 354.5,  -7.6

2025-08-22T05:24:52.103Z,1755840292.103 [DAT](INFO): got valid direction response:
 05:24:50.8827 LVL= 18096, 18977, 20034, 31971, AGC= 47, IDX= 510, 0.29, 2.355, 0.488, 2.751, 2.151, PHS= 0.306,-1.617, 0.556, RAW= 156.0,   7.4, CAL= 155.5,   7.6, ROT= 354.5,  -7.6

2025-08-22T05:24:52.103Z,1755840292.103 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T05:24:52.104Z,1755840292.104 [DAT](INFO): direction in FSK: [0.986652,-0.095004,0.132256]
2025-08-22T05:24:52.104Z,1755840292.104 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:52.108Z,1755840292.108 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=19.139326
2025-08-22T05:24:52.278Z,1755840292.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.600000 m,
      deltaT: 0.503696 s,
      deltaX: -0.200000 m,
      approachRate: -0.397065 m/s,
      rangeRepo size: 4

2025-08-22T05:24:52.284Z,1755840292.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.561431 m,
      bearing: 41.233089 deg,
      lat: 36.779376 deg,
      lon: -121.859594 deg,
      deltaT: 7.569648 s,
      deltaX: -2.982643 m,
      approachRate: -0.394027 m/s,
      posRepo size: 4

2025-08-22T05:24:52.285Z,1755840292.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.54 m.
2025-08-22T05:24:52.292Z,1755840292.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 5.776120 m,
      bearing: 39.731345 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 31.007952 deg,
      new cmd heading: 30.020943 deg.

2025-08-22T05:24:52.293Z,1755840292.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523964 target range: 9.544074 and range: 6.60 m.
2025-08-22T05:24:52.346Z,1755840292.346 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=19.376314
2025-08-22T05:24:52.597Z,1755840292.597 [DAT](INFO): DAT read: Rx Time:05:24:51.3825 

2025-08-22T05:24:52.597Z,1755840292.597 [DAT](INFO): Rx dataTimestamp_ set to:1755840292.596983
2025-08-22T05:24:52.599Z,1755840292.599 [DAT](INFO): DAT read: Bearing 217.5,   0.8 (Local)

2025-08-22T05:24:52.599Z,1755840292.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 217.5,   0.8 (Local)

2025-08-22T05:24:52.601Z,1755840292.601 [DAT](INFO): DAT read: Range 11 to 50 :     6.3 m (trip time 4.2 ms) speed 0.4

2025-08-22T05:24:52.606Z,1755840292.606 [DAT](INFO): DAT read: 05:24:51.3825 LVL= 17840, 24209, 22930, 32291, AGC= 47, IDX= 508,-0.07, 2.068,-0.000, 2.211, 1.698, PHS= 0.473,-1.653, 0.470, RAW= 149.9,   6.7, CAL= 149.3,   7.2, ROT=   0.7,  -7.2

2025-08-22T05:24:52.607Z,1755840292.607 [DAT](INFO): got valid direction response:
 05:24:51.3825 LVL= 17840, 24209, 22930, 32291, AGC= 47, IDX= 508,-0.07, 2.068,-0.000, 2.211, 1.698, PHS= 0.473,-1.653, 0.470, RAW= 149.9,   6.7, CAL= 149.3,   7.2, ROT=   0.7,  -7.2

2025-08-22T05:24:52.607Z,1755840292.607 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T05:24:52.608Z,1755840292.608 [DAT](INFO): direction in FSK: [0.992041,0.012121,0.125333]
2025-08-22T05:24:52.608Z,1755840292.608 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:52.620Z,1755840292.620 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=19.650841
2025-08-22T05:24:52.638Z,1755840292.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.300000 m,
      deltaT: 0.504004 s,
      deltaX: -0.300000 m,
      approachRate: -0.595233 m/s,
      rangeRepo size: 4

2025-08-22T05:24:52.669Z,1755840292.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.263185 m,
      bearing: 47.421769 deg,
      lat: 36.779376 deg,
      lon: -121.859594 deg,
      deltaT: 8.073652 s,
      deltaX: -3.280890 m,
      approachRate: -0.406370 m/s,
      posRepo size: 4

2025-08-22T05:24:52.670Z,1755840292.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.26 m. 9.54 m.
2025-08-22T05:24:52.677Z,1755840292.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 5.597400 m,
      bearing: 39.243489 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 30.020942 deg,
      new cmd heading: 29.263639 deg.

2025-08-22T05:24:52.678Z,1755840292.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510747 target range: 9.544074 and range: 6.30 m.
2025-08-22T05:24:52.854Z,1755840292.854 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=19.883829
2025-08-22T05:24:53.101Z,1755840293.101 [DAT](INFO): DAT read: Rx Time:05:24:51.8824 

2025-08-22T05:24:53.101Z,1755840293.101 [DAT](INFO): Rx dataTimestamp_ set to:1755840293.101139
2025-08-22T05:24:53.103Z,1755840293.103 [DAT](INFO): DAT read: Bearing 219.2,   5.1 (Local)

2025-08-22T05:24:53.104Z,1755840293.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.2,   5.1 (Local)

2025-08-22T05:24:53.106Z,1755840293.106 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-08-22T05:24:53.110Z,1755840293.110 [DAT](INFO): DAT read: 05:24:51.8824 LVL= 21840, 30449, 27362, 31187, AGC= 46, IDX= 508,-0.46,-1.634, 2.502,-1.687,-2.021, PHS= 0.489,-1.716, 0.290, RAW= 145.3,   8.9, CAL= 144.9,   9.7, ROT=   5.1,  -9.7

2025-08-22T05:24:53.112Z,1755840293.112 [DAT](INFO): got valid direction response:
 05:24:51.8824 LVL= 21840, 30449, 27362, 31187, AGC= 46, IDX= 508,-0.46,-1.634, 2.502,-1.687,-2.021, PHS= 0.489,-1.716, 0.290, RAW= 145.3,   8.9, CAL= 144.9,   9.7, ROT=   5.1,  -9.7

2025-08-22T05:24:53.112Z,1755840293.112 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T05:24:53.113Z,1755840293.113 [DAT](INFO): direction in FSK: [0.981801,0.087623,0.168489]
2025-08-22T05:24:53.113Z,1755840293.113 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:53.117Z,1755840293.117 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=20.147575
2025-08-22T05:24:53.137Z,1755840293.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504156 s,
      deltaX: -0.100000 m,
      approachRate: -0.198352 m/s,
      rangeRepo size: 4

2025-08-22T05:24:53.144Z,1755840293.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.163801 m,
      bearing: 50.196853 deg,
      lat: 36.779373 deg,
      lon: -121.859585 deg,
      deltaT: 8.577808 s,
      deltaX: -3.380273 m,
      approachRate: -0.394072 m/s,
      posRepo size: 4

2025-08-22T05:24:53.145Z,1755840293.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m.
2025-08-22T05:24:53.154Z,1755840293.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 5.378875 m,
      bearing: 38.657437 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 29.263638 deg,
      new cmd heading: 28.214610 deg.

2025-08-22T05:24:53.156Z,1755840293.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492438 target range: 9.544074 and range: 6.20 m.
2025-08-22T05:24:53.352Z,1755840293.352 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=20.383287
2025-08-22T05:24:53.549Z,1755840293.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:53.556Z,1755840293.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:53.558Z,1755840293.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 5.165812 m,
      bearing: 38.072849 deg,
      approach rate: -0.513667 m/s,
      LOS rate: -1.467474 deg/s,
      cmd heading: 28.214610 deg,
      new cmd heading: 26.997415 deg.

2025-08-22T05:24:53.564Z,1755840293.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471194 target range: 9.544074 and range: 6.20 m.
2025-08-22T05:24:53.606Z,1755840293.606 [DAT](INFO): DAT read: Rx Time:05:24:52.3821 

2025-08-22T05:24:53.606Z,1755840293.606 [DAT](INFO): Rx dataTimestamp_ set to:1755840293.605933
2025-08-22T05:24:53.609Z,1755840293.609 [DAT](INFO): DAT read: Bearing 221.4,   9.2 (Local)

2025-08-22T05:24:53.609Z,1755840293.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.4,   9.2 (Local)

2025-08-22T05:24:53.616Z,1755840293.616 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.4

2025-08-22T05:24:53.623Z,1755840293.623 [DAT](INFO): DAT read: 05:24:52.3821 LVL= 30864, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.22,-1.392, 2.745,-1.614,-1.746, PHS= 0.456,-1.746, 0.088, RAW= 141.0,  11.7, CAL= 140.4,  12.7, ROT=   9.6, -12.7

2025-08-22T05:24:53.626Z,1755840293.626 [DAT](INFO): got valid direction response:
 05:24:52.3821 LVL= 30864, 32753, 32754, 32755, AGC= 49, IDX= 505, 0.22,-1.392, 2.745,-1.614,-1.746, PHS= 0.456,-1.746, 0.088, RAW= 141.0,  11.7, CAL= 140.4,  12.7, ROT=   9.6, -12.7

2025-08-22T05:24:53.626Z,1755840293.626 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T05:24:53.628Z,1755840293.628 [DAT](INFO): direction in FSK: [0.961873,0.162689,0.219846]
2025-08-22T05:24:53.628Z,1755840293.628 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:53.654Z,1755840293.654 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=20.684738
2025-08-22T05:24:53.856Z,1755840293.856 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=20.887150
2025-08-22T05:24:54.071Z,1755840294.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.504794 s,
      deltaX: -0.300000 m,
      approachRate: -0.594301 m/s,
      rangeRepo size: 4

2025-08-22T05:24:54.073Z,1755840294.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.865592 m,
      bearing: 53.910194 deg,
      lat: 36.779368 deg,
      lon: -121.859580 deg,
      deltaT: 9.082602 s,
      deltaX: -3.678482 m,
      approachRate: -0.405003 m/s,
      posRepo size: 4

2025-08-22T05:24:54.074Z,1755840294.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.54 m.
2025-08-22T05:24:54.077Z,1755840294.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 4.923162 m,
      bearing: 37.317920 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 26.997416 deg,
      new cmd heading: 25.906528 deg.

2025-08-22T05:24:54.078Z,1755840294.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452154 target range: 9.544074 and range: 5.90 m.
2025-08-22T05:24:54.109Z,1755840294.109 [DAT](INFO): DAT read: Rx Time:05:24:52.8821 

2025-08-22T05:24:54.109Z,1755840294.109 [DAT](INFO): Rx dataTimestamp_ set to:1755840294.109085
2025-08-22T05:24:54.111Z,1755840294.111 [DAT](INFO): DAT read: Bearing 223.0,  12.4 (Local)

2025-08-22T05:24:54.111Z,1755840294.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 223.0,  12.4 (Local)

2025-08-22T05:24:54.113Z,1755840294.113 [DAT](INFO): DAT read: Range 11 to 50 :     5.9 m (trip time 3.9 ms) speed 0.3

2025-08-22T05:24:54.118Z,1755840294.118 [DAT](INFO): DAT read: 05:24:52.8821 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.11,-1.741, 2.388,-2.090,-2.068, PHS= 0.430,-1.782,-0.066, RAW= 137.7,  14.0, CAL= 136.9,  15.1, ROT=  13.1, -15.1

2025-08-22T05:24:54.119Z,1755840294.119 [DAT](INFO): got valid direction response:
 05:24:52.8821 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 505, 0.11,-1.741, 2.388,-2.090,-2.068, PHS= 0.430,-1.782,-0.066, RAW= 137.7,  14.0, CAL= 136.9,  15.1, ROT=  13.1, -15.1

2025-08-22T05:24:54.119Z,1755840294.119 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T05:24:54.120Z,1755840294.120 [DAT](INFO): direction in FSK: [0.940347,0.218826,0.260505]
2025-08-22T05:24:54.120Z,1755840294.120 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:54.124Z,1755840294.124 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=21.155262
2025-08-22T05:24:54.361Z,1755840294.361 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=21.391937
2025-08-22T05:24:54.486Z,1755840294.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.900000 m,
      deltaT: 0.503152 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:54.489Z,1755840294.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.865592 m,
      bearing: 57.447099 deg,
      lat: 36.779366 deg,
      lon: -121.859577 deg,
      deltaT: 9.585754 s,
      deltaX: -3.678482 m,
      approachRate: -0.383745 m/s,
      posRepo size: 4

2025-08-22T05:24:54.490Z,1755840294.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.87 m. 9.54 m.
2025-08-22T05:24:54.492Z,1755840294.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 4.733618 m,
      bearing: 36.672166 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 25.906528 deg,
      new cmd heading: 25.032791 deg.

2025-08-22T05:24:54.493Z,1755840294.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436905 target range: 9.544074 and range: 5.90 m.
2025-08-22T05:24:54.613Z,1755840294.613 [DAT](INFO): DAT read: Rx Time:05:24:53.3819 

2025-08-22T05:24:54.613Z,1755840294.613 [DAT](INFO): Rx dataTimestamp_ set to:1755840294.613175
2025-08-22T05:24:54.615Z,1755840294.615 [DAT](INFO): DAT read: Bearing 231.9,  11.0 (Local)

2025-08-22T05:24:54.615Z,1755840294.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.9,  11.0 (Local)

2025-08-22T05:24:54.617Z,1755840294.617 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.3

2025-08-22T05:24:54.622Z,1755840294.622 [DAT](INFO): DAT read: 05:24:53.3819 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.16,-0.504,-2.478,-0.852,-0.582, PHS= 0.180,-1.850,-0.314, RAW= 136.5,  20.9, CAL= 137.2,  24.8, ROT=  12.8, -24.8

2025-08-22T05:24:54.623Z,1755840294.623 [DAT](INFO): got valid direction response:
 05:24:53.3819 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 503, 0.16,-0.504,-2.478,-0.852,-0.582, PHS= 0.180,-1.850,-0.314, RAW= 136.5,  20.9, CAL= 137.2,  24.8, ROT=  12.8, -24.8

2025-08-22T05:24:54.623Z,1755840294.623 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T05:24:54.624Z,1755840294.624 [DAT](INFO): direction in FSK: [0.885219,0.201117,0.419452]
2025-08-22T05:24:54.625Z,1755840294.625 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:54.632Z,1755840294.632 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=21.663227
2025-08-22T05:24:54.844Z,1755840294.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504090 s,
      deltaX: -0.300000 m,
      approachRate: -0.595132 m/s,
      rangeRepo size: 4

2025-08-22T05:24:54.846Z,1755840294.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.567341 m,
      bearing: 55.098641 deg,
      lat: 36.779364 deg,
      lon: -121.859575 deg,
      deltaT: 10.089844 s,
      deltaX: -3.976733 m,
      approachRate: -0.394132 m/s,
      posRepo size: 4

2025-08-22T05:24:54.847Z,1755840294.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.54 m.
2025-08-22T05:24:54.849Z,1755840294.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 4.560417 m,
      bearing: 36.132852 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 25.032792 deg,
      new cmd heading: 24.281759 deg.

2025-08-22T05:24:54.850Z,1755840294.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423797 target range: 9.544074 and range: 5.60 m.
2025-08-22T05:24:54.864Z,1755840294.864 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=21.895290
2025-08-22T05:24:55.118Z,1755840295.118 [DAT](INFO): DAT read: Rx Time:05:24:53.8818 

2025-08-22T05:24:55.118Z,1755840295.118 [DAT](INFO): Rx dataTimestamp_ set to:1755840295.117784
2025-08-22T05:24:55.119Z,1755840295.119 [DAT](INFO): DAT read: Bearing 251.6,   5.3 (Local)

2025-08-22T05:24:55.120Z,1755840295.120 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.6,   5.3 (Local)

2025-08-22T05:24:55.122Z,1755840295.122 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.4

2025-08-22T05:24:55.127Z,1755840295.127 [DAT](INFO): DAT read: 05:24:53.8818 LVL= 28000, 24545, 30322, 32755, AGC= 52, IDX= 502, 0.21, 1.776, 0.413, 1.526, 2.102, PHS=-0.224,-1.643,-0.620, RAW= 134.3,  34.7, CAL= 140.3,  45.8, ROT=   9.7, -45.8

2025-08-22T05:24:55.128Z,1755840295.128 [DAT](INFO): got valid direction response:
 05:24:53.8818 LVL= 28000, 24545, 30322, 32755, AGC= 52, IDX= 502, 0.21, 1.776, 0.413, 1.526, 2.102, PHS=-0.224,-1.643,-0.620, RAW= 134.3,  34.7, CAL= 140.3,  45.8, ROT=   9.7, -45.8

2025-08-22T05:24:55.128Z,1755840295.128 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T05:24:55.129Z,1755840295.129 [DAT](INFO): direction in FSK: [0.687198,0.117465,0.716911]
2025-08-22T05:24:55.129Z,1755840295.129 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:55.133Z,1755840295.133 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=22.164219
2025-08-22T05:24:55.320Z,1755840295.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.504609 s,
      deltaX: -0.200000 m,
      approachRate: -0.396346 m/s,
      rangeRepo size: 4

2025-08-22T05:24:55.322Z,1755840295.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.368535 m,
      bearing: 51.670318 deg,
      lat: 36.779362 deg,
      lon: -121.859575 deg,
      deltaT: 10.594453 s,
      deltaX: -4.175539 m,
      approachRate: -0.394125 m/s,
      posRepo size: 4

2025-08-22T05:24:55.323Z,1755840295.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.54 m.
2025-08-22T05:24:55.329Z,1755840295.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 4.342514 m,
      bearing: 35.455030 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 24.281760 deg,
      new cmd heading: 23.289385 deg.

2025-08-22T05:24:55.330Z,1755840295.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406476 target range: 9.544074 and range: 5.40 m.
2025-08-22T05:24:55.368Z,1755840295.368 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=22.399309
2025-08-22T05:24:55.621Z,1755840295.621 [DAT](INFO): DAT read: Rx Time:05:24:54.3816 

2025-08-22T05:24:55.621Z,1755840295.621 [DAT](INFO): Rx dataTimestamp_ set to:1755840295.621037
2025-08-22T05:24:55.622Z,1755840295.622 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.3

2025-08-22T05:24:55.623Z,1755840295.623 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-22T05:24:55.624Z,1755840295.624 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=22.654974
2025-08-22T05:24:55.708Z,1755840295.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:55.715Z,1755840295.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503253 s,
      deltaX: -0.300000 m,
      approachRate: -0.596122 m/s,
      rangeRepo size: 4

2025-08-22T05:24:55.716Z,1755840295.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:55.719Z,1755840295.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 4.153601 m,
      bearing: 34.847271 deg,
      approach rate: -0.477673 m/s,
      LOS rate: -1.606601 deg/s,
      cmd heading: 23.289386 deg,
      new cmd heading: 22.018818 deg.

2025-08-22T05:24:55.724Z,1755840295.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384301 target range: 9.544074 and range: 5.10 m.
2025-08-22T05:24:55.872Z,1755840295.872 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=22.903370
2025-08-22T05:24:56.107Z,1755840296.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:56.114Z,1755840296.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 3.963700 m,
      bearing: 34.205182 deg,
      approach rate: -0.479326 m/s,
      LOS rate: -1.698298 deg/s,
      cmd heading: 22.018819 deg,
      new cmd heading: 20.673390 deg.

2025-08-22T05:24:56.114Z,1755840296.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360819 target range: 9.544074 and range: 5.10 m.
2025-08-22T05:24:56.125Z,1755840296.125 [DAT](INFO): DAT read: Rx Time:05:24:54.8816 

2025-08-22T05:24:56.125Z,1755840296.125 [DAT](INFO): Rx dataTimestamp_ set to:1755840296.125207
2025-08-22T05:24:56.127Z,1755840296.127 [DAT](INFO): DAT read: Bearing 325.2, -12.0 (Local)

2025-08-22T05:24:56.127Z,1755840296.127 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2, -12.0 (Local)

2025-08-22T05:24:56.129Z,1755840296.129 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.3

2025-08-22T05:24:56.134Z,1755840296.134 [DAT](INFO): DAT read: 05:24:54.8816 LVL= 29264, 19521, 32754, 32755, AGC= 53, IDX= 500, 0.09, 2.144,-3.118, 2.610,-2.532, PHS=-1.505,-0.541,-1.185, RAW= 311.0,  53.3, CAL= 311.7,  56.8, ROT= 198.3, -56.8

2025-08-22T05:24:56.136Z,1755840296.136 [DAT](INFO): got valid direction response:
 05:24:54.8816 LVL= 29264, 19521, 32754, 32755, AGC= 53, IDX= 500, 0.09, 2.144,-3.118, 2.610,-2.532, PHS=-1.505,-0.541,-1.185, RAW= 311.0,  53.3, CAL= 311.7,  56.8, ROT= 198.3, -56.8

2025-08-22T05:24:56.136Z,1755840296.136 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T05:24:56.137Z,1755840296.137 [DAT](INFO): direction in FSK: [-0.519870,-0.171931,0.836764]
2025-08-22T05:24:56.137Z,1755840296.137 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:56.141Z,1755840296.141 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=23.171865
2025-08-22T05:24:56.377Z,1755840296.377 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=23.407692
2025-08-22T05:24:56.629Z,1755840296.629 [DAT](INFO): DAT read: Rx Time:05:24:55.3813 

2025-08-22T05:24:56.629Z,1755840296.629 [DAT](INFO): Rx dataTimestamp_ set to:1755840296.628991
2025-08-22T05:24:56.631Z,1755840296.631 [DAT](INFO): DAT read: Bearing 338.0, -15.0 (Local)

2025-08-22T05:24:56.631Z,1755840296.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.0, -15.0 (Local)

2025-08-22T05:24:56.633Z,1755840296.633 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-08-22T05:24:56.638Z,1755840296.638 [DAT](INFO): DAT read: 05:24:55.3813 LVL= 32752, 20529, 32754, 32755, AGC= 51, IDX= 498,-0.03,-1.228, 0.141,-0.641, 0.305, PHS=-1.431,-0.119,-0.990, RAW= 310.7,  37.8, CAL= 311.7,  42.8, ROT= 198.3, -42.8

2025-08-22T05:24:56.639Z,1755840296.639 [DAT](INFO): got valid direction response:
 05:24:55.3813 LVL= 32752, 20529, 32754, 32755, AGC= 51, IDX= 498,-0.03,-1.228, 0.141,-0.641, 0.305, PHS=-1.431,-0.119,-0.990, RAW= 310.7,  37.8, CAL= 311.7,  42.8, ROT= 198.3, -42.8

2025-08-22T05:24:56.639Z,1755840296.639 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T05:24:56.640Z,1755840296.640 [DAT](INFO): direction in FSK: [-0.696622,-0.230386,0.679441]
2025-08-22T05:24:56.640Z,1755840296.640 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:56.680Z,1755840296.680 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=23.710894
2025-08-22T05:24:56.744Z,1755840296.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 1.007954 s,
      deltaX: -0.400000 m,
      approachRate: -0.396844 m/s,
      rangeRepo size: 4

2025-08-22T05:24:56.746Z,1755840296.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.672701 m,
      bearing: 235.005478 deg,
      lat: 36.779362 deg,
      lon: -121.859575 deg,
      deltaT: 12.105660 s,
      deltaX: -4.871373 m,
      approachRate: -0.402405 m/s,
      posRepo size: 4

2025-08-22T05:24:56.752Z,1755840296.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.54 m.
2025-08-22T05:24:56.754Z,1755840296.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 3.655258 m,
      bearing: 33.015379 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 20.673389 deg,
      new cmd heading: 19.342672 deg.

2025-08-22T05:24:56.755Z,1755840296.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337593 target range: 9.544074 and range: 4.70 m.
2025-08-22T05:24:56.881Z,1755840296.881 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=23.911434
2025-08-22T05:24:57.134Z,1755840297.134 [DAT](INFO): DAT read: Rx Time:05:24:55.8813 

2025-08-22T05:24:57.134Z,1755840297.134 [DAT](INFO): Rx dataTimestamp_ set to:1755840297.134026
2025-08-22T05:24:57.136Z,1755840297.136 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.3

2025-08-22T05:24:57.137Z,1755840297.137 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-22T05:24:57.139Z,1755840297.139 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=24.169411
2025-08-22T05:24:57.274Z,1755840297.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.505035 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:24:57.276Z,1755840297.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:57.278Z,1755840297.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 3.401552 m,
      bearing: 31.883789 deg,
      approach rate: -0.474761 m/s,
      LOS rate: -2.275338 deg/s,
      cmd heading: 19.342672 deg,
      new cmd heading: 16.912309 deg.

2025-08-22T05:24:57.279Z,1755840297.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.295175 target range: 9.544074 and range: 4.70 m.
2025-08-22T05:24:57.384Z,1755840297.384 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=24.415234
2025-08-22T05:24:57.640Z,1755840297.640 [DAT](INFO): DAT read: Rx Time:05:24:56.3811 

2025-08-22T05:24:57.641Z,1755840297.641 [DAT](INFO): Rx dataTimestamp_ set to:1755840297.640929
2025-08-22T05:24:57.643Z,1755840297.643 [DAT](INFO): DAT read: Bearing 297.0, -37.0 (Local)

2025-08-22T05:24:57.644Z,1755840297.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.0, -37.0 (Local)

2025-08-22T05:24:57.647Z,1755840297.647 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.3

2025-08-22T05:24:57.654Z,1755840297.654 [DAT](INFO): DAT read: 05:24:56.3811 LVL= 24752, 27281, 26402, 32755, AGC= 49, IDX= 495, 0.41, 0.903, 1.615, 2.107, 2.533, PHS=-1.528,-0.873,-0.470, RAW= 247.8,  47.7, CAL= 250.4,  54.3, ROT= 259.6, -54.3

2025-08-22T05:24:57.655Z,1755840297.655 [DAT](INFO): got valid direction response:
 05:24:56.3811 LVL= 24752, 27281, 26402, 32755, AGC= 49, IDX= 495, 0.41, 0.903, 1.615, 2.107, 2.533, PHS=-1.528,-0.873,-0.470, RAW= 247.8,  47.7, CAL= 250.4,  54.3, ROT= 259.6, -54.3

2025-08-22T05:24:57.655Z,1755840297.655 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T05:24:57.656Z,1755840297.656 [DAT](INFO): direction in FSK: [-0.105340,-0.573954,0.812084]
2025-08-22T05:24:57.656Z,1755840297.656 [DAT](INFO): publishing direction and range info
2025-08-22T05:24:57.660Z,1755840297.660 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=24.690977
2025-08-22T05:24:57.766Z,1755840297.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.506903 s,
      deltaX: -0.300000 m,
      approachRate: -0.591829 m/s,
      rangeRepo size: 4

2025-08-22T05:24:57.773Z,1755840297.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.374576 m,
      bearing: 294.362127 deg,
      lat: 36.779358 deg,
      lon: -121.859587 deg,
      deltaT: 13.117598 s,
      deltaX: -5.169498 m,
      approachRate: -0.394089 m/s,
      posRepo size: 4

2025-08-22T05:24:57.774Z,1755840297.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.54 m.
2025-08-22T05:24:57.780Z,1755840297.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 3.187980 m,
      bearing: 30.844161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 16.912308 deg,
      new cmd heading: 15.877796 deg.

2025-08-22T05:24:57.781Z,1755840297.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277120 target range: 9.544074 and range: 4.40 m.
2025-08-22T05:24:57.888Z,1755840297.888 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=24.919342
2025-08-22T05:24:58.132Z,1755840298.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:24:58.135Z,1755840298.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:58.137Z,1755840298.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 3.003450 m,
      bearing: 30.016459 deg,
      approach rate: -0.500892 m/s,
      LOS rate: -2.384689 deg/s,
      cmd heading: 15.877796 deg,
      new cmd heading: 14.121298 deg.

2025-08-22T05:24:58.138Z,1755840298.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246463 target range: 9.544074 and range: 4.40 m.
2025-08-22T05:24:58.141Z,1755840298.141 [DAT](INFO): DAT read: Rx Time:05:24:56.8810 

2025-08-22T05:24:58.141Z,1755840298.141 [DAT](INFO): Rx dataTimestamp_ set to:1755840298.140693
2025-08-22T05:24:58.142Z,1755840298.142 [DAT](INFO): DAT read: Range 11 to 50 :     4.2 m (trip time 2.8 ms) speed 0.3

2025-08-22T05:24:58.143Z,1755840298.143 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-22T05:24:58.144Z,1755840298.144 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=25.175362
2025-08-22T05:24:58.393Z,1755840298.393 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=25.423525
2025-08-22T05:24:58.541Z,1755840298.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 0.499764 s,
      deltaX: -0.200000 m,
      approachRate: -0.400189 m/s,
      rangeRepo size: 4

2025-08-22T05:24:58.542Z,1755840298.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:58.545Z,1755840298.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 2.814502 m,
      bearing: 29.052704 deg,
      approach rate: -0.465056 m/s,
      LOS rate: -2.531208 deg/s,
      cmd heading: 14.121297 deg,
      new cmd heading: 12.065366 deg.

2025-08-22T05:24:58.546Z,1755840298.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210580 target range: 9.544074 and range: 4.20 m.
2025-08-22T05:24:58.644Z,1755840298.644 [DAT](INFO): DAT read: Rx Time:05:24:57.3808 

2025-08-22T05:24:58.645Z,1755840298.645 [DAT](INFO): Rx dataTimestamp_ set to:1755840298.644635
2025-08-22T05:24:58.646Z,1755840298.646 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.3

2025-08-22T05:24:58.647Z,1755840298.647 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-22T05:24:58.648Z,1755840298.648 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=25.678619
2025-08-22T05:24:58.896Z,1755840298.896 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=25.927214
2025-08-22T05:24:59.017Z,1755840299.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.503942 s,
      deltaX: -0.300000 m,
      approachRate: -0.595306 m/s,
      rangeRepo size: 4

2025-08-22T05:24:59.024Z,1755840299.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:59.032Z,1755840299.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 2.624946 m,
      bearing: 28.065279 deg,
      approach rate: -0.398491 m/s,
      LOS rate: -2.225587 deg/s,
      cmd heading: 12.065366 deg,
      new cmd heading: 9.948973 deg.

2025-08-22T05:24:59.033Z,1755840299.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173642 target range: 9.544074 and range: 3.90 m.
2025-08-22T05:24:59.149Z,1755840299.149 [DAT](INFO): DAT read: Rx Time:05:24:57.8806 

2025-08-22T05:24:59.150Z,1755840299.150 [DAT](INFO): Rx dataTimestamp_ set to:1755840299.149472
2025-08-22T05:24:59.153Z,1755840299.153 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.3

2025-08-22T05:24:59.154Z,1755840299.154 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-22T05:24:59.155Z,1755840299.155 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=26.185949
2025-08-22T05:24:59.370Z,1755840299.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.504837 s,
      deltaX: -0.300000 m,
      approachRate: -0.594252 m/s,
      rangeRepo size: 4

2025-08-22T05:24:59.371Z,1755840299.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:59.374Z,1755840299.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 2.442301 m,
      bearing: 27.041907 deg,
      approach rate: -0.517128 m/s,
      LOS rate: -3.114016 deg/s,
      cmd heading: 9.948973 deg,
      new cmd heading: 7.750362 deg.

2025-08-22T05:24:59.374Z,1755840299.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135269 target range: 9.544074 and range: 3.60 m.
2025-08-22T05:24:59.403Z,1755840299.403 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=26.433144
2025-08-22T05:24:59.653Z,1755840299.653 [DAT](INFO): DAT read: Rx Time:05:24:58.3805 

2025-08-22T05:24:59.654Z,1755840299.654 [DAT](INFO): Rx dataTimestamp_ set to:1755840299.653553
2025-08-22T05:24:59.657Z,1755840299.657 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-08-22T05:24:59.658Z,1755840299.658 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-22T05:24:59.660Z,1755840299.660 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=26.689884
2025-08-22T05:24:59.752Z,1755840299.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.504081 s,
      deltaX: -0.100000 m,
      approachRate: -0.198381 m/s,
      rangeRepo size: 4

2025-08-22T05:24:59.753Z,1755840299.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:24:59.756Z,1755840299.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 2.276911 m,
      bearing: 26.035385 deg,
      approach rate: -0.432566 m/s,
      LOS rate: -2.823564 deg/s,
      cmd heading: 7.750362 deg,
      new cmd heading: 5.592226 deg.

2025-08-22T05:24:59.757Z,1755840299.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097603 target range: 9.544074 and range: 3.50 m.
2025-08-22T05:24:59.908Z,1755840299.908 [DAT](INFO): DAT read: Rx Time:05:24:58.8805 

2025-08-22T05:24:59.910Z,1755840299.910 [DAT](INFO): Rx dataTimestamp_ set to:1755840299.908667
2025-08-22T05:24:59.913Z,1755840299.913 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=26.942938
2025-08-22T05:25:00.158Z,1755840300.158 [DAT](INFO): DAT read: Bearing 276.0,  36.7 (Local)

2025-08-22T05:25:00.158Z,1755840300.158 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.0,  36.7 (Local)

2025-08-22T05:25:00.161Z,1755840300.161 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.2

2025-08-22T05:25:00.168Z,1755840300.168 [DAT](INFO): DAT read: 05:24:58.8805 LVL= 12528,  7057, 14066, 19027, AGC= 45, IDX= 506,-0.40,-2.516, 2.845, 2.563,-2.078, PHS=-0.335,-1.315,-1.687, RAW=  74.5,  44.3, CAL=  70.8,  50.6, ROT=  79.2, -50.6

2025-08-22T05:25:00.169Z,1755840300.169 [DAT](INFO): got valid direction response:
 05:24:58.8805 LVL= 12528,  7057, 14066, 19027, AGC= 45, IDX= 506,-0.40,-2.516, 2.845, 2.563,-2.078, PHS=-0.335,-1.315,-1.687, RAW=  74.5,  44.3, CAL=  70.8,  50.6, ROT=  79.2, -50.6

2025-08-22T05:25:00.170Z,1755840300.170 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T05:25:00.176Z,1755840300.176 [DAT](INFO): direction in FSK: [0.118937,0.623488,0.772734]
2025-08-22T05:25:00.176Z,1755840300.176 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:00.185Z,1755840300.185 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=27.215660
2025-08-22T05:25:00.261Z,1755840300.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.502505 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:00.263Z,1755840300.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.479775 m,
      bearing: 110.364411 deg,
      lat: 36.779353 deg,
      lon: -121.859587 deg,
      deltaT: 15.632727 s,
      deltaX: -6.064299 m,
      approachRate: -0.387923 m/s,
      posRepo size: 4

2025-08-22T05:25:00.264Z,1755840300.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.54 m.
2025-08-22T05:25:00.266Z,1755840300.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 2.071689 m,
      bearing: 24.874890 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 5.592226 deg,
      new cmd heading: 4.541460 deg.

2025-08-22T05:25:00.275Z,1755840300.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079263 target range: 9.544074 and range: 3.50 m.
2025-08-22T05:25:00.412Z,1755840300.412 [DAT](INFO): DAT read: Rx Time:05:24:59.3803 

2025-08-22T05:25:00.414Z,1755840300.414 [DAT](INFO): Rx dataTimestamp_ set to:1755840300.412916
2025-08-22T05:25:00.418Z,1755840300.418 [DAT](INFO): DAT read: Bearing 322.5,  26.8 (Local)

2025-08-22T05:25:00.420Z,1755840300.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.5,  26.8 (Local)

2025-08-22T05:25:00.428Z,1755840300.428 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=27.453001
2025-08-22T05:25:00.620Z,1755840300.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:00.622Z,1755840300.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:25:00.629Z,1755840300.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.908253 m,
      bearing: 23.847062 deg,
      approach rate: -0.440962 m/s,
      LOS rate: -3.010505 deg/s,
      cmd heading: 4.541460 deg,
      new cmd heading: 2.310990 deg.

2025-08-22T05:25:00.630Z,1755840300.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040334 target range: 9.544074 and range: 3.50 m.
2025-08-22T05:25:00.662Z,1755840300.662 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.2

2025-08-22T05:25:00.666Z,1755840300.666 [DAT](INFO): DAT read: 05:24:59.3803 LVL= 16944, 11793, 19234, 20611, AGC= 45, IDX= 504,-0.42,-2.911,-2.235, 2.156,-1.830, PHS=-0.979,-0.360,-2.341, RAW=  12.2,  36.6, CAL=  10.5,  42.3, ROT= 139.5, -42.3

2025-08-22T05:25:00.668Z,1755840300.668 [DAT](INFO): got valid direction response:
 05:24:59.3803 LVL= 16944, 11793, 19234, 20611, AGC= 45, IDX= 504,-0.42,-2.911,-2.235, 2.156,-1.830, PHS=-0.979,-0.360,-2.341, RAW=  12.2,  36.6, CAL=  10.5,  42.3, ROT= 139.5, -42.3

2025-08-22T05:25:00.668Z,1755840300.668 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T05:25:00.669Z,1755840300.669 [DAT](INFO): direction in FSK: [-0.562420,0.480352,0.673013]
2025-08-22T05:25:00.669Z,1755840300.669 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:00.673Z,1755840300.673 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=27.703737
2025-08-22T05:25:00.917Z,1755840300.917 [DAT](INFO): DAT read: Rx Time:05:24:59.8803 

2025-08-22T05:25:00.917Z,1755840300.917 [DAT](INFO): Rx dataTimestamp_ set to:1755840300.916694
2025-08-22T05:25:00.918Z,1755840300.918 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.1

2025-08-22T05:25:00.919Z,1755840300.919 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-22T05:25:00.920Z,1755840300.920 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=27.950705
2025-08-22T05:25:01.118Z,1755840301.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.760636 s,
      deltaX: -0.300000 m,
      approachRate: -0.394407 m/s,
      rangeRepo size: 4

2025-08-22T05:25:01.120Z,1755840301.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.181584 m,
      bearing: 168.098860 deg,
      lat: 36.779345 deg,
      lon: -121.859594 deg,
      deltaT: 16.393363 s,
      deltaX: -6.362491 m,
      approachRate: -0.388114 m/s,
      posRepo size: 4

2025-08-22T05:25:01.121Z,1755840301.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.54 m.
2025-08-22T05:25:01.124Z,1755840301.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.706041 m,
      bearing: 22.691077 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 2.310990 deg,
      new cmd heading: 1.269530 deg.

2025-08-22T05:25:01.125Z,1755840301.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022157 target range: 9.544074 and range: 3.20 m.
2025-08-22T05:25:01.165Z,1755840301.165 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=28.195965
2025-08-22T05:25:01.418Z,1755840301.418 [DAT](INFO): DAT read: Rx Time:05:25:00.3805 

2025-08-22T05:25:01.418Z,1755840301.418 [DAT](INFO): Rx dataTimestamp_ set to:1755840301.417779
2025-08-22T05:25:01.419Z,1755840301.419 [DAT](INFO): DAT read: Range 11 to 50 :     3.5 m (trip time 2.3 ms) speed 0.3

2025-08-22T05:25:01.420Z,1755840301.420 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-08-22T05:25:01.421Z,1755840301.421 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=28.451744
2025-08-22T05:25:01.498Z,1755840301.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 0.501085 s,
      deltaX: 0.300000 m,
      approachRate: 0.598701 m/s,
      rangeRepo size: 4

2025-08-22T05:25:01.498Z,1755840301.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.50 m.
2025-08-22T05:25:01.504Z,1755840301.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:25:01.512Z,1755840301.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.558402 m,
      bearing: 21.816345 deg,
      approach rate: -0.395627 m/s,
      LOS rate: -2.565973 deg/s,
      cmd heading: 1.269530 deg,
      new cmd heading: 359.355113 deg.

2025-08-22T05:25:01.514Z,1755840301.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271930 target range: 9.544074 and range: 3.50 m.
2025-08-22T05:25:01.668Z,1755840301.668 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=28.699265
2025-08-22T05:25:01.857Z,1755840301.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:25:01.859Z,1755840301.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.404847 m,
      bearing: 20.803428 deg,
      approach rate: -0.419786 m/s,
      LOS rate: -3.071604 deg/s,
      cmd heading: 359.355104 deg,
      new cmd heading: 357.109106 deg.

2025-08-22T05:25:01.860Z,1755840301.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232730 target range: 9.544074 and range: 3.50 m.
2025-08-22T05:25:01.924Z,1755840301.924 [DAT](INFO): DAT read: Rx Time:05:25:00.8808 

2025-08-22T05:25:01.926Z,1755840301.926 [DAT](INFO): Rx dataTimestamp_ set to:1755840301.924951
2025-08-22T05:25:01.929Z,1755840301.929 [DAT](INFO): DAT read: Bearing 302.6,  42.1 (Local)

2025-08-22T05:25:01.930Z,1755840301.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.6,  42.1 (Local)

2025-08-22T05:25:01.935Z,1755840301.935 [DAT](INFO): DAT read: Range 11 to 50 :     3.9 m (trip time 2.6 ms) speed 0.2

2025-08-22T05:25:01.938Z,1755840301.938 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-08-22T05:25:01.994Z,1755840301.994 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=29.024323
2025-08-22T05:25:02.178Z,1755840302.178 [DAT](INFO): DAT read: 05:25:00.8808 LVL= 32752, 26801, 32754, 32755, AGC= 55, IDX= 503,-0.23, 0.528, 0.227,-1.175, 1.030, PHS=-0.400,-0.758,-2.249, RAW=  40.5,  35.4, CAL=  38.0,  41.7, ROT= 112.0, -41.7

2025-08-22T05:25:02.181Z,1755840302.181 [DAT](INFO): got valid direction response:
 05:25:00.8808 LVL= 32752, 26801, 32754, 32755, AGC= 55, IDX= 503,-0.23, 0.528, 0.227,-1.175, 1.030, PHS=-0.400,-0.758,-2.249, RAW=  40.5,  35.4, CAL=  38.0,  41.7, ROT= 112.0, -41.7

2025-08-22T05:25:02.181Z,1755840302.181 [DAT](INFO): #Rx 67: Read direction message, but no range.
2025-08-22T05:25:02.182Z,1755840302.182 [DAT](INFO): direction in FSK: [-0.279696,0.692271,0.665230]
2025-08-22T05:25:02.192Z,1755840302.192 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=29.218033
2025-08-22T05:25:02.331Z,1755840302.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.900000 m,
      deltaT: 0.507172 s,
      deltaX: 0.400000 m,
      approachRate: 0.788687 m/s,
      rangeRepo size: 4

2025-08-22T05:25:02.337Z,1755840302.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.877634 m,
      bearing: 138.230172 deg,
      lat: 36.779339 deg,
      lon: -121.859594 deg,
      deltaT: 17.401620 s,
      deltaX: -5.666440 m,
      approachRate: -0.325627 m/s,
      posRepo size: 4

2025-08-22T05:25:02.337Z,1755840302.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.90 m.
2025-08-22T05:25:02.338Z,1755840302.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.54 m.
2025-08-22T05:25:02.345Z,1755840302.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.228186 m,
      bearing: 19.868541 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -1.051465 deg/s,
      cmd heading: 357.109119 deg,
      new cmd heading: 356.113398 deg.

2025-08-22T05:25:02.346Z,1755840302.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215351 target range: 9.544074 and range: 3.90 m.
2025-08-22T05:25:02.426Z,1755840302.426 [DAT](INFO): DAT read: Rx Time:05:25:01.3806 

2025-08-22T05:25:02.426Z,1755840302.426 [DAT](INFO): Rx dataTimestamp_ set to:1755840302.426051
2025-08-22T05:25:02.428Z,1755840302.428 [DAT](INFO): DAT read: Range 11 to 50 :     3.6 m (trip time 2.4 ms) speed 0.2

2025-08-22T05:25:02.428Z,1755840302.428 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-22T05:25:02.429Z,1755840302.429 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.460016
2025-08-22T05:25:02.676Z,1755840302.676 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=29.707220
2025-08-22T05:25:02.679Z,1755840302.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:02.682Z,1755840302.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 0.501100 s,
      deltaX: -0.300000 m,
      approachRate: -0.598683 m/s,
      rangeRepo size: 4

2025-08-22T05:25:02.682Z,1755840302.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-22T05:25:02.683Z,1755840302.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T05:25:02.686Z,1755840302.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.544074 m,
      nav range: 1.093233 m,
      bearing: 19.060785 deg,
      approach rate: -0.384330 m/s,
      LOS rate: -2.584257 deg/s,
      cmd heading: 356.113386 deg,
      new cmd heading: 354.299116 deg.

2025-08-22T05:25:02.686Z,1755840302.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183686 target range: 9.544074 and range: 3.60 m.
2025-08-22T05:25:02.928Z,1755840302.928 [DAT](INFO): DAT read: Rx Time:05:25:01.8800 

2025-08-22T05:25:02.929Z,1755840302.929 [DAT](INFO): Rx dataTimestamp_ set to:1755840302.928620
2025-08-22T05:25:02.930Z,1755840302.930 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.1

2025-08-22T05:25:02.931Z,1755840302.931 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-22T05:25:02.932Z,1755840302.932 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=29.962584
2025-08-22T05:25:03.119Z,1755840303.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.502569 s,
      deltaX: -0.900000 m,
      approachRate: -1.790799 m/s,
      rangeRepo size: 4

2025-08-22T05:25:03.120Z,1755840303.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.70 m.
2025-08-22T05:25:03.120Z,1755840303.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-08-22T05:25:03.121Z,1755840303.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T05:25:03.181Z,1755840303.181 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=30.212151
2025-08-22T05:25:03.432Z,1755840303.432 [DAT](INFO): DAT read: Rx Time:05:25:02.3799 

2025-08-22T05:25:03.433Z,1755840303.433 [DAT](INFO): Rx dataTimestamp_ set to:1755840303.432595
2025-08-22T05:25:03.434Z,1755840303.434 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:03.435Z,1755840303.435 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-22T05:25:03.436Z,1755840303.436 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.466560
2025-08-22T05:25:03.532Z,1755840303.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503975 s,
      deltaX: -0.100000 m,
      approachRate: -0.198423 m/s,
      rangeRepo size: 4

2025-08-22T05:25:03.684Z,1755840303.684 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=30.715183
2025-08-22T05:25:03.942Z,1755840303.942 [DAT](INFO): DAT read: Rx Time:05:25:02.8800 

2025-08-22T05:25:03.945Z,1755840303.945 [DAT](INFO): Rx dataTimestamp_ set to:1755840303.943961
2025-08-22T05:25:03.952Z,1755840303.952 [DAT](INFO): DAT read: Bearing 332.7,  33.8 (Local)

2025-08-22T05:25:03.953Z,1755840303.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 332.7,  33.8 (Local)

2025-08-22T05:25:03.963Z,1755840303.963 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:03.990Z,1755840303.990 [DAT](INFO): DAT read: 05:25:02.8800 LVL= 20192,  7217, 25538, 22067, AGC= 46, IDX= 501, 0.17, 2.887,-2.579, 1.537,-2.810, PHS=-0.484, 0.276,-1.980, RAW=  10.7,  21.3, CAL=  10.0,  25.7, ROT= 140.0, -25.7

2025-08-22T05:25:04.001Z,1755840304.001 [DAT](INFO): got valid direction response:
 05:25:02.8800 LVL= 20192,  7217, 25538, 22067, AGC= 46, IDX= 501, 0.17, 2.887,-2.579, 1.537,-2.810, PHS=-0.484, 0.276,-1.980, RAW=  10.7,  21.3, CAL=  10.0,  25.7, ROT= 140.0, -25.7

2025-08-22T05:25:04.001Z,1755840304.001 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T05:25:04.012Z,1755840304.012 [DAT](INFO): direction in FSK: [-0.690265,0.579201,0.433659]
2025-08-22T05:25:04.013Z,1755840304.013 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:04.048Z,1755840304.048 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=31.073656
2025-08-22T05:25:04.188Z,1755840304.188 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=31.219292
2025-08-22T05:25:04.335Z,1755840304.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.511366 s,
      deltaX: 0.100000 m,
      approachRate: 0.195555 m/s,
      rangeRepo size: 4

2025-08-22T05:25:04.341Z,1755840304.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684512 m,
      bearing: 161.825608 deg,
      lat: 36.779344 deg,
      lon: -121.859585 deg,
      deltaT: 19.420630 s,
      deltaX: -6.859562 m,
      approachRate: -0.353210 m/s,
      posRepo size: 4

2025-08-22T05:25:04.445Z,1755840304.445 [DAT](INFO): DAT read: Rx Time:05:25:03.3799 

2025-08-22T05:25:04.447Z,1755840304.447 [DAT](INFO): Rx dataTimestamp_ set to:1755840304.445962
2025-08-22T05:25:04.451Z,1755840304.451 [DAT](INFO): DAT read: Bearing 299.2,  36.2 (Local)

2025-08-22T05:25:04.453Z,1755840304.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.2,  36.2 (Local)

2025-08-22T05:25:04.459Z,1755840304.459 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:04.461Z,1755840304.461 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-22T05:25:04.463Z,1755840304.463 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=31.493471
2025-08-22T05:25:04.680Z,1755840304.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:04.682Z,1755840304.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.502001 s,
      deltaX: -0.100000 m,
      approachRate: -0.199203 m/s,
      rangeRepo size: 4

2025-08-22T05:25:04.700Z,1755840304.700 [DAT](INFO): DAT read: 05:25:03.3799 LVL= 23584, 10801, 24242, 25907, AGC= 44, IDX= 500, 0.07, 2.412, 2.348, 1.089, 3.125, PHS=-0.611,-0.732,-2.080, RAW=  34.3,  40.6, CAL=  32.2,  46.1, ROT= 117.8, -46.1

2025-08-22T05:25:04.701Z,1755840304.701 [DAT](INFO): got valid direction response:
 05:25:03.3799 LVL= 23584, 10801, 24242, 25907, AGC= 44, IDX= 500, 0.07, 2.412, 2.348, 1.089, 3.125, PHS=-0.611,-0.732,-2.080, RAW=  34.3,  40.6, CAL=  32.2,  46.1, ROT= 117.8, -46.1

2025-08-22T05:25:04.701Z,1755840304.701 [DAT](INFO): #Rx 73: Read direction message, but no range.
2025-08-22T05:25:04.702Z,1755840304.702 [DAT](INFO): direction in FSK: [-0.323393,0.613370,0.720551]
2025-08-22T05:25:04.706Z,1755840304.706 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=31.736710
2025-08-22T05:25:04.953Z,1755840304.953 [DAT](INFO): DAT read: Rx Time:05:25:03.8800 

2025-08-22T05:25:04.955Z,1755840304.955 [DAT](INFO): Rx dataTimestamp_ set to:1755840304.954163
2025-08-22T05:25:04.963Z,1755840304.963 [DAT](INFO): DAT read: Bearing 291.9,  34.4 (Local)

2025-08-22T05:25:04.965Z,1755840304.965 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.9,  34.4 (Local)

2025-08-22T05:25:04.969Z,1755840304.969 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:05.014Z,1755840305.014 [DAT](INFO): DAT read: 05:25:03.8800 LVL= 24560,  8785, 22290, 26995, AGC= 45, IDX= 501, 0.04,-1.801,-2.033,-3.114,-0.954, PHS=-0.745,-1.035,-2.205, RAW=  40.8,  46.5, CAL=  38.8,  51.6, ROT= 111.2, -51.6

2025-08-22T05:25:05.016Z,1755840305.016 [DAT](INFO): got valid direction response:
 05:25:03.8800 LVL= 24560,  8785, 22290, 26995, AGC= 45, IDX= 501, 0.04,-1.801,-2.033,-3.114,-0.954, PHS=-0.745,-1.035,-2.205, RAW=  40.8,  46.5, CAL=  38.8,  51.6, ROT= 111.2, -51.6

2025-08-22T05:25:05.016Z,1755840305.016 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T05:25:05.017Z,1755840305.017 [DAT](INFO): direction in FSK: [-0.224622,0.579111,0.783693]
2025-08-22T05:25:05.017Z,1755840305.017 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:05.045Z,1755840305.045 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.075397
2025-08-22T05:25:05.200Z,1755840305.200 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=32.231209
2025-08-22T05:25:05.231Z,1755840305.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.508201 s,
      deltaX: 0.100000 m,
      approachRate: 0.196773 m/s,
      rangeRepo size: 4

2025-08-22T05:25:05.237Z,1755840305.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684482 m,
      bearing: 134.853822 deg,
      lat: 36.779344 deg,
      lon: -121.859578 deg,
      deltaT: 1.010202 s,
      deltaX: -0.000030 m,
      approachRate: -0.000030 m/s,
      posRepo size: 4

2025-08-22T05:25:05.456Z,1755840305.456 [DAT](INFO): DAT read: Rx Time:05:25:04.3799 

2025-08-22T05:25:05.458Z,1755840305.458 [DAT](INFO): Rx dataTimestamp_ set to:1755840305.456550
2025-08-22T05:25:05.461Z,1755840305.461 [DAT](INFO): DAT read: Bearing 300.8,  30.2 (Local)

2025-08-22T05:25:05.462Z,1755840305.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.8,  30.2 (Local)

2025-08-22T05:25:05.464Z,1755840305.464 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:05.469Z,1755840305.469 [DAT](INFO): DAT read: 05:25:04.3799 LVL= 27632, 10641, 20434, 32755, AGC= 44, IDX= 500, 0.22, 1.652, 1.764, 0.526, 2.673, PHS=-0.919,-0.864,-2.190, RAW=  27.9,  47.2, CAL=  26.3,  51.9, ROT= 123.7, -51.9

2025-08-22T05:25:05.470Z,1755840305.470 [DAT](INFO): got valid direction response:
 05:25:04.3799 LVL= 27632, 10641, 20434, 32755, AGC= 44, IDX= 500, 0.22, 1.652, 1.764, 0.526, 2.673, PHS=-0.919,-0.864,-2.190, RAW=  27.9,  47.2, CAL=  26.3,  51.9, ROT= 123.7, -51.9

2025-08-22T05:25:05.470Z,1755840305.470 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T05:25:05.475Z,1755840305.475 [DAT](INFO): direction in FSK: [-0.342359,0.513346,0.786935]
2025-08-22T05:25:05.476Z,1755840305.476 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:05.485Z,1755840305.485 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.514057
2025-08-22T05:25:05.612Z,1755840305.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.502387 s,
      deltaX: -0.100000 m,
      approachRate: -0.199050 m/s,
      rangeRepo size: 4

2025-08-22T05:25:05.614Z,1755840305.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.585057 m,
      bearing: 148.254312 deg,
      lat: 36.779344 deg,
      lon: -121.859581 deg,
      deltaT: 0.502387 s,
      deltaX: -0.099425 m,
      approachRate: -0.197906 m/s,
      posRepo size: 4

2025-08-22T05:25:05.615Z,1755840305.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-22T05:25:05.705Z,1755840305.705 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=32.735592
2025-08-22T05:25:05.961Z,1755840305.961 [DAT](INFO): DAT read: Rx Time:05:25:04.8799 

2025-08-22T05:25:05.962Z,1755840305.962 [DAT](INFO): Rx dataTimestamp_ set to:1755840305.961775
2025-08-22T05:25:05.964Z,1755840305.964 [DAT](INFO): DAT read: Bearing 306.1,  27.8 (Local)

2025-08-22T05:25:05.964Z,1755840305.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.1,  27.8 (Local)

2025-08-22T05:25:05.966Z,1755840305.966 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:05.971Z,1755840305.971 [DAT](INFO): DAT read: 05:25:04.8799 LVL= 31776,  9745, 19010, 32755, AGC= 44, IDX= 500, 0.36, 1.324, 1.615, 0.356, 2.408, PHS=-0.982,-0.748,-2.096, RAW=  20.6,  47.3, CAL=  19.3,  52.0, ROT= 130.7, -52.0

2025-08-22T05:25:05.973Z,1755840305.973 [DAT](INFO): got valid direction response:
 05:25:04.8799 LVL= 31776,  9745, 19010, 32755, AGC= 44, IDX= 500, 0.36, 1.324, 1.615, 0.356, 2.408, PHS=-0.982,-0.748,-2.096, RAW=  20.6,  47.3, CAL=  19.3,  52.0, ROT= 130.7, -52.0

2025-08-22T05:25:05.973Z,1755840305.973 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T05:25:05.974Z,1755840305.974 [DAT](INFO): direction in FSK: [-0.401472,0.466754,0.788011]
2025-08-22T05:25:05.974Z,1755840305.974 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:05.978Z,1755840305.978 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.008858
2025-08-22T05:25:06.148Z,1755840306.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.505225 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:06.167Z,1755840306.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.585069 m,
      bearing: 157.217682 deg,
      lat: 36.779356 deg,
      lon: -121.859581 deg,
      deltaT: 0.505225 s,
      deltaX: 0.000012 m,
      approachRate: 0.000025 m/s,
      posRepo size: 4

2025-08-22T05:25:06.212Z,1755840306.212 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=33.242435
2025-08-22T05:25:06.463Z,1755840306.463 [DAT](INFO): DAT read: Rx Time:05:25:05.3798 

2025-08-22T05:25:06.464Z,1755840306.464 [DAT](INFO): Rx dataTimestamp_ set to:1755840306.463407
2025-08-22T05:25:06.465Z,1755840306.465 [DAT](INFO): DAT read: Bearing 306.1,  28.6 (Local)

2025-08-22T05:25:06.465Z,1755840306.465 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.1,  28.6 (Local)

2025-08-22T05:25:06.472Z,1755840306.472 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:06.476Z,1755840306.476 [DAT](INFO): DAT read: 05:25:05.3798 LVL= 31280, 12945, 17906, 32755, AGC= 44, IDX= 500,-0.33,-2.519,-2.261, 2.876,-1.447, PHS=-0.970,-0.770,-2.004, RAW=  21.3,  49.1, CAL=  20.0,  53.6, ROT= 130.0, -53.6

2025-08-22T05:25:06.477Z,1755840306.477 [DAT](INFO): got valid direction response:
 05:25:05.3798 LVL= 31280, 12945, 17906, 32755, AGC= 44, IDX= 500,-0.33,-2.519,-2.261, 2.876,-1.447, PHS=-0.970,-0.770,-2.004, RAW=  21.3,  49.1, CAL=  20.0,  53.6, ROT= 130.0, -53.6

2025-08-22T05:25:06.478Z,1755840306.478 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T05:25:06.479Z,1755840306.479 [DAT](INFO): direction in FSK: [-0.381442,0.454585,0.804894]
2025-08-22T05:25:06.493Z,1755840306.493 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:06.518Z,1755840306.518 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.548615
2025-08-22T05:25:06.650Z,1755840306.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.501632 s,
      deltaX: -0.200000 m,
      approachRate: -0.398698 m/s,
      rangeRepo size: 4

2025-08-22T05:25:06.656Z,1755840306.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386218 m,
      bearing: 161.419702 deg,
      lat: 36.779357 deg,
      lon: -121.859583 deg,
      deltaT: 0.501632 s,
      deltaX: -0.198851 m,
      approachRate: -0.396409 m/s,
      posRepo size: 4

2025-08-22T05:25:06.657Z,1755840306.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m.
2025-08-22T05:25:06.714Z,1755840306.714 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=33.744270
2025-08-22T05:25:06.965Z,1755840306.965 [DAT](INFO): DAT read: Rx Time:05:25:05.8799 

2025-08-22T05:25:06.965Z,1755840306.965 [DAT](INFO): Rx dataTimestamp_ set to:1755840306.965046
2025-08-22T05:25:06.967Z,1755840306.967 [DAT](INFO): DAT read: Bearing 305.9,  29.9 (Local)

2025-08-22T05:25:06.967Z,1755840306.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.9,  29.9 (Local)

2025-08-22T05:25:06.969Z,1755840306.969 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:06.974Z,1755840306.974 [DAT](INFO): DAT read: 05:25:05.8799 LVL= 31712, 13297, 20626, 32755, AGC= 44, IDX= 501,-0.20,-0.955,-0.732,-1.863, 0.112, PHS=-0.965,-0.799,-2.019, RAW=  22.8,  49.4, CAL=  21.4,  53.9, ROT= 128.6, -53.9

2025-08-22T05:25:06.976Z,1755840306.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:25:06.996Z,1755840306.996 [DAT](INFO): got valid direction response:
 05:25:05.8799 LVL= 31712, 13297, 20626, 32755, AGC= 44, IDX= 501,-0.20,-0.955,-0.732,-1.863, 0.112, PHS=-0.965,-0.799,-2.019, RAW=  22.8,  49.4, CAL=  21.4,  53.9, ROT= 128.6, -53.9

2025-08-22T05:25:06.997Z,1755840306.997 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T05:25:06.998Z,1755840306.998 [DAT](INFO): direction in FSK: [-0.367588,0.460469,0.807990]
2025-08-22T05:25:06.999Z,1755840306.999 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:07.015Z,1755840307.015 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.045773
2025-08-22T05:25:07.130Z,1755840307.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709122659,35.0, +10.6, 9
2025-08-22T05:25:07.207Z,1755840307.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.501639 s,
      deltaX: 0.200000 m,
      approachRate: 0.398693 m/s,
      rangeRepo size: 4

2025-08-22T05:25:07.213Z,1755840307.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.585022 m,
      bearing: 161.234435 deg,
      lat: 36.779357 deg,
      lon: -121.859582 deg,
      deltaT: 0.501639 s,
      deltaX: 0.198804 m,
      approachRate: 0.396310 m/s,
      posRepo size: 4

2025-08-22T05:25:07.214Z,1755840307.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-22T05:25:07.216Z,1755840307.216 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=34.247284
2025-08-22T05:25:07.469Z,1755840307.469 [DAT](INFO): DAT read: Rx Time:05:25:06.3799 

2025-08-22T05:25:07.470Z,1755840307.470 [DAT](INFO): Rx dataTimestamp_ set to:1755840307.469305
2025-08-22T05:25:07.471Z,1755840307.471 [DAT](INFO): DAT read: Bearing 305.8,  30.4 (Local)

2025-08-22T05:25:07.471Z,1755840307.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.8,  30.4 (Local)

2025-08-22T05:25:07.473Z,1755840307.473 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:07.479Z,1755840307.479 [DAT](INFO): DAT read: 05:25:06.3799 LVL= 28752, 11889, 19426, 32755, AGC= 45, IDX= 500,-0.11,-1.694,-1.491,-2.629,-0.644, PHS=-0.949,-0.802,-2.029, RAW=  23.7,  49.0, CAL=  22.3,  53.6, ROT= 127.7, -53.6

2025-08-22T05:25:07.481Z,1755840307.481 [DAT](INFO): got valid direction response:
 05:25:06.3799 LVL= 28752, 11889, 19426, 32755, AGC= 45, IDX= 500,-0.11,-1.694,-1.491,-2.629,-0.644, PHS=-0.949,-0.802,-2.029, RAW=  23.7,  49.0, CAL=  22.3,  53.6, ROT= 127.7, -53.6

2025-08-22T05:25:07.482Z,1755840307.482 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T05:25:07.486Z,1755840307.486 [DAT](INFO): direction in FSK: [-0.362892,0.469527,0.804894]
2025-08-22T05:25:07.515Z,1755840307.515 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:07.519Z,1755840307.519 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.549683
2025-08-22T05:25:07.622Z,1755840307.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504259 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:07.632Z,1755840307.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.585022 m,
      bearing: 159.996663 deg,
      lat: 36.779359 deg,
      lon: -121.859582 deg,
      deltaT: 0.504259 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:07.720Z,1755840307.720 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=34.751270
2025-08-22T05:25:07.973Z,1755840307.973 [DAT](INFO): DAT read: Rx Time:05:25:06.8800 

2025-08-22T05:25:07.973Z,1755840307.973 [DAT](INFO): Rx dataTimestamp_ set to:1755840307.973045
2025-08-22T05:25:07.975Z,1755840307.975 [DAT](INFO): DAT read: Bearing 305.6,  30.6 (Local)

2025-08-22T05:25:07.975Z,1755840307.975 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.6,  30.6 (Local)

2025-08-22T05:25:07.978Z,1755840307.978 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:07.980Z,1755840307.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:25:08.016Z,1755840308.016 [DAT](INFO): DAT read: 05:25:06.8800 LVL= 32624, 12513, 19762, 32755, AGC= 44, IDX= 501, 0.02, 0.653, 0.845,-0.319, 1.716, PHS=-0.961,-0.827,-2.080, RAW=  24.4,  48.9, CAL=  23.0,  53.5, ROT= 127.0, -53.5

2025-08-22T05:25:08.017Z,1755840308.017 [DAT](INFO): got valid direction response:
 05:25:06.8800 LVL= 32624, 12513, 19762, 32755, AGC= 44, IDX= 501, 0.02, 0.653, 0.845,-0.319, 1.716, PHS=-0.961,-0.827,-2.080, RAW=  24.4,  48.9, CAL=  23.0,  53.5, ROT= 127.0, -53.5

2025-08-22T05:25:08.017Z,1755840308.017 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T05:25:08.018Z,1755840308.018 [DAT](INFO): direction in FSK: [-0.357973,0.475047,0.803857]
2025-08-22T05:25:08.019Z,1755840308.019 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:08.034Z,1755840308.034 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.065304
2025-08-22T05:25:08.115Z,1755840308.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503740 s,
      deltaX: 0.100000 m,
      approachRate: 0.198515 m/s,
      rangeRepo size: 4

2025-08-22T05:25:08.131Z,1755840308.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684431 m,
      bearing: 158.877124 deg,
      lat: 36.779359 deg,
      lon: -121.859582 deg,
      deltaT: 0.503740 s,
      deltaX: 0.099409 m,
      approachRate: 0.197343 m/s,
      posRepo size: 4

2025-08-22T05:25:08.225Z,1755840308.225 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=35.255932
2025-08-22T05:25:08.479Z,1755840308.479 [DAT](INFO): DAT read: Rx Time:05:25:07.3799 

2025-08-22T05:25:08.480Z,1755840308.480 [DAT](INFO): Rx dataTimestamp_ set to:1755840308.479352
2025-08-22T05:25:08.482Z,1755840308.482 [DAT](INFO): DAT read: Bearing 305.7,  31.9 (Local)

2025-08-22T05:25:08.484Z,1755840308.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.7,  31.9 (Local)

2025-08-22T05:25:08.487Z,1755840308.487 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:08.499Z,1755840308.499 [DAT](INFO): DAT read: 05:25:07.3799 LVL= 31296, 11041, 19346, 32755, AGC= 45, IDX= 500, 0.17, 0.019, 0.168,-1.037, 1.072, PHS=-0.951,-0.860,-2.154, RAW=  26.4,  48.3, CAL=  24.9,  52.9, ROT= 125.1, -52.9

2025-08-22T05:25:08.505Z,1755840308.505 [DAT](INFO): got valid direction response:
 05:25:07.3799 LVL= 31296, 11041, 19346, 32755, AGC= 45, IDX= 500, 0.17, 0.019, 0.168,-1.037, 1.072, PHS=-0.951,-0.860,-2.154, RAW=  26.4,  48.3, CAL=  24.9,  52.9, ROT= 125.1, -52.9

2025-08-22T05:25:08.505Z,1755840308.505 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T05:25:08.507Z,1755840308.507 [DAT](INFO): direction in FSK: [-0.346848,0.493514,0.797584]
2025-08-22T05:25:08.510Z,1755840308.510 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:08.514Z,1755840308.514 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.544903
2025-08-22T05:25:08.648Z,1755840308.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.506307 s,
      deltaX: -0.100000 m,
      approachRate: -0.197509 m/s,
      rangeRepo size: 4

2025-08-22T05:25:08.650Z,1755840308.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.585008 m,
      bearing: 156.814255 deg,
      lat: 36.779359 deg,
      lon: -121.859580 deg,
      deltaT: 0.506307 s,
      deltaX: -0.099423 m,
      approachRate: -0.196370 m/s,
      posRepo size: 4

2025-08-22T05:25:08.730Z,1755840308.730 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=35.760605
2025-08-22T05:25:08.984Z,1755840308.984 [DAT](INFO): DAT read: Rx Time:05:25:07.8801 

2025-08-22T05:25:08.985Z,1755840308.985 [DAT](INFO): Rx dataTimestamp_ set to:1755840308.984690
2025-08-22T05:25:08.987Z,1755840308.987 [DAT](INFO): DAT read: Bearing 307.2,  31.5 (Local)

2025-08-22T05:25:08.988Z,1755840308.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  31.5 (Local)

2025-08-22T05:25:08.998Z,1755840308.998 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:09.009Z,1755840309.009 [DAT](INFO): DAT read: 05:25:07.8801 LVL= 31600,  9969, 18978, 32755, AGC= 44, IDX= 502, 0.33, 2.035, 2.212, 1.004, 3.099, PHS=-0.962,-0.842,-2.139, RAW=  25.2,  48.3, CAL=  23.7,  52.9, ROT= 126.3, -52.9

2025-08-22T05:25:09.010Z,1755840309.010 [DAT](INFO): got valid direction response:
 05:25:07.8801 LVL= 31600,  9969, 18978, 32755, AGC= 44, IDX= 502, 0.33, 2.035, 2.212, 1.004, 3.099, PHS=-0.962,-0.842,-2.139, RAW=  25.2,  48.3, CAL=  23.7,  52.9, ROT= 126.3, -52.9

2025-08-22T05:25:09.011Z,1755840309.011 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T05:25:09.048Z,1755840309.048 [DAT](INFO): direction in FSK: [-0.357107,0.486142,0.797584]
2025-08-22T05:25:09.048Z,1755840309.048 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:09.060Z,1755840309.060 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.090996
2025-08-22T05:25:09.172Z,1755840309.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.505338 s,
      deltaX: 0.300000 m,
      approachRate: 0.593662 m/s,
      rangeRepo size: 4

2025-08-22T05:25:09.183Z,1755840309.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883286 m,
      bearing: 159.414649 deg,
      lat: 36.779359 deg,
      lon: -121.859578 deg,
      deltaT: 0.505338 s,
      deltaX: 0.298278 m,
      approachRate: 0.590255 m/s,
      posRepo size: 4

2025-08-22T05:25:09.233Z,1755840309.233 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=36.264267
2025-08-22T05:25:09.486Z,1755840309.486 [DAT](INFO): DAT read: Rx Time:05:25:08.3800 

2025-08-22T05:25:09.486Z,1755840309.486 [DAT](INFO): Rx dataTimestamp_ set to:1755840309.486214
2025-08-22T05:25:09.489Z,1755840309.489 [DAT](INFO): DAT read: Bearing 309.0,  31.2 (Local)

2025-08-22T05:25:09.489Z,1755840309.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.0,  31.2 (Local)

2025-08-22T05:25:09.493Z,1755840309.493 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:09.504Z,1755840309.504 [DAT](INFO): DAT read: 05:25:08.3800 LVL= 31344, 10945, 19698, 32755, AGC= 44, IDX= 502,-0.43,-0.940,-0.731,-1.936, 0.106, PHS=-0.944,-0.792,-2.085, RAW=  23.8,  47.8, CAL=  22.4,  52.5, ROT= 127.6, -52.5

2025-08-22T05:25:09.506Z,1755840309.506 [DAT](INFO): got valid direction response:
 05:25:08.3800 LVL= 31344, 10945, 19698, 32755, AGC= 44, IDX= 502,-0.43,-0.940,-0.731,-1.936, 0.106, PHS=-0.944,-0.792,-2.085, RAW=  23.8,  47.8, CAL=  22.4,  52.5, ROT= 127.6, -52.5

2025-08-22T05:25:09.507Z,1755840309.507 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T05:25:09.512Z,1755840309.512 [DAT](INFO): direction in FSK: [-0.371433,0.482315,0.793353]
2025-08-22T05:25:09.512Z,1755840309.512 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:09.548Z,1755840309.548 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.578880
2025-08-22T05:25:09.688Z,1755840309.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.501524 s,
      deltaX: -0.200000 m,
      approachRate: -0.398785 m/s,
      rangeRepo size: 4

2025-08-22T05:25:09.690Z,1755840309.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684438 m,
      bearing: 161.708419 deg,
      lat: 36.779359 deg,
      lon: -121.859577 deg,
      deltaT: 0.501524 s,
      deltaX: -0.198848 m,
      approachRate: -0.396487 m/s,
      posRepo size: 4

2025-08-22T05:25:09.737Z,1755840309.737 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=36.767738
2025-08-22T05:25:09.990Z,1755840309.990 [DAT](INFO): DAT read: Rx Time:05:25:08.8800 

2025-08-22T05:25:09.992Z,1755840309.992 [DAT](INFO): Rx dataTimestamp_ set to:1755840309.990479
2025-08-22T05:25:09.993Z,1755840309.993 [DAT](INFO): DAT read: Bearing 309.1,  31.4 (Local)

2025-08-22T05:25:09.994Z,1755840309.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,  31.4 (Local)

2025-08-22T05:25:10.007Z,1755840310.007 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:10.012Z,1755840310.012 [DAT](INFO): DAT read: 05:25:08.8800 LVL= 32752, 10401, 19730, 32755, AGC= 44, IDX= 502,-0.24,-1.335,-1.143,-2.345,-0.308, PHS=-0.925,-0.790,-2.081, RAW=  24.6,  47.5, CAL=  23.1,  52.2, ROT= 126.9, -52.2

2025-08-22T05:25:10.013Z,1755840310.013 [DAT](INFO): got valid direction response:
 05:25:08.8800 LVL= 32752, 10401, 19730, 32755, AGC= 44, IDX= 502,-0.24,-1.335,-1.143,-2.345,-0.308, PHS=-0.925,-0.790,-2.081, RAW=  24.6,  47.5, CAL=  23.1,  52.2, ROT= 126.9, -52.2

2025-08-22T05:25:10.013Z,1755840310.013 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T05:25:10.014Z,1755840310.014 [DAT](INFO): direction in FSK: [-0.368002,0.490132,0.790155]
2025-08-22T05:25:10.014Z,1755840310.014 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:10.018Z,1755840310.018 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.048519
2025-08-22T05:25:10.203Z,1755840310.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504265 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:10.205Z,1755840310.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684421 m,
      bearing: 161.375614 deg,
      lat: 36.779359 deg,
      lon: -121.859577 deg,
      deltaT: 0.504265 s,
      deltaX: -0.000017 m,
      approachRate: -0.000034 m/s,
      posRepo size: 4

2025-08-22T05:25:10.241Z,1755840310.241 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=37.271519
2025-08-22T05:25:10.495Z,1755840310.495 [DAT](INFO): DAT read: Rx Time:05:25:09.3799 

2025-08-22T05:25:10.496Z,1755840310.496 [DAT](INFO): Rx dataTimestamp_ set to:1755840310.495405
2025-08-22T05:25:10.498Z,1755840310.498 [DAT](INFO): DAT read: Bearing 309.1,  31.1 (Local)

2025-08-22T05:25:10.498Z,1755840310.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.1,  31.1 (Local)

2025-08-22T05:25:10.502Z,1755840310.502 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:10.514Z,1755840310.514 [DAT](INFO): DAT read: 05:25:09.3799 LVL= 30784,  9665, 20450, 32755, AGC= 44, IDX= 501,-0.16,-1.395,-1.194,-2.393,-0.379, PHS=-0.914,-0.770,-2.058, RAW=  24.2,  47.3, CAL=  22.7,  52.0, ROT= 127.3, -52.0

2025-08-22T05:25:10.540Z,1755840310.540 [DAT](INFO): got valid direction response:
 05:25:09.3799 LVL= 30784,  9665, 20450, 32755, AGC= 44, IDX= 501,-0.16,-1.395,-1.194,-2.393,-0.379, PHS=-0.914,-0.770,-2.058, RAW=  24.2,  47.3, CAL=  22.7,  52.0, ROT= 127.3, -52.0

2025-08-22T05:25:10.540Z,1755840310.540 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T05:25:10.541Z,1755840310.541 [DAT](INFO): direction in FSK: [-0.373084,0.489742,0.788011]
2025-08-22T05:25:10.541Z,1755840310.541 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:10.553Z,1755840310.553 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.583874
2025-08-22T05:25:10.650Z,1755840310.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504926 s,
      deltaX: -0.100000 m,
      approachRate: -0.198049 m/s,
      rangeRepo size: 4

2025-08-22T05:25:10.656Z,1755840310.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584998 m,
      bearing: 161.232002 deg,
      lat: 36.779359 deg,
      lon: -121.859577 deg,
      deltaT: 0.504926 s,
      deltaX: -0.099423 m,
      approachRate: -0.196906 m/s,
      posRepo size: 4

2025-08-22T05:25:10.744Z,1755840310.744 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=37.775257
2025-08-22T05:25:11.005Z,1755840311.005 [DAT](INFO): DAT read: Rx Time:05:25:09.8801 

2025-08-22T05:25:11.006Z,1755840311.006 [DAT](INFO): Rx dataTimestamp_ set to:1755840311.005404
2025-08-22T05:25:11.011Z,1755840311.011 [DAT](INFO): DAT read: Bearing 308.9,  30.8 (Local)

2025-08-22T05:25:11.012Z,1755840311.012 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9,  30.8 (Local)

2025-08-22T05:25:11.014Z,1755840311.014 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:11.018Z,1755840311.018 [DAT](INFO): DAT read: 05:25:09.8801 LVL= 28880,  9921, 19442, 32755, AGC= 44, IDX= 502,-0.09, 0.824, 1.033,-0.162, 1.837, PHS=-0.911,-0.759,-2.043, RAW=  23.8,  47.2, CAL=  22.3,  52.0, ROT= 127.7, -52.0

2025-08-22T05:25:11.032Z,1755840311.032 [DAT](INFO): got valid direction response:
 05:25:09.8801 LVL= 28880,  9921, 19442, 32755, AGC= 44, IDX= 502,-0.09, 0.824, 1.033,-0.162, 1.837, PHS=-0.911,-0.759,-2.043, RAW=  23.8,  47.2, CAL=  22.3,  52.0, ROT= 127.7, -52.0

2025-08-22T05:25:11.032Z,1755840311.032 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T05:25:11.033Z,1755840311.033 [DAT](INFO): direction in FSK: [-0.376494,0.487126,0.788011]
2025-08-22T05:25:11.033Z,1755840311.033 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:11.049Z,1755840311.049 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.079746
2025-08-22T05:25:11.086Z,1755840311.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.509999 s,
      deltaX: 0.300000 m,
      approachRate: 0.588237 m/s,
      rangeRepo size: 4

2025-08-22T05:25:11.098Z,1755840311.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883266 m,
      bearing: 161.083629 deg,
      lat: 36.779359 deg,
      lon: -121.859576 deg,
      deltaT: 0.509999 s,
      deltaX: 0.298268 m,
      approachRate: 0.584841 m/s,
      posRepo size: 4

2025-08-22T05:25:11.248Z,1755840311.248 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=38.279251
2025-08-22T05:25:11.502Z,1755840311.502 [DAT](INFO): DAT read: Rx Time:05:25:10.3800 

2025-08-22T05:25:11.503Z,1755840311.503 [DAT](INFO): Rx dataTimestamp_ set to:1755840311.502400
2025-08-22T05:25:11.504Z,1755840311.504 [DAT](INFO): DAT read: Bearing 306.9,  30.8 (Local)

2025-08-22T05:25:11.505Z,1755840311.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.9,  30.8 (Local)

2025-08-22T05:25:11.507Z,1755840311.507 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:11.511Z,1755840311.511 [DAT](INFO): DAT read: 05:25:10.3800 LVL= 29872,  9889, 18418, 32755, AGC= 44, IDX= 501,-0.00, 0.639, 0.807,-0.328, 1.660, PHS=-0.919,-0.808,-2.032, RAW=  25.3,  48.6, CAL=  23.8,  53.2, ROT= 126.2, -53.2

2025-08-22T05:25:11.512Z,1755840311.512 [DAT](INFO): got valid direction response:
 05:25:10.3800 LVL= 29872,  9889, 18418, 32755, AGC= 44, IDX= 501,-0.00, 0.639, 0.807,-0.328, 1.660, PHS=-0.919,-0.808,-2.032, RAW=  25.3,  48.6, CAL=  23.8,  53.2, ROT= 126.2, -53.2

2025-08-22T05:25:11.513Z,1755840311.513 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T05:25:11.514Z,1755840311.514 [DAT](INFO): direction in FSK: [-0.353787,0.483388,0.800731]
2025-08-22T05:25:11.514Z,1755840311.514 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:11.518Z,1755840311.518 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.548553
2025-08-22T05:25:11.637Z,1755840311.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.496996 s,
      deltaX: -0.200000 m,
      approachRate: -0.402418 m/s,
      rangeRepo size: 4

2025-08-22T05:25:11.639Z,1755840311.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684420 m,
      bearing: 159.333602 deg,
      lat: 36.779359 deg,
      lon: -121.859576 deg,
      deltaT: 0.496996 s,
      deltaX: -0.198846 m,
      approachRate: -0.400096 m/s,
      posRepo size: 4

2025-08-22T05:25:11.752Z,1755840311.752 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=38.783321
2025-08-22T05:25:12.009Z,1755840312.009 [DAT](INFO): DAT read: Rx Time:05:25:10.8801 

2025-08-22T05:25:12.009Z,1755840312.009 [DAT](INFO): Rx dataTimestamp_ set to:1755840312.009052
2025-08-22T05:25:12.011Z,1755840312.011 [DAT](INFO): DAT read: Bearing 305.0,  31.3 (Local)

2025-08-22T05:25:12.011Z,1755840312.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,  31.3 (Local)

2025-08-22T05:25:12.013Z,1755840312.013 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:12.018Z,1755840312.018 [DAT](INFO): DAT read: 05:25:10.8801 LVL= 28912, 10081, 19058, 32755, AGC= 44, IDX= 502, 0.10, 2.858, 2.974, 1.899,-2.403, PHS=-0.920,-0.862,-2.026, RAW=  27.4,  49.8, CAL=  26.0,  54.3, ROT= 124.0, -54.3

2025-08-22T05:25:12.018Z,1755840312.018 [DAT](INFO): got valid direction response:
 05:25:10.8801 LVL= 28912, 10081, 19058, 32755, AGC= 44, IDX= 502, 0.10, 2.858, 2.974, 1.899,-2.403, PHS=-0.920,-0.862,-2.026, RAW=  27.4,  49.8, CAL=  26.0,  54.3, ROT= 124.0, -54.3

2025-08-22T05:25:12.019Z,1755840312.019 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T05:25:12.020Z,1755840312.020 [DAT](INFO): direction in FSK: [-0.326312,0.483778,0.812084]
2025-08-22T05:25:12.020Z,1755840312.020 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:12.024Z,1755840312.024 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.055298
2025-08-22T05:25:12.109Z,1755840312.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.506652 s,
      deltaX: 0.200000 m,
      approachRate: 0.394748 m/s,
      rangeRepo size: 4

2025-08-22T05:25:12.130Z,1755840312.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883267 m,
      bearing: 157.270097 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.506652 s,
      deltaX: 0.198847 m,
      approachRate: 0.392473 m/s,
      posRepo size: 4

2025-08-22T05:25:12.261Z,1755840312.261 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=39.291977
2025-08-22T05:25:12.513Z,1755840312.513 [DAT](INFO): DAT read: Rx Time:05:25:11.3799 

2025-08-22T05:25:12.514Z,1755840312.514 [DAT](INFO): Rx dataTimestamp_ set to:1755840312.513321
2025-08-22T05:25:12.515Z,1755840312.515 [DAT](INFO): DAT read: Bearing 304.3,  32.4 (Local)

2025-08-22T05:25:12.515Z,1755840312.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.3,  32.4 (Local)

2025-08-22T05:25:12.517Z,1755840312.517 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:12.522Z,1755840312.522 [DAT](INFO): DAT read: 05:25:11.3799 LVL= 30192, 11249, 19378, 32755, AGC= 46, IDX= 501, 0.25, 1.295, 1.384, 0.307, 2.309, PHS=-0.912,-0.880,-2.046, RAW=  28.6,  49.7, CAL=  27.1,  54.2, ROT= 122.9, -54.2

2025-08-22T05:25:12.523Z,1755840312.523 [DAT](INFO): got valid direction response:
 05:25:11.3799 LVL= 30192, 11249, 19378, 32755, AGC= 46, IDX= 501, 0.25, 1.295, 1.384, 0.307, 2.309, PHS=-0.912,-0.880,-2.046, RAW=  28.6,  49.7, CAL=  27.1,  54.2, ROT= 122.9, -54.2

2025-08-22T05:25:12.523Z,1755840312.523 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T05:25:12.524Z,1755840312.524 [DAT](INFO): direction in FSK: [-0.317734,0.491142,0.811064]
2025-08-22T05:25:12.525Z,1755840312.525 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:12.532Z,1755840312.532 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.563213
2025-08-22T05:25:12.644Z,1755840312.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504269 s,
      deltaX: -0.300000 m,
      approachRate: -0.594921 m/s,
      rangeRepo size: 4

2025-08-22T05:25:12.646Z,1755840312.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584998 m,
      bearing: 156.897460 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.504269 s,
      deltaX: -0.298269 m,
      approachRate: -0.591488 m/s,
      posRepo size: 4

2025-08-22T05:25:12.765Z,1755840312.765 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=39.795460
2025-08-22T05:25:13.017Z,1755840313.017 [DAT](INFO): DAT read: Rx Time:05:25:11.8800 

2025-08-22T05:25:13.017Z,1755840313.017 [DAT](INFO): Rx dataTimestamp_ set to:1755840313.017073
2025-08-22T05:25:13.019Z,1755840313.019 [DAT](INFO): DAT read: Bearing 304.9,  33.2 (Local)

2025-08-22T05:25:13.019Z,1755840313.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.9,  33.2 (Local)

2025-08-22T05:25:13.021Z,1755840313.021 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:13.026Z,1755840313.026 [DAT](INFO): DAT read: 05:25:11.8800 LVL= 27856, 10961, 21346, 32755, AGC= 44, IDX= 502, 0.46, 2.177, 2.291, 1.163,-3.091, PHS=-0.913,-0.856,-2.073, RAW=  27.6,  48.8, CAL=  26.1,  53.4, ROT= 123.9, -53.4

2025-08-22T05:25:13.028Z,1755840313.028 [DAT](INFO): got valid direction response:
 05:25:11.8800 LVL= 27856, 10961, 21346, 32755, AGC= 44, IDX= 502, 0.46, 2.177, 2.291, 1.163,-3.091, PHS=-0.913,-0.856,-2.073, RAW=  27.6,  48.8, CAL=  26.1,  53.4, ROT= 123.9, -53.4

2025-08-22T05:25:13.028Z,1755840313.028 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T05:25:13.029Z,1755840313.029 [DAT](INFO): direction in FSK: [-0.332542,0.494874,0.802817]
2025-08-22T05:25:13.030Z,1755840313.030 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:13.033Z,1755840313.033 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.064232
2025-08-22T05:25:13.046Z,1755840313.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503752 s,
      deltaX: 0.100000 m,
      approachRate: 0.198511 m/s,
      rangeRepo size: 4

2025-08-22T05:25:13.077Z,1755840313.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684419 m,
      bearing: 157.780546 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.503752 s,
      deltaX: 0.099421 m,
      approachRate: 0.197361 m/s,
      posRepo size: 4

2025-08-22T05:25:13.268Z,1755840313.268 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=40.299061
2025-08-22T05:25:13.501Z,1755840313.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:13.521Z,1755840313.521 [DAT](INFO): DAT read: Rx Time:05:25:12.3799 

2025-08-22T05:25:13.521Z,1755840313.521 [DAT](INFO): Rx dataTimestamp_ set to:1755840313.521043
2025-08-22T05:25:13.523Z,1755840313.523 [DAT](INFO): DAT read: Bearing 304.7,  35.4 (Local)

2025-08-22T05:25:13.523Z,1755840313.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.7,  35.4 (Local)

2025-08-22T05:25:13.525Z,1755840313.525 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:13.530Z,1755840313.530 [DAT](INFO): DAT read: 05:25:12.3799 LVL= 29168,  9969, 19698, 32755, AGC= 44, IDX= 502,-0.31,-0.670,-0.585,-1.771, 0.289, PHS=-0.857,-0.829,-2.104, RAW=  28.9,  46.7, CAL=  27.2,  51.5, ROT= 122.8, -51.5

2025-08-22T05:25:13.531Z,1755840313.531 [DAT](INFO): got valid direction response:
 05:25:12.3799 LVL= 29168,  9969, 19698, 32755, AGC= 44, IDX= 502,-0.31,-0.670,-0.585,-1.771, 0.289, PHS=-0.857,-0.829,-2.104, RAW=  28.9,  46.7, CAL=  27.2,  51.5, ROT= 122.8, -51.5

2025-08-22T05:25:13.531Z,1755840313.531 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T05:25:13.532Z,1755840313.532 [DAT](INFO): direction in FSK: [-0.337221,0.523265,0.782608]
2025-08-22T05:25:13.533Z,1755840313.533 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:13.536Z,1755840313.536 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.567165
2025-08-22T05:25:13.773Z,1755840313.773 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=40.804054
2025-08-22T05:25:13.860Z,1755840313.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503970 s,
      deltaX: -0.100000 m,
      approachRate: -0.198425 m/s,
      rangeRepo size: 4

2025-08-22T05:25:13.862Z,1755840313.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584996 m,
      bearing: 153.927007 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.503970 s,
      deltaX: -0.099423 m,
      approachRate: -0.197279 m/s,
      posRepo size: 4

2025-08-22T05:25:14.025Z,1755840314.025 [DAT](INFO): DAT read: Rx Time:05:25:12.8800 

2025-08-22T05:25:14.025Z,1755840314.025 [DAT](INFO): Rx dataTimestamp_ set to:1755840314.025046
2025-08-22T05:25:14.027Z,1755840314.027 [DAT](INFO): DAT read: Bearing 303.1,  36.6 (Local)

2025-08-22T05:25:14.027Z,1755840314.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.1,  36.6 (Local)

2025-08-22T05:25:14.029Z,1755840314.029 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:14.039Z,1755840314.039 [DAT](INFO): DAT read: 05:25:12.8800 LVL= 30688,  9569, 19746, 32755, AGC= 44, IDX= 502,-0.15,-0.094,-0.045,-1.279, 0.850, PHS=-0.842,-0.849,-2.172, RAW=  30.3,  45.8, CAL=  28.5,  50.7, ROT= 121.5, -50.7

2025-08-22T05:25:14.041Z,1755840314.041 [DAT](INFO): got valid direction response:
 05:25:12.8800 LVL= 30688,  9569, 19746, 32755, AGC= 44, IDX= 502,-0.15,-0.094,-0.045,-1.279, 0.850, PHS=-0.842,-0.849,-2.172, RAW=  30.3,  45.8, CAL=  28.5,  50.7, ROT= 121.5, -50.7

2025-08-22T05:25:14.041Z,1755840314.041 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T05:25:14.042Z,1755840314.042 [DAT](INFO): direction in FSK: [-0.330941,0.540046,0.773840]
2025-08-22T05:25:14.042Z,1755840314.042 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:14.050Z,1755840314.050 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.080917
2025-08-22T05:25:14.276Z,1755840314.276 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=41.307301
2025-08-22T05:25:14.313Z,1755840314.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504003 s,
      deltaX: 0.100000 m,
      approachRate: 0.198412 m/s,
      rangeRepo size: 4

2025-08-22T05:25:14.319Z,1755840314.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684417 m,
      bearing: 150.948022 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.504003 s,
      deltaX: 0.099422 m,
      approachRate: 0.197264 m/s,
      posRepo size: 4

2025-08-22T05:25:14.530Z,1755840314.530 [DAT](INFO): DAT read: Rx Time:05:25:13.3799 

2025-08-22T05:25:14.531Z,1755840314.531 [DAT](INFO): Rx dataTimestamp_ set to:1755840314.530387
2025-08-22T05:25:14.532Z,1755840314.532 [DAT](INFO): DAT read: Bearing 302.1,  37.7 (Local)

2025-08-22T05:25:14.532Z,1755840314.532 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,  37.7 (Local)

2025-08-22T05:25:14.534Z,1755840314.534 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:14.545Z,1755840314.545 [DAT](INFO): DAT read: 05:25:13.3799 LVL= 29168,  9921, 21426, 31139, AGC= 43, IDX= 501,-0.02,-0.754,-0.728,-2.001, 0.159, PHS=-0.811,-0.842,-2.204, RAW=  31.1,  44.7, CAL=  29.3,  49.7, ROT= 120.7, -49.7

2025-08-22T05:25:14.546Z,1755840314.546 [DAT](INFO): got valid direction response:
 05:25:13.3799 LVL= 29168,  9921, 21426, 31139, AGC= 43, IDX= 501,-0.02,-0.754,-0.728,-2.001, 0.159, PHS=-0.811,-0.842,-2.204, RAW=  31.1,  44.7, CAL=  29.3,  49.7, ROT= 120.7, -49.7

2025-08-22T05:25:14.546Z,1755840314.546 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T05:25:14.548Z,1755840314.548 [DAT](INFO): direction in FSK: [-0.330214,0.556144,0.762668]
2025-08-22T05:25:14.548Z,1755840314.548 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:14.576Z,1755840314.576 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.607170
2025-08-22T05:25:14.668Z,1755840314.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.505341 s,
      deltaX: -0.100000 m,
      approachRate: -0.197886 m/s,
      rangeRepo size: 4

2025-08-22T05:25:14.670Z,1755840314.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584995 m,
      bearing: 148.614907 deg,
      lat: 36.779359 deg,
      lon: -121.859574 deg,
      deltaT: 0.505341 s,
      deltaX: -0.099423 m,
      approachRate: -0.196744 m/s,
      posRepo size: 4

2025-08-22T05:25:14.780Z,1755840314.780 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=41.811214
2025-08-22T05:25:15.033Z,1755840315.033 [DAT](INFO): DAT read: Rx Time:05:25:13.8800 

2025-08-22T05:25:15.035Z,1755840315.035 [DAT](INFO): Rx dataTimestamp_ set to:1755840315.034392
2025-08-22T05:25:15.037Z,1755840315.037 [DAT](INFO): DAT read: Bearing 298.4,  38.4 (Local)

2025-08-22T05:25:15.037Z,1755840315.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4,  38.4 (Local)

2025-08-22T05:25:15.040Z,1755840315.040 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:15.053Z,1755840315.053 [DAT](INFO): DAT read: 05:25:13.8800 LVL= 26256, 10417, 20610, 26467, AGC= 45, IDX= 502, 0.10, 1.548, 1.484, 0.249, 2.456, PHS=-0.807,-0.927,-2.251, RAW=  34.3,  45.4, CAL=  32.4,  50.4, ROT= 117.6, -50.4

2025-08-22T05:25:15.054Z,1755840315.054 [DAT](INFO): got valid direction response:
 05:25:13.8800 LVL= 26256, 10417, 20610, 26467, AGC= 45, IDX= 502, 0.10, 1.548, 1.484, 0.249, 2.456, PHS=-0.807,-0.927,-2.251, RAW=  34.3,  45.4, CAL=  32.4,  50.4, ROT= 117.6, -50.4

2025-08-22T05:25:15.054Z,1755840315.054 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T05:25:15.065Z,1755840315.065 [DAT](INFO): direction in FSK: [-0.295316,0.564887,0.770513]
2025-08-22T05:25:15.065Z,1755840315.065 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:15.085Z,1755840315.085 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.115952
2025-08-22T05:25:15.144Z,1755840315.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504005 s,
      deltaX: 0.100000 m,
      approachRate: 0.198411 m/s,
      rangeRepo size: 4

2025-08-22T05:25:15.147Z,1755840315.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684399 m,
      bearing: 145.300807 deg,
      lat: 36.779358 deg,
      lon: -121.859573 deg,
      deltaT: 0.504005 s,
      deltaX: 0.099405 m,
      approachRate: 0.197230 m/s,
      posRepo size: 4

2025-08-22T05:25:15.284Z,1755840315.284 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=42.315197
2025-08-22T05:25:15.537Z,1755840315.537 [DAT](INFO): DAT read: Rx Time:05:25:14.3799 

2025-08-22T05:25:15.537Z,1755840315.537 [DAT](INFO): Rx dataTimestamp_ set to:1755840315.537060
2025-08-22T05:25:15.539Z,1755840315.539 [DAT](INFO): DAT read: Bearing 298.0,  38.8 (Local)

2025-08-22T05:25:15.539Z,1755840315.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.0,  38.8 (Local)

2025-08-22T05:25:15.541Z,1755840315.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:15.546Z,1755840315.546 [DAT](INFO): DAT read: 05:25:14.3799 LVL= 27968, 10609, 21874, 29267, AGC= 44, IDX= 501, 0.27, 0.132, 0.066,-1.190, 1.030, PHS=-0.796,-0.919,-2.264, RAW=  34.3,  44.9, CAL=  32.4,  50.0, ROT= 117.6, -50.0

2025-08-22T05:25:15.547Z,1755840315.547 [DAT](INFO): got valid direction response:
 05:25:14.3799 LVL= 27968, 10609, 21874, 29267, AGC= 44, IDX= 501, 0.27, 0.132, 0.066,-1.190, 1.030, PHS=-0.796,-0.919,-2.264, RAW=  34.3,  44.9, CAL=  32.4,  50.0, ROT= 117.6, -50.0

2025-08-22T05:25:15.547Z,1755840315.547 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T05:25:15.548Z,1755840315.548 [DAT](INFO): direction in FSK: [-0.297801,0.569641,0.766044]
2025-08-22T05:25:15.548Z,1755840315.548 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:15.556Z,1755840315.556 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.586792
2025-08-22T05:25:15.675Z,1755840315.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.502668 s,
      deltaX: -0.100000 m,
      approachRate: -0.198939 m/s,
      rangeRepo size: 4

2025-08-22T05:25:15.677Z,1755840315.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584977 m,
      bearing: 143.651459 deg,
      lat: 36.779358 deg,
      lon: -121.859573 deg,
      deltaT: 0.502668 s,
      deltaX: -0.099422 m,
      approachRate: -0.197789 m/s,
      posRepo size: 4

2025-08-22T05:25:15.790Z,1755840315.790 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=42.820080
2025-08-22T05:25:16.026Z,1755840316.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:16.041Z,1755840316.041 [DAT](INFO): DAT read: Rx Time:05:25:14.8800 

2025-08-22T05:25:16.042Z,1755840316.042 [DAT](INFO): Rx dataTimestamp_ set to:1755840316.041600
2025-08-22T05:25:16.043Z,1755840316.043 [DAT](INFO): DAT read: Bearing 301.3,  39.2 (Local)

2025-08-22T05:25:16.044Z,1755840316.044 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.3,  39.2 (Local)

2025-08-22T05:25:16.046Z,1755840316.046 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:16.050Z,1755840316.050 [DAT](INFO): DAT read: 05:25:14.8800 LVL= 27824, 10577, 21618, 27763, AGC= 43, IDX= 503,-0.50,-0.461,-0.422,-1.785, 0.422, PHS=-0.781,-0.799,-2.251, RAW=  30.6,  42.8, CAL=  28.7,  48.1, ROT= 121.3, -48.1

2025-08-22T05:25:16.052Z,1755840316.052 [DAT](INFO): got valid direction response:
 05:25:14.8800 LVL= 27824, 10577, 21618, 27763, AGC= 43, IDX= 503,-0.50,-0.461,-0.422,-1.785, 0.422, PHS=-0.781,-0.799,-2.251, RAW=  30.6,  42.8, CAL=  28.7,  48.1, ROT= 121.3, -48.1

2025-08-22T05:25:16.052Z,1755840316.052 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T05:25:16.053Z,1755840316.053 [DAT](INFO): direction in FSK: [-0.346952,0.570635,0.744312]
2025-08-22T05:25:16.054Z,1755840316.054 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:16.065Z,1755840316.065 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.096176
2025-08-22T05:25:16.295Z,1755840316.295 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=43.325542
2025-08-22T05:25:16.519Z,1755840316.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504540 s,
      deltaX: 0.100000 m,
      approachRate: 0.198201 m/s,
      rangeRepo size: 4

2025-08-22T05:25:16.529Z,1755840316.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684396 m,
      bearing: 147.183443 deg,
      lat: 36.779358 deg,
      lon: -121.859573 deg,
      deltaT: 0.504540 s,
      deltaX: 0.099419 m,
      approachRate: 0.197048 m/s,
      posRepo size: 4

2025-08-22T05:25:16.545Z,1755840316.545 [DAT](INFO): DAT read: Rx Time:05:25:15.3799 

2025-08-22T05:25:16.546Z,1755840316.546 [DAT](INFO): Rx dataTimestamp_ set to:1755840316.545288
2025-08-22T05:25:16.547Z,1755840316.547 [DAT](INFO): DAT read: Bearing 300.5,  40.7 (Local)

2025-08-22T05:25:16.547Z,1755840316.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.5,  40.7 (Local)

2025-08-22T05:25:16.549Z,1755840316.549 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:16.554Z,1755840316.554 [DAT](INFO): DAT read: 05:25:15.3799 LVL= 27728, 10705, 21858, 26291, AGC= 44, IDX= 502,-0.29,-1.869,-1.869, 3.040,-1.033, PHS=-0.733,-0.791,-2.254, RAW=  31.9,  41.8, CAL=  30.0,  47.1, ROT= 120.0, -47.1

2025-08-22T05:25:16.555Z,1755840316.555 [DAT](INFO): got valid direction response:
 05:25:15.3799 LVL= 27728, 10705, 21858, 26291, AGC= 44, IDX= 502,-0.29,-1.869,-1.869, 3.040,-1.033, PHS=-0.733,-0.791,-2.254, RAW=  31.9,  41.8, CAL=  30.0,  47.1, ROT= 120.0, -47.1

2025-08-22T05:25:16.556Z,1755840316.556 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T05:25:16.557Z,1755840316.557 [DAT](INFO): direction in FSK: [-0.340360,0.589522,0.732543]
2025-08-22T05:25:16.557Z,1755840316.557 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:16.561Z,1755840316.561 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.591473
2025-08-22T05:25:16.796Z,1755840316.796 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=43.827240
2025-08-22T05:25:16.857Z,1755840316.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503688 s,
      deltaX: -0.100000 m,
      approachRate: -0.198536 m/s,
      rangeRepo size: 4

2025-08-22T05:25:16.858Z,1755840316.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584974 m,
      bearing: 144.896567 deg,
      lat: 36.779358 deg,
      lon: -121.859573 deg,
      deltaT: 0.503688 s,
      deltaX: -0.099422 m,
      approachRate: -0.197388 m/s,
      posRepo size: 4

2025-08-22T05:25:17.049Z,1755840317.049 [DAT](INFO): DAT read: Rx Time:05:25:15.8801 

2025-08-22T05:25:17.050Z,1755840317.050 [DAT](INFO): Rx dataTimestamp_ set to:1755840317.049242
2025-08-22T05:25:17.051Z,1755840317.051 [DAT](INFO): DAT read: Bearing 298.8,  41.4 (Local)

2025-08-22T05:25:17.052Z,1755840317.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.8,  41.4 (Local)

2025-08-22T05:25:17.083Z,1755840317.083 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:17.088Z,1755840317.088 [DAT](INFO): DAT read: 05:25:15.8801 LVL= 26416, 10817, 22850, 25763, AGC= 44, IDX= 503,-0.16,-0.294,-0.334,-1.691, 0.511, PHS=-0.703,-0.800,-2.246, RAW=  33.2,  41.5, CAL=  31.2,  46.9, ROT= 118.8, -46.9

2025-08-22T05:25:17.089Z,1755840317.089 [DAT](INFO): got valid direction response:
 05:25:15.8801 LVL= 26416, 10817, 22850, 25763, AGC= 44, IDX= 503,-0.16,-0.294,-0.334,-1.691, 0.511, PHS=-0.703,-0.800,-2.246, RAW=  33.2,  41.5, CAL=  31.2,  46.9, ROT= 118.8, -46.9

2025-08-22T05:25:17.089Z,1755840317.089 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T05:25:17.090Z,1755840317.090 [DAT](INFO): direction in FSK: [-0.329170,0.598757,0.730162]
2025-08-22T05:25:17.091Z,1755840317.091 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:17.110Z,1755840317.110 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.141399
2025-08-22T05:25:17.300Z,1755840317.300 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=44.331310
2025-08-22T05:25:17.324Z,1755840317.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.503954 s,
      deltaX: 0.300000 m,
      approachRate: 0.595293 m/s,
      rangeRepo size: 4

2025-08-22T05:25:17.326Z,1755840317.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883233 m,
      bearing: 143.541381 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.503954 s,
      deltaX: 0.298259 m,
      approachRate: 0.591838 m/s,
      posRepo size: 4

2025-08-22T05:25:17.553Z,1755840317.553 [DAT](INFO): DAT read: Rx Time:05:25:16.3800 

2025-08-22T05:25:17.553Z,1755840317.553 [DAT](INFO): Rx dataTimestamp_ set to:1755840317.552932
2025-08-22T05:25:17.554Z,1755840317.554 [DAT](INFO): DAT read: Bearing 297.4,  41.3 (Local)

2025-08-22T05:25:17.555Z,1755840317.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.4,  41.3 (Local)

2025-08-22T05:25:17.557Z,1755840317.557 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:17.561Z,1755840317.561 [DAT](INFO): DAT read: 05:25:16.3800 LVL= 25840, 10769, 23314, 26419, AGC= 44, IDX= 502,-0.04,-1.028,-1.083,-2.421,-0.239, PHS=-0.687,-0.799,-2.226, RAW=  33.7,  41.4, CAL=  31.7,  46.9, ROT= 118.3, -46.9

2025-08-22T05:25:17.562Z,1755840317.562 [DAT](INFO): got valid direction response:
 05:25:16.3800 LVL= 25840, 10769, 23314, 26419, AGC= 44, IDX= 502,-0.04,-1.028,-1.083,-2.421,-0.239, PHS=-0.687,-0.799,-2.226, RAW=  33.7,  41.4, CAL=  31.7,  46.9, ROT= 118.3, -46.9

2025-08-22T05:25:17.563Z,1755840317.563 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T05:25:17.564Z,1755840317.564 [DAT](INFO): direction in FSK: [-0.323932,0.601607,0.730162]
2025-08-22T05:25:17.564Z,1755840317.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:17.568Z,1755840317.568 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.598549
2025-08-22T05:25:17.715Z,1755840317.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503690 s,
      deltaX: -0.200000 m,
      approachRate: -0.397070 m/s,
      rangeRepo size: 4

2025-08-22T05:25:17.721Z,1755840317.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684389 m,
      bearing: 140.024362 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.503690 s,
      deltaX: -0.198844 m,
      approachRate: -0.394774 m/s,
      posRepo size: 4

2025-08-22T05:25:17.805Z,1755840317.805 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=44.835392
2025-08-22T05:25:18.057Z,1755840318.057 [DAT](INFO): DAT read: Rx Time:05:25:16.8800 

2025-08-22T05:25:18.057Z,1755840318.057 [DAT](INFO): Rx dataTimestamp_ set to:1755840318.057157
2025-08-22T05:25:18.059Z,1755840318.059 [DAT](INFO): DAT read: Bearing 293.9,  40.7 (Local)

2025-08-22T05:25:18.059Z,1755840318.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.9,  40.7 (Local)

2025-08-22T05:25:18.061Z,1755840318.061 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:18.066Z,1755840318.066 [DAT](INFO): DAT read: 05:25:16.8800 LVL= 25520, 10913, 22930, 26163, AGC= 44, IDX= 502, 0.07,-0.061,-0.181,-1.455, 0.742, PHS=-0.702,-0.879,-2.242, RAW=  36.0,  42.8, CAL=  34.0,  48.2, ROT= 116.0, -48.2

2025-08-22T05:25:18.067Z,1755840318.067 [DAT](INFO): got valid direction response:
 05:25:16.8800 LVL= 25520, 10913, 22930, 26163, AGC= 44, IDX= 502, 0.07,-0.061,-0.181,-1.455, 0.742, PHS=-0.702,-0.879,-2.242, RAW=  36.0,  42.8, CAL=  34.0,  48.2, ROT= 116.0, -48.2

2025-08-22T05:25:18.067Z,1755840318.067 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T05:25:18.068Z,1755840318.068 [DAT](INFO): direction in FSK: [-0.292189,0.599075,0.745476]
2025-08-22T05:25:18.069Z,1755840318.069 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:18.073Z,1755840318.073 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.103924
2025-08-22T05:25:18.111Z,1755840318.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504225 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:18.121Z,1755840318.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684393 m,
      bearing: 137.686973 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.504225 s,
      deltaX: 0.000004 m,
      approachRate: 0.000009 m/s,
      posRepo size: 4

2025-08-22T05:25:18.308Z,1755840318.308 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=45.339291
2025-08-22T05:25:18.561Z,1755840318.561 [DAT](INFO): DAT read: Rx Time:05:25:17.3799 

2025-08-22T05:25:18.562Z,1755840318.562 [DAT](INFO): Rx dataTimestamp_ set to:1755840318.561337
2025-08-22T05:25:18.563Z,1755840318.563 [DAT](INFO): DAT read: Bearing 295.4,  38.8 (Local)

2025-08-22T05:25:18.563Z,1755840318.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.4,  38.8 (Local)

2025-08-22T05:25:18.565Z,1755840318.565 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:18.570Z,1755840318.570 [DAT](INFO): DAT read: 05:25:17.3799 LVL= 26320, 10817, 22482, 27411, AGC= 43, IDX= 501, 0.20,-1.033,-1.059,-2.377,-0.191, PHS=-0.740,-0.823,-2.231, RAW=  32.8,  42.8, CAL=  30.9,  48.0, ROT= 119.1, -48.0

2025-08-22T05:25:18.571Z,1755840318.571 [DAT](INFO): got valid direction response:
 05:25:17.3799 LVL= 26320, 10817, 22482, 27411, AGC= 43, IDX= 501, 0.20,-1.033,-1.059,-2.377,-0.191, PHS=-0.740,-0.823,-2.231, RAW=  32.8,  42.8, CAL=  30.9,  48.0, ROT= 119.1, -48.0

2025-08-22T05:25:18.571Z,1755840318.571 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T05:25:18.572Z,1755840318.572 [DAT](INFO): direction in FSK: [-0.325422,0.584668,0.743145]
2025-08-22T05:25:18.573Z,1755840318.573 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:18.580Z,1755840318.580 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.611267
2025-08-22T05:25:18.812Z,1755840318.812 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=45.843224
2025-08-22T05:25:18.944Z,1755840318.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504180 s,
      deltaX: -0.100000 m,
      approachRate: -0.198342 m/s,
      rangeRepo size: 4

2025-08-22T05:25:18.962Z,1755840318.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584971 m,
      bearing: 139.776813 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.504180 s,
      deltaX: -0.099422 m,
      approachRate: -0.197196 m/s,
      posRepo size: 4

2025-08-22T05:25:19.065Z,1755840319.065 [DAT](INFO): DAT read: Rx Time:05:25:17.8800 

2025-08-22T05:25:19.065Z,1755840319.065 [DAT](INFO): Rx dataTimestamp_ set to:1755840319.065206
2025-08-22T05:25:19.067Z,1755840319.067 [DAT](INFO): DAT read: Bearing 293.7,  38.1 (Local)

2025-08-22T05:25:19.068Z,1755840319.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,  38.1 (Local)

2025-08-22T05:25:19.071Z,1755840319.071 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:19.079Z,1755840319.079 [DAT](INFO): DAT read: 05:25:17.8800 LVL= 26320, 10689, 22690, 27379, AGC= 44, IDX= 502, 0.37, 0.361, 0.311,-0.979, 1.226, PHS=-0.762,-0.870,-2.249, RAW=  33.7,  43.7, CAL=  31.8,  48.9, ROT= 118.2, -48.9

2025-08-22T05:25:19.080Z,1755840319.080 [DAT](INFO): got valid direction response:
 05:25:17.8800 LVL= 26320, 10689, 22690, 27379, AGC= 44, IDX= 502, 0.37, 0.361, 0.311,-0.979, 1.226, PHS=-0.762,-0.870,-2.249, RAW=  33.7,  43.7, CAL=  31.8,  48.9, ROT= 118.2, -48.9

2025-08-22T05:25:19.080Z,1755840319.080 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T05:25:19.081Z,1755840319.081 [DAT](INFO): direction in FSK: [-0.310643,0.579347,0.753563]
2025-08-22T05:25:19.082Z,1755840319.082 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:19.086Z,1755840319.086 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.116726
2025-08-22T05:25:19.316Z,1755840319.316 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=46.347176
2025-08-22T05:25:19.386Z,1755840319.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503869 s,
      deltaX: 0.100000 m,
      approachRate: 0.198465 m/s,
      rangeRepo size: 4

2025-08-22T05:25:19.388Z,1755840319.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684393 m,
      bearing: 138.918951 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.503869 s,
      deltaX: 0.099422 m,
      approachRate: 0.197316 m/s,
      posRepo size: 4

2025-08-22T05:25:19.572Z,1755840319.572 [DAT](INFO): DAT read: Rx Time:05:25:18.3799 

2025-08-22T05:25:19.573Z,1755840319.573 [DAT](INFO): Rx dataTimestamp_ set to:1755840319.572637
2025-08-22T05:25:19.574Z,1755840319.574 [DAT](INFO): DAT read: Bearing 298.8,  38.7 (Local)

2025-08-22T05:25:19.574Z,1755840319.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.8,  38.7 (Local)

2025-08-22T05:25:19.577Z,1755840319.577 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:19.604Z,1755840319.604 [DAT](INFO): DAT read: 05:25:18.3799 LVL= 26048, 10929, 23218, 26483, AGC= 44, IDX= 502,-0.42,-2.745,-2.670, 2.175,-1.913, PHS=-0.731,-0.712,-2.239, RAW=  29.4,  40.6, CAL=  27.5,  46.1, ROT= 122.5, -46.1

2025-08-22T05:25:19.606Z,1755840319.606 [DAT](INFO): got valid direction response:
 05:25:18.3799 LVL= 26048, 10929, 23218, 26483, AGC= 44, IDX= 502,-0.42,-2.745,-2.670, 2.175,-1.913, PHS=-0.731,-0.712,-2.239, RAW=  29.4,  40.6, CAL=  27.5,  46.1, ROT= 122.5, -46.1

2025-08-22T05:25:19.606Z,1755840319.606 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T05:25:19.624Z,1755840319.624 [DAT](INFO): direction in FSK: [-0.372565,0.584809,0.720551]
2025-08-22T05:25:19.624Z,1755840319.624 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:19.649Z,1755840319.649 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.673573
2025-08-22T05:25:19.744Z,1755840319.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.507431 s,
      deltaX: -0.100000 m,
      approachRate: -0.197071 m/s,
      rangeRepo size: 4

2025-08-22T05:25:19.746Z,1755840319.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584970 m,
      bearing: 143.635724 deg,
      lat: 36.779357 deg,
      lon: -121.859575 deg,
      deltaT: 0.507431 s,
      deltaX: -0.099422 m,
      approachRate: -0.195932 m/s,
      posRepo size: 4

2025-08-22T05:25:19.820Z,1755840319.820 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=46.851196
2025-08-22T05:25:20.073Z,1755840320.073 [DAT](INFO): DAT read: Rx Time:05:25:18.8800 

2025-08-22T05:25:20.073Z,1755840320.073 [DAT](INFO): Rx dataTimestamp_ set to:1755840320.073198
2025-08-22T05:25:20.075Z,1755840320.075 [DAT](INFO): DAT read: Bearing 298.3,  39.1 (Local)

2025-08-22T05:25:20.075Z,1755840320.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.3,  39.1 (Local)

2025-08-22T05:25:20.077Z,1755840320.077 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:20.082Z,1755840320.082 [DAT](INFO): DAT read: 05:25:18.8800 LVL= 26352, 10737, 23218, 26419, AGC= 43, IDX= 503,-0.23,-1.941,-1.878, 2.977,-1.116, PHS=-0.723,-0.717,-2.234, RAW=  29.8,  40.6, CAL=  27.9,  46.1, ROT= 122.1, -46.1

2025-08-22T05:25:20.084Z,1755840320.084 [DAT](INFO): got valid direction response:
 05:25:18.8800 LVL= 26352, 10737, 23218, 26419, AGC= 43, IDX= 503,-0.23,-1.941,-1.878, 2.977,-1.116, PHS=-0.723,-0.717,-2.234, RAW=  29.8,  40.6, CAL=  27.9,  46.1, ROT= 122.1, -46.1

2025-08-22T05:25:20.084Z,1755840320.084 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T05:25:20.085Z,1755840320.085 [DAT](INFO): direction in FSK: [-0.368473,0.587396,0.720551]
2025-08-22T05:25:20.085Z,1755840320.085 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:20.101Z,1755840320.101 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.131927
2025-08-22T05:25:20.216Z,1755840320.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500561 s,
      deltaX: 0.100000 m,
      approachRate: 0.199776 m/s,
      rangeRepo size: 4

2025-08-22T05:25:20.218Z,1755840320.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684387 m,
      bearing: 143.117574 deg,
      lat: 36.779357 deg,
      lon: -121.859575 deg,
      deltaT: 0.500561 s,
      deltaX: 0.099417 m,
      approachRate: 0.198611 m/s,
      posRepo size: 4

2025-08-22T05:25:20.328Z,1755840320.328 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=47.357697
2025-08-22T05:25:20.570Z,1755840320.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:20.577Z,1755840320.577 [DAT](INFO): DAT read: Rx Time:05:25:19.3800 

2025-08-22T05:25:20.577Z,1755840320.577 [DAT](INFO): Rx dataTimestamp_ set to:1755840320.576967
2025-08-22T05:25:20.579Z,1755840320.579 [DAT](INFO): DAT read: Bearing 295.5,  40.0 (Local)

2025-08-22T05:25:20.579Z,1755840320.579 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5,  40.0 (Local)

2025-08-22T05:25:20.581Z,1755840320.581 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:20.586Z,1755840320.586 [DAT](INFO): DAT read: 05:25:19.3800 LVL= 26304, 10929, 22562, 26099, AGC= 43, IDX= 502,-0.10,-2.769,-2.789, 2.131,-1.957, PHS=-0.710,-0.786,-2.239, RAW=  32.5,  41.5, CAL=  30.5,  46.9, ROT= 119.5, -46.9

2025-08-22T05:25:20.587Z,1755840320.587 [DAT](INFO): got valid direction response:
 05:25:19.3800 LVL= 26304, 10929, 22562, 26099, AGC= 43, IDX= 502,-0.10,-2.769,-2.789, 2.131,-1.957, PHS=-0.710,-0.786,-2.239, RAW=  32.5,  41.5, CAL=  30.5,  46.9, ROT= 119.5, -46.9

2025-08-22T05:25:20.587Z,1755840320.587 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T05:25:20.588Z,1755840320.588 [DAT](INFO): direction in FSK: [-0.336460,0.594691,0.730162]
2025-08-22T05:25:20.588Z,1755840320.588 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:20.597Z,1755840320.597 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.627693
2025-08-22T05:25:20.605Z,1755840320.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503769 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:20.829Z,1755840320.829 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=47.860146
2025-08-22T05:25:21.081Z,1755840321.081 [DAT](INFO): DAT read: Rx Time:05:25:19.8801 

2025-08-22T05:25:21.081Z,1755840321.081 [DAT](INFO): Rx dataTimestamp_ set to:1755840321.081133
2025-08-22T05:25:21.083Z,1755840321.083 [DAT](INFO): DAT read: Bearing 292.3,  40.5 (Local)

2025-08-22T05:25:21.084Z,1755840321.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,  40.5 (Local)

2025-08-22T05:25:21.086Z,1755840321.086 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:21.093Z,1755840321.093 [DAT](INFO): DAT read: 05:25:19.8801 LVL= 27024, 11297, 23154, 25971, AGC= 43, IDX= 503, 0.01,-0.501,-0.606,-1.894, 0.313, PHS=-0.712,-0.874,-2.251, RAW=  35.5,  42.8, CAL=  33.5,  48.1, ROT= 116.5, -48.1

2025-08-22T05:25:21.099Z,1755840321.099 [DAT](INFO): got valid direction response:
 05:25:19.8801 LVL= 27024, 11297, 23154, 25971, AGC= 43, IDX= 503, 0.01,-0.501,-0.606,-1.894, 0.313, PHS=-0.712,-0.874,-2.251, RAW=  35.5,  42.8, CAL=  33.5,  48.1, ROT= 116.5, -48.1

2025-08-22T05:25:21.100Z,1755840321.100 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T05:25:21.100Z,1755840321.100 [DAT](INFO): direction in FSK: [-0.297985,0.597666,0.744312]
2025-08-22T05:25:21.101Z,1755840321.101 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:21.109Z,1755840321.109 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.139851
2025-08-22T05:25:21.332Z,1755840321.332 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=48.363255
2025-08-22T05:25:21.477Z,1755840321.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.504166 s,
      deltaX: 0.200000 m,
      approachRate: 0.396695 m/s,
      rangeRepo size: 4

2025-08-22T05:25:21.485Z,1755840321.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883241 m,
      bearing: 137.287470 deg,
      lat: 36.779357 deg,
      lon: -121.859575 deg,
      deltaT: 1.007935 s,
      deltaX: 0.198853 m,
      approachRate: 0.197288 m/s,
      posRepo size: 4

2025-08-22T05:25:21.586Z,1755840321.586 [DAT](INFO): DAT read: Rx Time:05:25:20.3800 

2025-08-22T05:25:21.586Z,1755840321.586 [DAT](INFO): Rx dataTimestamp_ set to:1755840321.586044
2025-08-22T05:25:21.588Z,1755840321.588 [DAT](INFO): DAT read: Bearing 291.6,  40.6 (Local)

2025-08-22T05:25:21.589Z,1755840321.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.6,  40.6 (Local)

2025-08-22T05:25:21.591Z,1755840321.591 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:21.596Z,1755840321.596 [DAT](INFO): DAT read: 05:25:20.3800 LVL= 27232, 10769, 23890, 26019, AGC= 43, IDX= 502, 0.13,-1.413,-1.536,-2.803,-0.593, PHS=-0.718,-0.898,-2.254, RAW=  36.2,  43.2, CAL=  34.1,  48.6, ROT= 115.9, -48.6

2025-08-22T05:25:21.597Z,1755840321.597 [DAT](INFO): got valid direction response:
 05:25:20.3800 LVL= 27232, 10769, 23890, 26019, AGC= 43, IDX= 502, 0.13,-1.413,-1.536,-2.803,-0.593, PHS=-0.718,-0.898,-2.254, RAW=  36.2,  43.2, CAL=  34.1,  48.6, ROT= 115.9, -48.6

2025-08-22T05:25:21.598Z,1755840321.598 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T05:25:21.598Z,1755840321.598 [DAT](INFO): direction in FSK: [-0.288862,0.594888,0.750111]
2025-08-22T05:25:21.599Z,1755840321.599 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:21.610Z,1755840321.610 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.641029
2025-08-22T05:25:21.784Z,1755840321.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504911 s,
      deltaX: -0.200000 m,
      approachRate: -0.396110 m/s,
      rangeRepo size: 4

2025-08-22T05:25:21.786Z,1755840321.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684397 m,
      bearing: 136.702156 deg,
      lat: 36.779357 deg,
      lon: -121.859575 deg,
      deltaT: 0.504911 s,
      deltaX: -0.198844 m,
      approachRate: -0.393821 m/s,
      posRepo size: 4

2025-08-22T05:25:21.837Z,1755840321.837 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=48.867943
2025-08-22T05:25:22.089Z,1755840322.089 [DAT](INFO): DAT read: Rx Time:05:25:20.8800 

2025-08-22T05:25:22.090Z,1755840322.090 [DAT](INFO): Rx dataTimestamp_ set to:1755840322.089412
2025-08-22T05:25:22.091Z,1755840322.091 [DAT](INFO): DAT read: Bearing 290.9,  40.7 (Local)

2025-08-22T05:25:22.091Z,1755840322.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.9,  40.7 (Local)

2025-08-22T05:25:22.093Z,1755840322.093 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:22.098Z,1755840322.098 [DAT](INFO): DAT read: 05:25:20.8800 LVL= 26688, 10913, 22690, 26579, AGC= 44, IDX= 502, 0.26,-1.056,-1.208,-2.456,-0.233, PHS=-0.721,-0.931,-2.267, RAW=  37.2,  43.7, CAL=  35.1,  49.0, ROT= 114.9, -49.0

2025-08-22T05:25:22.099Z,1755840322.099 [DAT](INFO): got valid direction response:
 05:25:20.8800 LVL= 26688, 10913, 22690, 26579, AGC= 44, IDX= 502, 0.26,-1.056,-1.208,-2.456,-0.233, PHS=-0.721,-0.931,-2.267, RAW=  37.2,  43.7, CAL=  35.1,  49.0, ROT= 114.9, -49.0

2025-08-22T05:25:22.099Z,1755840322.099 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T05:25:22.100Z,1755840322.100 [DAT](INFO): direction in FSK: [-0.276224,0.595074,0.754710]
2025-08-22T05:25:22.101Z,1755840322.101 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:22.104Z,1755840322.104 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.135017
2025-08-22T05:25:22.244Z,1755840322.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503368 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:22.246Z,1755840322.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684393 m,
      bearing: 136.801241 deg,
      lat: 36.779357 deg,
      lon: -121.859575 deg,
      deltaT: 0.503368 s,
      deltaX: -0.000003 m,
      approachRate: -0.000007 m/s,
      posRepo size: 4

2025-08-22T05:25:22.344Z,1755840322.344 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=49.374012
2025-08-22T05:25:22.593Z,1755840322.593 [DAT](INFO): DAT read: Rx Time:05:25:21.3799 

2025-08-22T05:25:22.593Z,1755840322.593 [DAT](INFO): Rx dataTimestamp_ set to:1755840322.593184
2025-08-22T05:25:22.595Z,1755840322.595 [DAT](INFO): DAT read: Bearing 292.1,  40.6 (Local)

2025-08-22T05:25:22.595Z,1755840322.595 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1,  40.6 (Local)

2025-08-22T05:25:22.597Z,1755840322.597 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:22.602Z,1755840322.602 [DAT](INFO): DAT read: 05:25:21.3799 LVL= 27552, 10801, 21490, 26851, AGC= 44, IDX= 501, 0.46,-2.612,-2.736, 2.281,-1.787, PHS=-0.723,-0.904,-2.260, RAW=  36.2,  43.4, CAL=  34.1,  48.7, ROT= 115.9, -48.7

2025-08-22T05:25:22.603Z,1755840322.603 [DAT](INFO): got valid direction response:
 05:25:21.3799 LVL= 27552, 10801, 21490, 26851, AGC= 44, IDX= 501, 0.46,-2.612,-2.736, 2.281,-1.787, PHS=-0.723,-0.904,-2.260, RAW=  36.2,  43.4, CAL=  34.1,  48.7, ROT= 115.9, -48.7

2025-08-22T05:25:22.603Z,1755840322.603 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T05:25:22.604Z,1755840322.604 [DAT](INFO): direction in FSK: [-0.288290,0.593710,0.751264]
2025-08-22T05:25:22.604Z,1755840322.604 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:22.608Z,1755840322.608 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.639076
2025-08-22T05:25:22.665Z,1755840322.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503772 s,
      deltaX: -0.100000 m,
      approachRate: -0.198503 m/s,
      rangeRepo size: 4

2025-08-22T05:25:22.676Z,1755840322.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584971 m,
      bearing: 138.430655 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.503772 s,
      deltaX: -0.099422 m,
      approachRate: -0.197356 m/s,
      posRepo size: 4

2025-08-22T05:25:22.847Z,1755840322.847 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=49.877907
2025-08-22T05:25:23.013Z,1755840323.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:23.098Z,1755840323.098 [DAT](INFO): DAT read: Rx Time:05:25:21.8800 

2025-08-22T05:25:23.098Z,1755840323.098 [DAT](INFO): Rx dataTimestamp_ set to:1755840323.098019
2025-08-22T05:25:23.100Z,1755840323.100 [DAT](INFO): DAT read: Bearing 296.3,  39.9 (Local)

2025-08-22T05:25:23.101Z,1755840323.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.3,  39.9 (Local)

2025-08-22T05:25:23.104Z,1755840323.104 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:23.109Z,1755840323.109 [DAT](INFO): DAT read: 05:25:21.8800 LVL= 27744, 10609, 22146, 27219, AGC= 43, IDX= 503,-0.34,-2.548,-2.558, 2.377,-1.716, PHS=-0.730,-0.797,-2.234, RAW=  32.3,  42.1, CAL=  30.3,  47.4, ROT= 119.7, -47.4

2025-08-22T05:25:23.110Z,1755840323.110 [DAT](INFO): got valid direction response:
 05:25:21.8800 LVL= 27744, 10609, 22146, 27219, AGC= 43, IDX= 503,-0.34,-2.548,-2.558, 2.377,-1.716, PHS=-0.730,-0.797,-2.234, RAW=  32.3,  42.1, CAL=  30.3,  47.4, ROT= 119.7, -47.4

2025-08-22T05:25:23.110Z,1755840323.110 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T05:25:23.112Z,1755840323.112 [DAT](INFO): direction in FSK: [-0.335364,0.587956,0.736097]
2025-08-22T05:25:23.112Z,1755840323.112 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:23.120Z,1755840323.120 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.150429
2025-08-22T05:25:23.351Z,1755840323.351 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=50.381084
2025-08-22T05:25:23.511Z,1755840323.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504835 s,
      deltaX: 0.100000 m,
      approachRate: 0.198085 m/s,
      rangeRepo size: 4

2025-08-22T05:25:23.513Z,1755840323.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684390 m,
      bearing: 143.254929 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.504835 s,
      deltaX: 0.099419 m,
      approachRate: 0.196934 m/s,
      posRepo size: 4

2025-08-22T05:25:23.602Z,1755840323.602 [DAT](INFO): DAT read: Rx Time:05:25:22.3800 

2025-08-22T05:25:23.603Z,1755840323.603 [DAT](INFO): Rx dataTimestamp_ set to:1755840323.602457
2025-08-22T05:25:23.606Z,1755840323.606 [DAT](INFO): DAT read: Bearing 297.5,  39.5 (Local)

2025-08-22T05:25:23.606Z,1755840323.606 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.5,  39.5 (Local)

2025-08-22T05:25:23.608Z,1755840323.608 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:23.613Z,1755840323.613 [DAT](INFO): DAT read: 05:25:22.3800 LVL= 27888, 10337, 22002, 27379, AGC= 43, IDX= 502,-0.18, 2.279, 2.298, 0.932, 3.115, PHS=-0.734,-0.772,-2.228, RAW=  31.3,  41.8, CAL=  29.4,  47.2, ROT= 120.6, -47.2

2025-08-22T05:25:23.614Z,1755840323.614 [DAT](INFO): got valid direction response:
 05:25:22.3800 LVL= 27888, 10337, 22002, 27379, AGC= 43, IDX= 502,-0.18, 2.279, 2.298, 0.932, 3.115, PHS=-0.734,-0.772,-2.228, RAW=  31.3,  41.8, CAL=  29.4,  47.2, ROT= 120.6, -47.2

2025-08-22T05:25:23.614Z,1755840323.614 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T05:25:23.616Z,1755840323.616 [DAT](INFO): direction in FSK: [-0.345864,0.584824,0.733730]
2025-08-22T05:25:23.616Z,1755840323.616 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:23.620Z,1755840323.620 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.650764
2025-08-22T05:25:23.852Z,1755840323.852 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=50.883247
2025-08-22T05:25:23.874Z,1755840323.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504438 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:23.876Z,1755840323.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684390 m,
      bearing: 144.592015 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.504438 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:24.105Z,1755840324.105 [DAT](INFO): DAT read: Rx Time:05:25:22.8801 

2025-08-22T05:25:24.105Z,1755840324.105 [DAT](INFO): Rx dataTimestamp_ set to:1755840324.105206
2025-08-22T05:25:24.107Z,1755840324.107 [DAT](INFO): DAT read: Bearing 296.5,  39.5 (Local)

2025-08-22T05:25:24.107Z,1755840324.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.5,  39.5 (Local)

2025-08-22T05:25:24.109Z,1755840324.109 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.0

2025-08-22T05:25:24.114Z,1755840324.114 [DAT](INFO): DAT read: 05:25:22.8801 LVL= 27888, 10481, 21570, 27555, AGC= 44, IDX= 503,-0.06,-2.473,-2.491, 2.465,-1.638, PHS=-0.733,-0.808,-2.224, RAW=  32.6,  42.4, CAL=  30.6,  47.7, ROT= 119.4, -47.7

2025-08-22T05:25:24.116Z,1755840324.116 [DAT](INFO): got valid direction response:
 05:25:22.8801 LVL= 27888, 10481, 21570, 27555, AGC= 44, IDX= 503,-0.06,-2.473,-2.491, 2.465,-1.638, PHS=-0.733,-0.808,-2.224, RAW=  32.6,  42.4, CAL=  30.6,  47.7, ROT= 119.4, -47.7

2025-08-22T05:25:24.116Z,1755840324.116 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T05:25:24.117Z,1755840324.117 [DAT](INFO): direction in FSK: [-0.330384,0.586338,0.739631]
2025-08-22T05:25:24.117Z,1755840324.117 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:24.121Z,1755840324.121 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.151630
2025-08-22T05:25:24.276Z,1755840324.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 0.502749 s,
      deltaX: 0.200000 m,
      approachRate: 0.397813 m/s,
      rangeRepo size: 4

2025-08-22T05:25:24.277Z,1755840324.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.883223 m,
      bearing: 143.812965 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.502749 s,
      deltaX: 0.198833 m,
      approachRate: 0.395492 m/s,
      posRepo size: 4

2025-08-22T05:25:24.360Z,1755840324.360 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=51.389866
2025-08-22T05:25:24.609Z,1755840324.609 [DAT](INFO): DAT read: Rx Time:05:25:23.3799 

2025-08-22T05:25:24.610Z,1755840324.610 [DAT](INFO): Rx dataTimestamp_ set to:1755840324.609290
2025-08-22T05:25:24.611Z,1755840324.611 [DAT](INFO): DAT read: Bearing 292.9,  39.4 (Local)

2025-08-22T05:25:24.611Z,1755840324.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.9,  39.4 (Local)

2025-08-22T05:25:24.613Z,1755840324.613 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:24.622Z,1755840324.622 [DAT](INFO): DAT read: 05:25:23.3799 LVL= 28384, 10385, 21330, 27043, AGC= 43, IDX= 502, 0.06,-1.828,-1.951, 3.121,-0.982, PHS=-0.744,-0.924,-2.224, RAW=  36.4,  44.5, CAL=  34.4,  49.7, ROT= 115.6, -49.7

2025-08-22T05:25:24.623Z,1755840324.623 [DAT](INFO): got valid direction response:
 05:25:23.3799 LVL= 28384, 10385, 21330, 27043, AGC= 43, IDX= 502, 0.06,-1.828,-1.951, 3.121,-0.982, PHS=-0.744,-0.924,-2.224, RAW=  36.4,  44.5, CAL=  34.4,  49.7, ROT= 115.6, -49.7

2025-08-22T05:25:24.624Z,1755840324.624 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T05:25:24.624Z,1755840324.624 [DAT](INFO): direction in FSK: [-0.279469,0.583296,0.762668]
2025-08-22T05:25:24.625Z,1755840324.625 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:24.636Z,1755840324.636 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.667274
2025-08-22T05:25:24.732Z,1755840324.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504084 s,
      deltaX: -0.300000 m,
      approachRate: -0.595139 m/s,
      rangeRepo size: 4

2025-08-22T05:25:24.734Z,1755840324.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584959 m,
      bearing: 140.060455 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.504084 s,
      deltaX: -0.298265 m,
      approachRate: -0.591696 m/s,
      posRepo size: 4

2025-08-22T05:25:24.860Z,1755840324.860 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=51.891289
2025-08-22T05:25:25.078Z,1755840325.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:25.113Z,1755840325.113 [DAT](INFO): DAT read: Rx Time:05:25:23.8799 

2025-08-22T05:25:25.113Z,1755840325.113 [DAT](INFO): Rx dataTimestamp_ set to:1755840325.113072
2025-08-22T05:25:25.115Z,1755840325.115 [DAT](INFO): DAT read: Bearing 292.2,  39.4 (Local)

2025-08-22T05:25:25.115Z,1755840325.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.2,  39.4 (Local)

2025-08-22T05:25:25.118Z,1755840325.118 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:25.122Z,1755840325.122 [DAT](INFO): DAT read: 05:25:23.8799 LVL= 28384, 10225, 21442, 28211, AGC= 44, IDX= 502, 0.17,-1.397,-1.560,-2.731,-0.551, PHS=-0.744,-0.964,-2.224, RAW=  37.9,  45.1, CAL=  35.9,  50.3, ROT= 114.1, -50.3

2025-08-22T05:25:25.124Z,1755840325.124 [DAT](INFO): got valid direction response:
 05:25:23.8799 LVL= 28384, 10225, 21442, 28211, AGC= 44, IDX= 502, 0.17,-1.397,-1.560,-2.731,-0.551, PHS=-0.744,-0.964,-2.224, RAW=  37.9,  45.1, CAL=  35.9,  50.3, ROT= 114.1, -50.3

2025-08-22T05:25:25.124Z,1755840325.124 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T05:25:25.125Z,1755840325.125 [DAT](INFO): direction in FSK: [-0.260828,0.583089,0.769400]
2025-08-22T05:25:25.125Z,1755840325.125 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:25.129Z,1755840325.129 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.159664
2025-08-22T05:25:25.371Z,1755840325.371 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=52.400738
2025-08-22T05:25:25.536Z,1755840325.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503782 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:25.538Z,1755840325.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584944 m,
      bearing: 140.706498 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.503782 s,
      deltaX: -0.000015 m,
      approachRate: -0.000029 m/s,
      posRepo size: 4

2025-08-22T05:25:25.618Z,1755840325.618 [DAT](INFO): DAT read: Rx Time:05:25:24.3798 

2025-08-22T05:25:25.618Z,1755840325.618 [DAT](INFO): Rx dataTimestamp_ set to:1755840325.618140
2025-08-22T05:25:25.620Z,1755840325.620 [DAT](INFO): DAT read: Bearing 293.4,  39.4 (Local)

2025-08-22T05:25:25.621Z,1755840325.621 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.4,  39.4 (Local)

2025-08-22T05:25:25.624Z,1755840325.624 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:25.629Z,1755840325.629 [DAT](INFO): DAT read: 05:25:24.3798 LVL= 28432,  9793, 21330, 27203, AGC= 44, IDX= 501, 0.36,-2.836,-2.987, 2.120,-1.995, PHS=-0.740,-0.948,-2.213, RAW=  37.5,  45.0, CAL=  35.5,  50.1, ROT= 114.5, -50.1

2025-08-22T05:25:25.630Z,1755840325.630 [DAT](INFO): got valid direction response:
 05:25:24.3798 LVL= 28432,  9793, 21330, 27203, AGC= 44, IDX= 501, 0.36,-2.836,-2.987, 2.120,-1.995, PHS=-0.740,-0.948,-2.213, RAW=  37.5,  45.0, CAL=  35.5,  50.1, ROT= 114.5, -50.1

2025-08-22T05:25:25.630Z,1755840325.630 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T05:25:25.632Z,1755840325.632 [DAT](INFO): direction in FSK: [-0.266005,0.583694,0.767165]
2025-08-22T05:25:25.632Z,1755840325.632 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:25.635Z,1755840325.635 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.666306
2025-08-22T05:25:25.868Z,1755840325.868 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=52.899239
2025-08-22T05:25:25.889Z,1755840325.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.505068 s,
      deltaX: -0.200000 m,
      approachRate: -0.395986 m/s,
      rangeRepo size: 4

2025-08-22T05:25:25.892Z,1755840325.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386103 m,
      bearing: 141.979225 deg,
      lat: 36.779360 deg,
      lon: -121.859575 deg,
      deltaT: 0.505068 s,
      deltaX: -0.198842 m,
      approachRate: -0.393693 m/s,
      posRepo size: 4

2025-08-22T05:25:26.124Z,1755840326.124 [DAT](INFO): DAT read: Rx Time:05:25:24.8799 

2025-08-22T05:25:26.125Z,1755840326.125 [DAT](INFO): Rx dataTimestamp_ set to:1755840326.124502
2025-08-22T05:25:26.126Z,1755840326.126 [DAT](INFO): DAT read: Bearing 301.7,  38.4 (Local)

2025-08-22T05:25:26.126Z,1755840326.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.7,  38.4 (Local)

2025-08-22T05:25:26.128Z,1755840326.128 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:26.134Z,1755840326.134 [DAT](INFO): DAT read: 05:25:24.8799 LVL= 28656,  9889, 21378, 28019, AGC= 44, IDX= 503,-0.41, 2.839, 2.910, 1.544,-2.600, PHS=-0.741,-0.728,-2.183, RAW=  29.5,  41.7, CAL=  27.7,  47.1, ROT= 122.3, -47.1

2025-08-22T05:25:26.139Z,1755840326.139 [DAT](INFO): got valid direction response:
 05:25:24.8799 LVL= 28656,  9889, 21378, 28019, AGC= 44, IDX= 503,-0.41, 2.839, 2.910, 1.544,-2.600, PHS=-0.741,-0.728,-2.183, RAW=  29.5,  41.7, CAL=  27.7,  47.1, ROT= 122.3, -47.1

2025-08-22T05:25:26.139Z,1755840326.139 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T05:25:26.140Z,1755840326.140 [DAT](INFO): direction in FSK: [-0.363745,0.575387,0.732543]
2025-08-22T05:25:26.141Z,1755840326.141 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:26.164Z,1755840326.164 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.182007
2025-08-22T05:25:26.314Z,1755840326.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.506362 s,
      deltaX: 0.200000 m,
      approachRate: 0.394974 m/s,
      rangeRepo size: 4

2025-08-22T05:25:26.320Z,1755840326.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584934 m,
      bearing: 150.469139 deg,
      lat: 36.779360 deg,
      lon: -121.859575 deg,
      deltaT: 0.506362 s,
      deltaX: 0.198831 m,
      approachRate: 0.392666 m/s,
      posRepo size: 4

2025-08-22T05:25:26.376Z,1755840326.376 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=53.406593
2025-08-22T05:25:26.625Z,1755840326.625 [DAT](INFO): DAT read: Rx Time:05:25:25.3798 

2025-08-22T05:25:26.625Z,1755840326.625 [DAT](INFO): Rx dataTimestamp_ set to:1755840326.624937
2025-08-22T05:25:26.626Z,1755840326.626 [DAT](INFO): DAT read: Bearing 305.5,  37.4 (Local)

2025-08-22T05:25:26.627Z,1755840326.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.5,  37.4 (Local)

2025-08-22T05:25:26.629Z,1755840326.629 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:26.633Z,1755840326.633 [DAT](INFO): DAT read: 05:25:25.3798 LVL= 28144,  9537, 21682, 27091, AGC= 44, IDX= 502,-0.24, 1.321, 1.498, 0.044, 2.176, PHS=-0.752,-0.633,-2.176, RAW=  26.0,  40.3, CAL=  24.2,  45.8, ROT= 125.8, -45.8

2025-08-22T05:25:26.634Z,1755840326.634 [DAT](INFO): got valid direction response:
 05:25:25.3798 LVL= 28144,  9537, 21682, 27091, AGC= 44, IDX= 502,-0.24, 1.321, 1.498, 0.044, 2.176, PHS=-0.752,-0.633,-2.176, RAW=  26.0,  40.3, CAL=  24.2,  45.8, ROT= 125.8, -45.8

2025-08-22T05:25:26.635Z,1755840326.635 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T05:25:26.636Z,1755840326.636 [DAT](INFO): direction in FSK: [-0.407812,0.565445,0.716911]
2025-08-22T05:25:26.636Z,1755840326.636 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:26.640Z,1755840326.640 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.670719
2025-08-22T05:25:26.804Z,1755840326.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.500435 s,
      deltaX: -0.200000 m,
      approachRate: -0.399652 m/s,
      rangeRepo size: 4

2025-08-22T05:25:26.806Z,1755840326.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386093 m,
      bearing: 153.918489 deg,
      lat: 36.779360 deg,
      lon: -121.859575 deg,
      deltaT: 0.500435 s,
      deltaX: -0.198841 m,
      approachRate: -0.397336 m/s,
      posRepo size: 4

2025-08-22T05:25:26.877Z,1755840326.877 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=53.908012
2025-08-22T05:25:27.129Z,1755840327.129 [DAT](INFO): DAT read: Rx Time:05:25:25.8800 

2025-08-22T05:25:27.129Z,1755840327.129 [DAT](INFO): Rx dataTimestamp_ set to:1755840327.129140
2025-08-22T05:25:27.131Z,1755840327.131 [DAT](INFO): DAT read: Bearing 306.5,  36.8 (Local)

2025-08-22T05:25:27.131Z,1755840327.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.5,  36.8 (Local)

2025-08-22T05:25:27.133Z,1755840327.133 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:27.142Z,1755840327.142 [DAT](INFO): DAT read: 05:25:25.8800 LVL= 27984,  9713, 21634, 27987, AGC= 43, IDX= 503,-0.11, 2.800, 3.007, 1.542,-2.618, PHS=-0.763,-0.613,-2.167, RAW=  25.0,  40.2, CAL=  23.2,  45.7, ROT= 126.8, -45.7

2025-08-22T05:25:27.143Z,1755840327.143 [DAT](INFO): got valid direction response:
 05:25:25.8800 LVL= 27984,  9713, 21634, 27987, AGC= 43, IDX= 503,-0.11, 2.800, 3.007, 1.542,-2.618, PHS=-0.763,-0.613,-2.167, RAW=  25.0,  40.2, CAL=  23.2,  45.7, ROT= 126.8, -45.7

2025-08-22T05:25:27.144Z,1755840327.144 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T05:25:27.145Z,1755840327.145 [DAT](INFO): direction in FSK: [-0.418367,0.559243,0.715693]
2025-08-22T05:25:27.146Z,1755840327.146 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:27.178Z,1755840327.178 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.208530
2025-08-22T05:25:27.200Z,1755840327.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504203 s,
      deltaX: 0.300000 m,
      approachRate: 0.594998 m/s,
      rangeRepo size: 4

2025-08-22T05:25:27.202Z,1755840327.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684351 m,
      bearing: 155.786316 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.504203 s,
      deltaX: 0.298258 m,
      approachRate: 0.591543 m/s,
      posRepo size: 4

2025-08-22T05:25:27.384Z,1755840327.384 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.413841
2025-08-22T05:25:27.601Z,1755840327.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:27.633Z,1755840327.633 [DAT](INFO): DAT read: Rx Time:05:25:26.3799 

2025-08-22T05:25:27.633Z,1755840327.633 [DAT](INFO): Rx dataTimestamp_ set to:1755840327.633115
2025-08-22T05:25:27.635Z,1755840327.635 [DAT](INFO): DAT read: Bearing 302.5,  37.6 (Local)

2025-08-22T05:25:27.635Z,1755840327.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.5,  37.6 (Local)

2025-08-22T05:25:27.637Z,1755840327.637 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:27.642Z,1755840327.642 [DAT](INFO): DAT read: 05:25:26.3799 LVL= 27936,  9409, 21794, 27555, AGC= 44, IDX= 502, 0.00, 2.629, 2.706, 1.355,-2.789, PHS=-0.763,-0.743,-2.183, RAW=  29.3,  42.4, CAL=  27.5,  47.6, ROT= 122.5, -47.6

2025-08-22T05:25:27.643Z,1755840327.643 [DAT](INFO): got valid direction response:
 05:25:26.3799 LVL= 27936,  9409, 21794, 27555, AGC= 44, IDX= 502, 0.00, 2.629, 2.706, 1.355,-2.789, PHS=-0.763,-0.743,-2.183, RAW=  29.3,  42.4, CAL=  27.5,  47.6, ROT= 122.5, -47.6

2025-08-22T05:25:27.643Z,1755840327.643 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T05:25:27.644Z,1755840327.644 [DAT](INFO): direction in FSK: [-0.362302,0.568701,0.738455]
2025-08-22T05:25:27.644Z,1755840327.644 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:27.654Z,1755840327.654 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.684696
2025-08-22T05:25:27.884Z,1755840327.884 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=54.915306
2025-08-22T05:25:28.013Z,1755840328.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503975 s,
      deltaX: -0.100000 m,
      approachRate: -0.198423 m/s,
      rangeRepo size: 4

2025-08-22T05:25:28.015Z,1755840328.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584930 m,
      bearing: 152.070063 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.503975 s,
      deltaX: -0.099421 m,
      approachRate: -0.197273 m/s,
      posRepo size: 4

2025-08-22T05:25:28.137Z,1755840328.137 [DAT](INFO): DAT read: Rx Time:05:25:26.8800 

2025-08-22T05:25:28.137Z,1755840328.137 [DAT](INFO): Rx dataTimestamp_ set to:1755840328.137089
2025-08-22T05:25:28.139Z,1755840328.139 [DAT](INFO): DAT read: Bearing 301.4,  37.8 (Local)

2025-08-22T05:25:28.139Z,1755840328.139 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.4,  37.8 (Local)

2025-08-22T05:25:28.141Z,1755840328.141 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:28.147Z,1755840328.147 [DAT](INFO): DAT read: 05:25:26.8800 LVL= 28448,  9633, 21362, 27731, AGC= 43, IDX= 503, 0.13,-2.094,-2.053, 2.917,-1.228, PHS=-0.765,-0.780,-2.183, RAW=  30.5,  43.1, CAL=  28.7,  48.2, ROT= 121.3, -48.2

2025-08-22T05:25:28.149Z,1755840328.149 [DAT](INFO): got valid direction response:
 05:25:26.8800 LVL= 28448,  9633, 21362, 27731, AGC= 43, IDX= 503, 0.13,-2.094,-2.053, 2.917,-1.228, PHS=-0.765,-0.780,-2.183, RAW=  30.5,  43.1, CAL=  28.7,  48.2, ROT= 121.3, -48.2

2025-08-22T05:25:28.150Z,1755840328.150 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T05:25:28.151Z,1755840328.151 [DAT](INFO): direction in FSK: [-0.346276,0.569525,0.745476]
2025-08-22T05:25:28.153Z,1755840328.153 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:28.158Z,1755840328.158 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:25:28.158Z,1755840328.158 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:25:28.159Z,1755840328.159 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:28.391Z,1755840328.391 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:28.391Z,1755840328.391 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:28.393Z,1755840328.393 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:28.536Z,1755840328.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503974 s,
      deltaX: 0.100000 m,
      approachRate: 0.198423 m/s,
      rangeRepo size: 4

2025-08-22T05:25:28.538Z,1755840328.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684342 m,
      bearing: 151.143751 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.503974 s,
      deltaX: 0.099411 m,
      approachRate: 0.197255 m/s,
      posRepo size: 4

2025-08-22T05:25:28.641Z,1755840328.641 [DAT](INFO): DAT read: Rx Time:05:25:27.3799 

2025-08-22T05:25:28.641Z,1755840328.641 [DAT](INFO): Rx dataTimestamp_ set to:1755840328.641030
2025-08-22T05:25:28.643Z,1755840328.643 [DAT](INFO): DAT read: Bearing 300.0,  38.4 (Local)

2025-08-22T05:25:28.643Z,1755840328.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.0,  38.4 (Local)

2025-08-22T05:25:28.645Z,1755840328.645 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:28.650Z,1755840328.650 [DAT](INFO): DAT read: 05:25:27.3799 LVL= 28000,  9841, 21298, 28211, AGC= 44, IDX= 502, 0.27,-2.955,-2.969, 2.037,-2.094, PHS=-0.759,-0.830,-2.197, RAW=  32.5,  43.7, CAL=  30.6,  48.8, ROT= 119.4, -48.8

2025-08-22T05:25:28.651Z,1755840328.651 [DAT](INFO): got valid direction response:
 05:25:27.3799 LVL= 28000,  9841, 21298, 28211, AGC= 44, IDX= 502, 0.27,-2.955,-2.969, 2.037,-2.094, PHS=-0.759,-0.830,-2.197, RAW=  32.5,  43.7, CAL=  30.6,  48.8, ROT= 119.4, -48.8

2025-08-22T05:25:28.651Z,1755840328.651 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:28.652Z,1755840328.652 [DAT](INFO): direction in FSK: [-0.323353,0.573859,0.752415]
2025-08-22T05:25:28.652Z,1755840328.652 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:28.655Z,1755840328.655 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:28.656Z,1755840328.656 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:28.828Z,1755840328.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503941 s,
      deltaX: -0.100000 m,
      approachRate: -0.198436 m/s,
      rangeRepo size: 4

2025-08-22T05:25:28.830Z,1755840328.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584922 m,
      bearing: 149.242751 deg,
      lat: 36.779358 deg,
      lon: -121.859575 deg,
      deltaT: 0.503941 s,
      deltaX: -0.099420 m,
      approachRate: -0.197286 m/s,
      posRepo size: 4

2025-08-22T05:25:28.892Z,1755840328.892 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:28.893Z,1755840328.893 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:28.893Z,1755840328.893 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:29.146Z,1755840329.146 [DAT](INFO): DAT read: R Time:05:25:27.8799 

2025-08-22T05:25:29.146Z,1755840329.146 [DAT](INFO): unknown deviceResponse_: R Time:05:25:27.8799 

2025-08-22T05:25:29.148Z,1755840329.148 [DAT](INFO): DAT read: Bearing 302.0,  38.5 (Local)

2025-08-22T05:25:29.149Z,1755840329.149 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.0,  38.5 (Local)

2025-08-22T05:25:29.152Z,1755840329.152 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:29.159Z,1755840329.159 [DAT](INFO): DAT read: 05:25:27.8799 LVL= 27184,  9697, 21522, 28515, AGC= 43, IDX= 502, 0.49, 3.007, 3.043, 1.708,-2.417, PHS=-0.758,-0.779,-2.203, RAW=  30.7,  42.7, CAL=  28.9,  47.9, ROT= 121.1, -47.9

2025-08-22T05:25:29.160Z,1755840329.160 [DAT](INFO): got valid direction response:
 05:25:27.8799 LVL= 27184,  9697, 21522, 28515, AGC= 43, IDX= 502, 0.49, 3.007, 3.043, 1.708,-2.417, PHS=-0.758,-0.779,-2.203, RAW=  30.7,  42.7, CAL=  28.9,  47.9, ROT= 121.1, -47.9

2025-08-22T05:25:29.161Z,1755840329.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:29.162Z,1755840329.162 [DAT](INFO): direction in FSK: [-0.346298,0.574064,0.741976]
2025-08-22T05:25:29.163Z,1755840329.163 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:29.169Z,1755840329.169 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:29.169Z,1755840329.169 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:29.276Z,1755840329.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503220 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:29.278Z,1755840329.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584947 m,
      bearing: 151.220133 deg,
      lat: 36.779358 deg,
      lon: -121.859574 deg,
      deltaT: 0.503220 s,
      deltaX: 0.000026 m,
      approachRate: 0.000051 m/s,
      posRepo size: 4

2025-08-22T05:25:29.398Z,1755840329.398 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:29.400Z,1755840329.400 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:29.402Z,1755840329.402 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:29.632Z,1755840329.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:29.654Z,1755840329.654 [DAT](INFO): DAT read: Rx Time:05:25:28.3798 
earng 310.,  6.7 (Local)

2025-08-22T05:25:29.655Z,1755840329.655 [DAT](INFO): Rx dataTimestamp_ set to:1755840329.654283
2025-08-22T05:25:29.657Z,1755840329.657 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:29.661Z,1755840329.661 [DAT](INFO): DAT read: 05:25:28.3798 LVL= 26720,  9921, 22290, 29347, AGC= 42, IDX= 502,-0.30,-0.053, 0.249,-1.339, 0.812, PHS=-0.763,-0.518,-2.195, RAW=  22.2,  38.1, CAL=  20.5,  43.8, ROT= 129.5, -43.8

2025-08-22T05:25:29.662Z,1755840329.662 [DAT](INFO): got valid direction response:
 05:25:28.3798 LVL= 26720,  9921, 22290, 29347, AGC= 42, IDX= 502,-0.30,-0.053, 0.249,-1.339, 0.812, PHS=-0.763,-0.518,-2.195, RAW=  22.2,  38.1, CAL=  20.5,  43.8, ROT= 129.5, -43.8

2025-08-22T05:25:29.663Z,1755840329.663 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:29.664Z,1755840329.664 [DAT](INFO): direction in FSK: [-0.459096,0.556928,0.692143]
2025-08-22T05:25:29.664Z,1755840329.664 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:29.667Z,1755840329.667 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:29.667Z,1755840329.667 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:29.909Z,1755840329.909 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:29.910Z,1755840329.910 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:29.911Z,1755840329.911 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:30.032Z,1755840330.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.510033 s,
      deltaX: -0.200000 m,
      approachRate: -0.392131 m/s,
      rangeRepo size: 4

2025-08-22T05:25:30.034Z,1755840330.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386105 m,
      bearing: 159.213446 deg,
      lat: 36.779358 deg,
      lon: -121.859574 deg,
      deltaT: 0.510033 s,
      deltaX: -0.198842 m,
      approachRate: -0.389861 m/s,
      posRepo size: 4

2025-08-22T05:25:30.154Z,1755840330.154 [DAT](INFO): DAT read: Rx Time:05:25:28.8800 

2025-08-22T05:25:30.155Z,1755840330.155 [DAT](INFO): Rx dataTimestamp_ set to:1755840330.154338
2025-08-22T05:25:30.157Z,1755840330.157 [DAT](INFO): DAT read: Bearing 307.2,  37.9 (Local)

2025-08-22T05:25:30.157Z,1755840330.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  37.9 (Local)

2025-08-22T05:25:30.163Z,1755840330.163 [DAT](INFO): DAT read: Range 11 to 0:    . m(rip time 1.8 ms) speed 0.0

2025-08-22T05:25:30.166Z,1755840330.166 [DAT](INFO): unknown deviceResponse_: Range 11 to 0:    . m(rip time 1.8 ms) speed 0.0

2025-08-22T05:25:30.173Z,1755840330.173 [DAT](INFO): DAT read: 05:25:28.8800 LVL= 26912, 10161, 22642, 29171, AGC= 44, IDX= 503,-0.14, 1.548, 1.743, 0.229, 2.400, PHS=-0.750,-0.612,-2.214, RAW=  25.5,  39.4, CAL=  23.8,  45.0, ROT= 126.2, -45.0

2025-08-22T05:25:30.175Z,1755840330.175 [DAT](INFO): got valid direction response:
 05:25:28.8800 LVL= 26912, 10161, 22642, 29171, AGC= 44, IDX= 503,-0.14, 1.548, 1.743, 0.229, 2.400, PHS=-0.750,-0.612,-2.214, RAW=  25.5,  39.4, CAL=  23.8,  45.0, ROT= 126.2, -45.0

2025-08-22T05:25:30.176Z,1755840330.176 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:25:30.177Z,1755840330.177 [DAT](INFO): direction in FSK: [-0.417621,0.570607,0.707107]
2025-08-22T05:25:30.182Z,1755840330.182 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:30.182Z,1755840330.182 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:30.183Z,1755840330.183 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:30.407Z,1755840330.407 [DAT](INFO): DAT read: Rx Time:05:25:29.3799 

2025-08-22T05:25:30.409Z,1755840330.409 [DAT](INFO): Rx dataTimestamp_ set to:1755840330.407890
2025-08-22T05:25:30.409Z,1755840330.409 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:30.410Z,1755840330.410 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:30.411Z,1755840330.411 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:30.657Z,1755840330.657 [DAT](INFO): DAT read: Bearing 305.0,  38.6 (Local)

2025-08-22T05:25:30.657Z,1755840330.657 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,  38.6 (Local)

2025-08-22T05:25:30.672Z,1755840330.672 [DAT](INFO): DAT read: Range 11 to 5     . m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:30.672Z,1755840330.672 [DAT](INFO): unknown deviceResponse_: Range 11 to 5     . m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:30.677Z,1755840330.677 [DAT](INFO): DAT read: 05:25:29.3799 LVL= 26480, 10337, 22818, 29571, AGC= 42, IDX= 502,-0.02, 0.773, 0.903,-0.556, 1.615, PHS=-0.740,-0.667,-2.215, RAW=  27.6,  40.2, CAL=  25.8,  45.7, ROT= 124.2, -45.7

2025-08-22T05:25:30.678Z,1755840330.678 [DAT](INFO): got valid direction response:
 05:25:29.3799 LVL= 26480, 10337, 22818, 29571, AGC= 42, IDX= 502,-0.02, 0.773, 0.903,-0.556, 1.615, PHS=-0.740,-0.667,-2.215, RAW=  27.6,  40.2, CAL=  25.8,  45.7, ROT= 124.2, -45.7

2025-08-22T05:25:30.678Z,1755840330.678 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:25:30.687Z,1755840330.687 [DAT](INFO): direction in FSK: [-0.392568,0.577646,0.715693]
2025-08-22T05:25:30.690Z,1755840330.690 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:30.690Z,1755840330.690 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:30.691Z,1755840330.691 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:30.912Z,1755840330.912 [DAT](INFO): DAT read: Rx Time:05:25:29.8800 

2025-08-22T05:25:30.914Z,1755840330.914 [DAT](INFO): Rx dataTimestamp_ set to:1755840330.912596
2025-08-22T05:25:30.916Z,1755840330.916 [DAT](INFO): DAT read: Bearing 298.3,  40.6 (Local)

2025-08-22T05:25:30.917Z,1755840330.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.3,  40.6 (Local)

2025-08-22T05:25:30.918Z,1755840330.918 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:30.919Z,1755840330.919 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:30.925Z,1755840330.925 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:31.164Z,1755840331.164 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:31.171Z,1755840331.171 [DAT](INFO): DAT read: 05:25:29.8800 LVL= 2609, 1025 2466, 29843, AGC= 44, IDX= 503, 0.10, 3.103, 3.021, 1.731,-2.375, PHS=-0.704,-0.843,-2.221, RAW=  34.7,  42.5, CAL=  32.7,  47.9, ROT= 117.3, -47.9

2025-08-22T05:25:31.172Z,1755840331.172 [DAT](INFO): unknown deviceResponse_: 05:25:29.8800 LVL= 2609, 1025 2466, 29843, AGC= 44, IDX= 503, 0.10, 3.103, 3.021, 1.731,-2.375, PHS=-0.704,-0.843,-2.221, RAW=  34.7,  42.5, CAL=  32.7,  47.9, ROT= 117.3, -47.9

2025-08-22T05:25:31.173Z,1755840331.173 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:31.174Z,1755840331.174 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:31.174Z,1755840331.174 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:31.423Z,1755840331.423 [DAT](INFO): DAT read: Rx Time:05:25:30.3799 

2025-08-22T05:25:31.425Z,1755840331.425 [DAT](INFO): Rx dataTimestamp_ set to:1755840331.423561
2025-08-22T05:25:31.429Z,1755840331.429 [DAT](INFO): DAT read: Bearing 295.1,  41.8 (Local)

2025-08-22T05:25:31.431Z,1755840331.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.1,  41.8 (Local)

2025-08-22T05:25:31.440Z,1755840331.440 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:31.444Z,1755840331.444 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:31.448Z,1755840331.448 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:31.450Z,1755840331.450 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:31.601Z,1755840331.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 1.769278 s,
      deltaX: 0.200000 m,
      approachRate: 0.113040 m/s,
      rangeRepo size: 4

2025-08-22T05:25:31.668Z,1755840331.668 [DAT](INFO): DAT read: 05:25:30.3799 LVL= 26032, 10289, 22418, 29107, AGC= 44, IDX= 502, 0.24, 2.407, 2.227, 1.008,-3.101, PHS=-0.674,-0.910,-2.219, RAW=  38.2,  30,CAL=  36.1  48.4, ROT= 113.9, -48.4

2025-08-22T05:25:31.669Z,1755840331.669 [DAT](INFO): unknown deviceResponse_: 05:25:30.3799 LVL= 26032, 10289, 22418, 29107, AGC= 44, IDX= 502, 0.24, 2.407, 2.227, 1.008,-3.101, PHS=-0.674,-0.910,-2.219, RAW=  38.2,  30,CAL=  36.1  48.4, ROT= 113.9, -48.4

2025-08-22T05:25:31.669Z,1755840331.669 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:31.670Z,1755840331.670 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:31.670Z,1755840331.670 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:31.920Z,1755840331.920 [DAT](INFO): DAT read: Rx Time:05:25:30.8800 

2025-08-22T05:25:31.922Z,1755840331.922 [DAT](INFO): Rx dataTimestamp_ set to:1755840331.920947
2025-08-22T05:25:31.926Z,1755840331.926 [DAT](INFO): DAT read: Bearing 298.7,  42.1 (Local)

2025-08-22T05:25:31.927Z,1755840331.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.7,  42.1 (Local)

2025-08-22T05:25:31.937Z,1755840331.937 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:31.939Z,1755840331.939 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:31.946Z,1755840331.946 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:31.984Z,1755840331.984 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:32.040Z,1755840332.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:32.048Z,1755840332.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.497386 s,
      deltaX: 0.100000 m,
      approachRate: 0.201051 m/s,
      rangeRepo size: 4

2025-08-22T05:25:32.174Z,1755840332.174 [DAT](INFO): DAT read: 05:25:30.8800 LVL= 26352, 10321, 22898, 28819, AGC= 43, IDX= 503, 0.46, 2.556, 2.466, 1.153,-2.977, PHS=-0.648,-0.796,-2.197, RAW=  34.9,  41.0, CAL=  32.8,  46.5, ROT= 117.2, -46.5

2025-08-22T05:25:32.176Z,1755840332.176 [DAT](INFO): got valid direction response:
 05:25:30.8800 LVL= 26352, 10321, 22898, 28819, AGC= 43, IDX= 503, 0.46, 2.556, 2.466, 1.153,-2.977, PHS=-0.648,-0.796,-2.197, RAW=  34.9,  41.0, CAL=  32.8,  46.5, ROT= 117.2, -46.5

2025-08-22T05:25:32.177Z,1755840332.177 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:25:32.178Z,1755840332.178 [DAT](INFO): direction in FSK: [-0.314645,0.612234,0.725374]
2025-08-22T05:25:32.183Z,1755840332.183 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:32.184Z,1755840332.184 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:32.185Z,1755840332.185 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:32.429Z,1755840332.429 [DAT](INFO): DAT read: Rx Time:05:25:31.3799 

2025-08-22T05:25:32.431Z,1755840332.431 [DAT](INFO): Rx dataTimestamp_ set to:1755840332.429567
2025-08-22T05:25:32.434Z,1755840332.434 [DAT](INFO): DAT read: Bearing 303.7,  41.9 (Local)

2025-08-22T05:25:32.436Z,1755840332.436 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.7,  41.9 (Local)

2025-08-22T05:25:32.441Z,1755840332.441 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:32.444Z,1755840332.444 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:32.448Z,1755840332.448 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:32.449Z,1755840332.449 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:32.682Z,1755840332.682 [DAT](INFO): DAT read: 05:25:31.3799 LVL= 25968, 10897, 24498, 26675, AGC= 43, IDX= 503,-0.31, 0.443, 0.486,-0.955, 1.172, PHS=-0.627,-0.641,-2.171, RAW=  30.5, 3.,CAL=  28.4,  44.0, ROT= 2.6 -44.0

2025-08-22T05:25:32.683Z,1755840332.683 [DAT](INFO): unknown deviceResponse_: 05:25:31.3799 LVL= 25968, 10897, 24498, 26675, AGC= 43, IDX= 503,-0.31, 0.443, 0.486,-0.955, 1.172, PHS=-0.627,-0.641,-2.171, RAW=  30.5, 3.,CAL=  28.4,  44.0, ROT= 2.6 -44.0

2025-08-22T05:25:32.684Z,1755840332.684 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:32.684Z,1755840332.684 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:32.684Z,1755840332.684 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:32.786Z,1755840332.786 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA,  0.00,  83.55,  94.08,
2025-08-22T05:25:32.802Z,1755840332.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.508620 s,
      deltaX: -0.100000 m,
      approachRate: -0.196611 m/s,
      rangeRepo size: 4

2025-08-22T05:25:32.933Z,1755840332.933 [DAT](INFO): DAT read: Rx Time:05:25:31.8800 

2025-08-22T05:25:32.943Z,1755840332.943 [DAT](INFO): Rx dataTimestamp_ set to:1755840332.934002
2025-08-22T05:25:32.948Z,1755840332.948 [DAT](INFO): DAT read: Bearing 304.1,  42.0 (Local)

2025-08-22T05:25:32.950Z,1755840332.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.1,  42.0 (Local)

2025-08-22T05:25:32.969Z,1755840332.969 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:32.997Z,1755840332.997 [DAT](INFO): DAT read: 05:25:31.8800 LVL= 25664, 10257, 24658, 26851, AGC= 44, IDX= 503,-0.15, 0.131, 0.184,-1.270, 0.840, PHS=-0.607,-0.611,-2.154, RAW=  30.1,  37.7, CAL=  28.1,  43.4, ROT= 121.9, -43.4

2025-08-22T05:25:32.999Z,1755840332.999 [DAT](INFO): got valid direction response:
 05:25:31.8800 LVL= 25664, 10257, 24658, 26851, AGC= 44, IDX= 503,-0.15, 0.131, 0.184,-1.270, 0.840, PHS=-0.607,-0.611,-2.154, RAW=  30.1,  37.7, CAL=  28.1,  43.4, ROT= 121.9, -43.4

2025-08-22T05:25:33.012Z,1755840333.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:33.013Z,1755840333.013 [DAT](INFO): direction in FSK: [-0.383950,0.616841,0.687088]
2025-08-22T05:25:33.014Z,1755840333.014 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:33.026Z,1755840333.026 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:33.026Z,1755840333.026 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:33.181Z,1755840333.181 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:33.181Z,1755840333.181 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:33.181Z,1755840333.181 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:33.196Z,1755840333.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.504435 s,
      deltaX: 0.100000 m,
      approachRate: 0.198242 m/s,
      rangeRepo size: 4

2025-08-22T05:25:33.198Z,1755840333.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684424 m,
      bearing: 149.356648 deg,
      lat: 36.779358 deg,
      lon: -121.859574 deg,
      deltaT: 3.279719 s,
      deltaX: 0.298319 m,
      approachRate: 0.090959 m/s,
      posRepo size: 4

2025-08-22T05:25:33.437Z,1755840333.437 [DAT](INFO): DAT read: Rx Time:05:25:32.3799 

2025-08-22T05:25:33.438Z,1755840333.438 [DAT](INFO): Rx dataTimestamp_ set to:1755840333.437116
2025-08-22T05:25:33.442Z,1755840333.442 [DAT](INFO): DAT read: Bearing 304.7,  41.5 (Local)

2025-08-22T05:25:33.444Z,1755840333.444 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.7,  41.5 (Local)

2025-08-22T05:25:33.456Z,1755840333.456 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:33.459Z,1755840333.459 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:33.462Z,1755840333.462 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:33.480Z,1755840333.480 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:33.636Z,1755840333.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503114 s,
      deltaX: -0.100000 m,
      approachRate: -0.198762 m/s,
      rangeRepo size: 4

2025-08-22T05:25:33.691Z,1755840333.691 [DAT](INFO): DAT read: 05:25:32.3799 LVL= 27616, 10417, 24418, 27843, AGC= 44, IDX= 502,-0.04,-0.726,-0.638,-2.109,-0.018, PHS=-0.605,-0.575,-2.135, RAW=  29.0,  37.2, CAL=  27.0,  43.0, ROT= 123.0, -43.0

2025-08-22T05:25:33.692Z,1755840333.692 [DAT](INFO): got valid direction response:
 05:25:32.3799 LVL= 27616, 10417, 24418, 27843, AGC= 44, IDX= 502,-0.04,-0.726,-0.638,-2.109,-0.018, PHS=-0.605,-0.575,-2.135, RAW=  29.0,  37.2, CAL=  27.0,  43.0, ROT= 123.0, -43.0

2025-08-22T05:25:33.693Z,1755840333.693 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:25:33.694Z,1755840333.694 [DAT](INFO): direction in FSK: [-0.398324,0.613365,0.681998]
2025-08-22T05:25:33.701Z,1755840333.701 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:33.701Z,1755840333.701 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:33.702Z,1755840333.702 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:33.940Z,1755840333.940 [DAT](INFO): DAT read: Rx Time:05:25:32.8800 

2025-08-22T05:25:33.942Z,1755840333.942 [DAT](INFO): Rx dataTimestamp_ set to:1755840333.941095
2025-08-22T05:25:33.946Z,1755840333.946 [DAT](INFO): DAT read: Bearing 300.6,  41.9 (Local)

2025-08-22T05:25:33.948Z,1755840333.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.6,  41.9 (Local)

2025-08-22T05:25:33.954Z,1755840333.954 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:34.011Z,1755840334.011 [DAT](INFO): DAT read: 05:25:32.8800 LVL= 28912, 10225, 23138, 28899, AGC= 44, IDX= 503, 0.09, 1.509, 1.495, 0.120, 2.218, PHS=-0.607,-0.678,-2.141, RAW=  32.3,  38.9, CAL=  30.3,  44.6, ROT= 119.7, -44.6

2025-08-22T05:25:34.012Z,1755840334.012 [DAT](INFO): got valid direction response:
 05:25:32.8800 LVL= 28912, 10225, 23138, 28899, AGC= 44, IDX= 503, 0.09, 1.509, 1.495, 0.120, 2.218, PHS=-0.607,-0.678,-2.141, RAW=  32.3,  38.9, CAL=  30.3,  44.6, ROT= 119.7, -44.6

2025-08-22T05:25:34.013Z,1755840334.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:34.014Z,1755840334.014 [DAT](INFO): direction in FSK: [-0.352779,0.618488,0.702153]
2025-08-22T05:25:34.014Z,1755840334.014 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:34.029Z,1755840334.029 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:34.030Z,1755840334.030 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:34.085Z,1755840334.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503979 s,
      deltaX: 0.100000 m,
      approachRate: 0.198421 m/s,
      rangeRepo size: 4

2025-08-22T05:25:34.095Z,1755840334.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684424 m,
      bearing: 146.311927 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 1.007093 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:34.188Z,1755840334.188 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:34.188Z,1755840334.188 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:34.189Z,1755840334.189 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:34.445Z,1755840334.445 [DAT](INFO): DAT read: Rx Time:05:25:33.3799 

2025-08-22T05:25:34.446Z,1755840334.446 [DAT](INFO): Rx dataTimestamp_ set to:1755840334.445443
2025-08-22T05:25:34.451Z,1755840334.451 [DAT](INFO): DAT read: Bearing 300.7,  41.2 (Local)

2025-08-22T05:25:34.453Z,1755840334.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.7,  41.2 (Local)

2025-08-22T05:25:34.462Z,1755840334.462 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:34.524Z,1755840334.524 [DAT](INFO): DAT read: 05:25:33.3799 LVL= 29488, 10209, 23394, 28355, AGC= 44, IDX= 502, 0.25, 0.779, 0.785,-0.605, 1.492, PHS=-0.612,-0.662,-2.142, RAW=  31.7,  38.7, CAL=  29.6,  44.4, ROT= 120.4, -44.4

2025-08-22T05:25:34.527Z,1755840334.527 [DAT](INFO): got valid direction response:
 05:25:33.3799 LVL= 29488, 10209, 23394, 28355, AGC= 44, IDX= 502, 0.25, 0.779, 0.785,-0.605, 1.492, PHS=-0.612,-0.662,-2.142, RAW=  31.7,  38.7, CAL=  29.6,  44.4, ROT= 120.4, -44.4

2025-08-22T05:25:34.533Z,1755840334.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:34.543Z,1755840334.543 [DAT](INFO): direction in FSK: [-0.361547,0.616242,0.699663]
2025-08-22T05:25:34.544Z,1755840334.544 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:34.547Z,1755840334.547 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:34.556Z,1755840334.556 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:34.653Z,1755840334.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504348 s,
      deltaX: -0.100000 m,
      approachRate: -0.198276 m/s,
      rangeRepo size: 4

2025-08-22T05:25:34.660Z,1755840334.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584990 m,
      bearing: 147.007725 deg,
      lat: 36.779357 deg,
      lon: -121.859574 deg,
      deltaT: 0.504348 s,
      deltaX: -0.099434 m,
      approachRate: -0.197154 m/s,
      posRepo size: 4

2025-08-22T05:25:34.692Z,1755840334.692 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:34.692Z,1755840334.692 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:34.693Z,1755840334.693 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:34.949Z,1755840334.949 [DAT](INFO): DAT read: Rx Time:05:25:33.8800 

2025-08-22T05:25:34.950Z,1755840334.950 [DAT](INFO): Rx dataTimestamp_ set to:1755840334.949418
2025-08-22T05:25:34.955Z,1755840334.955 [DAT](INFO): DAT read: Bearing 311.5,  37.4 (Local)

2025-08-22T05:25:34.956Z,1755840334.956 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.5,  37.4 (Local)

2025-08-22T05:25:34.961Z,1755840334.961 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:25:34.965Z,1755840334.965 [DAT](INFO): DAT read: 05:25:33.8800 LVL= 27312, 11377, 24242, 25443, AGC= 43, IDX= 503, 0.47, 0.871, 1.235,-0.483, 1.609, PHS=-0.636,-0.329,-2.136, RAW=  20.9,  33.2, CAL=  19.1,  39.3, ROT= 130.9, -39.3

2025-08-22T05:25:34.966Z,1755840334.966 [DAT](INFO): got valid direction response:
 05:25:33.8800 LVL= 27312, 11377, 24242, 25443, AGC= 43, IDX= 503, 0.47, 0.871, 1.235,-0.483, 1.609, PHS=-0.636,-0.329,-2.136, RAW=  20.9,  33.2, CAL=  19.1,  39.3, ROT= 130.9, -39.3

2025-08-22T05:25:34.967Z,1755840334.967 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:25:34.968Z,1755840334.968 [DAT](INFO): direction in FSK: [-0.506665,0.584910,0.633381]
2025-08-22T05:25:34.968Z,1755840334.968 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:34.972Z,1755840334.972 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:34.972Z,1755840334.972 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:35.086Z,1755840335.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.503975 s,
      deltaX: 0.100000 m,
      approachRate: 0.198423 m/s,
      rangeRepo size: 4

2025-08-22T05:25:35.096Z,1755840335.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.684412 m,
      bearing: 155.695317 deg,
      lat: 36.779356 deg,
      lon: -121.859575 deg,
      deltaT: 0.503975 s,
      deltaX: 0.099423 m,
      approachRate: 0.197278 m/s,
      posRepo size: 4

2025-08-22T05:25:35.197Z,1755840335.197 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:35.197Z,1755840335.197 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:35.198Z,1755840335.198 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:35.449Z,1755840335.449 [DAT](INFO): DAT read: user:7498>

2025-08-22T05:25:35.451Z,1755840335.451 [DAT](INFO): Reached modem response timeout
2025-08-22T05:25:35.453Z,1755840335.453 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:25:35.454Z,1755840335.454 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T05:25:35.553Z,1755840335.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:35.700Z,1755840335.700 [DAT](INFO): DAT read: Tx time:05:25:34.7905

2025-08-22T05:25:35.701Z,1755840335.701 [DAT](INFO): Ping request sent.
2025-08-22T05:25:35.701Z,1755840335.701 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:25:35.701Z,1755840335.701 [DAT](INFO): publishing transmit ping time
2025-08-22T05:25:35.701Z,1755840335.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-22T05:25:35.953Z,1755840335.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252820
2025-08-22T05:25:36.204Z,1755840336.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503623
2025-08-22T05:25:36.461Z,1755840336.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759202
2025-08-22T05:25:36.709Z,1755840336.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007862
2025-08-22T05:25:36.961Z,1755840336.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260347
2025-08-22T05:25:37.213Z,1755840337.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512519
2025-08-22T05:25:37.464Z,1755840337.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763655
2025-08-22T05:25:37.716Z,1755840337.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015606
2025-08-22T05:25:37.935Z,1755840337.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:37.972Z,1755840337.972 [DAT](INFO): DAT read: Rx Time:05:25:36.9228 

2025-08-22T05:25:37.974Z,1755840337.974 [DAT](INFO): Rx dataTimestamp_ set to:1755840337.973014
2025-08-22T05:25:37.978Z,1755840337.978 [DAT](INFO): DAT read: Bearing 307.2,  38.0 (Local)

2025-08-22T05:25:37.979Z,1755840337.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  38.0 (Local)

2025-08-22T05:25:37.985Z,1755840337.985 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:38.000Z,1755840338.000 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:25:38.011Z,1755840338.011 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.302298
2025-08-22T05:25:38.208Z,1755840338.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:25:38.226Z,1755840338.226 [DAT](INFO): DAT read: 05:25:36.9228 LVL= 26816, 11585, 22002, 27379, AGC= 44, IDX= 381, 0.41, 1.143, 1.419,-0.203, 1.907, PHS=-0.662,-0.443,-2.154, RAW=  23.3,  35.5, CAL=  21.4,  41.6, ROT= 128.6, -41.6

2025-08-22T05:25:38.228Z,1755840338.228 [DAT](INFO): got valid direction response:
 05:25:36.9228 LVL= 26816, 11585, 22002, 27379, AGC= 44, IDX= 381, 0.41, 1.143, 1.419,-0.203, 1.907, PHS=-0.662,-0.443,-2.154, RAW=  23.3,  35.5, CAL=  21.4,  41.6, ROT= 128.6, -41.6

2025-08-22T05:25:38.229Z,1755840338.229 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T05:25:38.230Z,1755840338.230 [DAT](INFO): direction in FSK: [-0.466536,0.584420,0.663926]
2025-08-22T05:25:38.235Z,1755840338.235 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.534453
2025-08-22T05:25:38.353Z,1755840338.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 3.023596 s,
      deltaX: -0.300000 m,
      approachRate: -0.099220 m/s,
      rangeRepo size: 4

2025-08-22T05:25:38.355Z,1755840338.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386121 m,
      bearing: 153.693604 deg,
      lat: 36.779356 deg,
      lon: -121.859575 deg,
      deltaT: 3.023596 s,
      deltaX: -0.298292 m,
      approachRate: -0.098655 m/s,
      posRepo size: 4

2025-08-22T05:25:38.477Z,1755840338.477 [DAT](INFO): DAT read: Rx Time:05:25:37.4227 

2025-08-22T05:25:38.479Z,1755840338.479 [DAT](INFO): Rx dataTimestamp_ set to:1755840338.477713
2025-08-22T05:25:38.485Z,1755840338.485 [DAT](INFO): DAT read: Bearing 306.8,  39.0 (Local)

2025-08-22T05:25:38.486Z,1755840338.486 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.8,  39.0 (Local)

2025-08-22T05:25:38.494Z,1755840338.494 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:38.496Z,1755840338.496 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T05:25:38.513Z,1755840338.513 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=2.811977
2025-08-22T05:25:38.728Z,1755840338.728 [DAT](INFO): DAT read: 05:25:37.4227 LVL= 29232, 10481, 24178, 28035, AGC= 44, IDX= 509,-0.38,-1.027,-0.783,-2.379,-0.276, PHS=-0.649,-0.462,-2.147, RAW=  24.2,  35.8, CAL=  22.4,  41.8, ROT= 127.6, -41.8

2025-08-22T05:25:38.729Z,1755840338.729 [DAT](INFO): got valid direction response:
 05:25:37.4227 LVL= 29232, 10481, 24178, 28035, AGC= 44, IDX= 509,-0.38,-1.027,-0.783,-2.379,-0.276, PHS=-0.649,-0.462,-2.147, RAW=  24.2,  35.8, CAL=  22.4,  41.8, ROT= 127.6, -41.8

2025-08-22T05:25:38.729Z,1755840338.729 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-22T05:25:38.730Z,1755840338.730 [DAT](INFO): direction in FSK: [-0.454849,0.590633,0.666532]
2025-08-22T05:25:38.777Z,1755840338.777 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.076269
2025-08-22T05:25:38.834Z,1755840338.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504699 s,
      deltaX: -0.100000 m,
      approachRate: -0.198138 m/s,
      rangeRepo size: 4

2025-08-22T05:25:38.840Z,1755840338.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286699 m,
      bearing: 153.094660 deg,
      lat: 36.779356 deg,
      lon: -121.859576 deg,
      deltaT: 0.504699 s,
      deltaX: -0.099422 m,
      approachRate: -0.196992 m/s,
      posRepo size: 4

2025-08-22T05:25:38.982Z,1755840338.982 [DAT](INFO): DAT read: Rx Time:05:25:37.9228 

2025-08-22T05:25:38.984Z,1755840338.984 [DAT](INFO): Rx dataTimestamp_ set to:1755840338.983213
2025-08-22T05:25:38.989Z,1755840338.989 [DAT](INFO): DAT read: Bearing 302.8,  40.6 (Local)

2025-08-22T05:25:38.990Z,1755840338.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.8,  40.6 (Local)

2025-08-22T05:25:38.998Z,1755840338.998 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:39.001Z,1755840339.001 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T05:25:39.003Z,1755840339.003 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=3.302852
2025-08-22T05:25:39.167Z,1755840339.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.505500 s,
      deltaX: 0.100000 m,
      approachRate: 0.197824 m/s,
      rangeRepo size: 4

2025-08-22T05:25:39.212Z,1755840339.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:25:39.233Z,1755840339.233 [DAT](INFO): DAT read: 05:25:37.9228 LVL= 26912, 10225, 22418, 25587, AGC= 43, IDX= 510,-0.21,-0.193,-0.080,-1.550, 0.553, PHS=-0.644,-0.588,-2.147, RAW=  28.2,  37.9, CAL=  26.2,  43.7, ROT= 123.8, -43.7

2025-08-22T05:25:39.235Z,1755840339.235 [DAT](INFO): got valid direction response:
 05:25:37.9228 LVL= 26912, 10225, 22418, 25587, AGC= 43, IDX= 510,-0.21,-0.193,-0.080,-1.550, 0.553, PHS=-0.644,-0.588,-2.147, RAW=  28.2,  37.9, CAL=  26.2,  43.7, ROT= 123.8, -43.7

2025-08-22T05:25:39.235Z,1755840339.235 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-22T05:25:39.237Z,1755840339.237 [DAT](INFO): direction in FSK: [-0.402184,0.600774,0.690882]
2025-08-22T05:25:39.242Z,1755840339.242 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=3.541149
2025-08-22T05:25:39.485Z,1755840339.485 [DAT](INFO): DAT read: Rx Time:05:25:38.4228 

2025-08-22T05:25:39.487Z,1755840339.487 [DAT](INFO): Rx dataTimestamp_ set to:1755840339.485582
2025-08-22T05:25:39.501Z,1755840339.501 [DAT](INFO): DAT read: Bearing 300.3,  41.8 (Local)

2025-08-22T05:25:39.503Z,1755840339.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.3,  41.8 (Local)

2025-08-22T05:25:39.505Z,1755840339.505 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:39.524Z,1755840339.524 [DAT](INFO): DAT read: 05:25:38.4228 LVL= 26432, 10129, 23138, 25219, AGC= 44, IDX= 509,-0.10,-1.027,-1.000,-2.401,-0.293, PHS=-0.632,-0.662,-2.152, RAW=  31.0,  39.0, CAL=  29.0,  44.6, ROT= 121.0, -44.6

2025-08-22T05:25:39.525Z,1755840339.525 [DAT](INFO): got valid direction response:
 05:25:38.4228 LVL= 26432, 10129, 23138, 25219, AGC= 44, IDX= 509,-0.10,-1.027,-1.000,-2.401,-0.293, PHS=-0.632,-0.662,-2.152, RAW=  31.0,  39.0, CAL=  29.0,  44.6, ROT= 121.0, -44.6

2025-08-22T05:25:39.525Z,1755840339.525 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T05:25:39.526Z,1755840339.526 [DAT](INFO): direction in FSK: [-0.366721,0.610325,0.702153]
2025-08-22T05:25:39.526Z,1755840339.526 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:39.605Z,1755840339.605 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=3.904002
2025-08-22T05:25:39.705Z,1755840339.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.502369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:39.707Z,1755840339.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386124 m,
      bearing: 147.210342 deg,
      lat: 36.779357 deg,
      lon: -121.859576 deg,
      deltaT: 1.007869 s,
      deltaX: 0.099425 m,
      approachRate: 0.098649 m/s,
      posRepo size: 4

2025-08-22T05:25:39.732Z,1755840339.732 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.031642
2025-08-22T05:25:39.989Z,1755840339.989 [DAT](INFO): DAT read: Rx Time:05:25:38.9229 

2025-08-22T05:25:39.991Z,1755840339.991 [DAT](INFO): Rx dataTimestamp_ set to:1755840339.989685
2025-08-22T05:25:39.995Z,1755840339.995 [DAT](INFO): DAT read: Bearing 294.4,  42.8 (Local)

2025-08-22T05:25:39.997Z,1755840339.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.4,  42.8 (Local)

2025-08-22T05:25:40.013Z,1755840340.013 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:25:40.025Z,1755840340.025 [DAT](INFO): DAT read: 05:25:38.9229 LVL= 23632, 10113, 22562, 26979, AGC= 44, IDX= 510, 0.01, 1.159, 1.017,-0.241, 1.891, PHS=-0.630,-0.828,-2.176, RAW=  36.8,  41.4, CAL=  34.6,  47.0, ROT= 115.4, -47.0

2025-08-22T05:25:40.026Z,1755840340.026 [DAT](INFO): got valid direction response:
 05:25:38.9229 LVL= 23632, 10113, 22562, 26979, AGC= 44, IDX= 510, 0.01, 1.159, 1.017,-0.241, 1.891, PHS=-0.630,-0.828,-2.176, RAW=  36.8,  41.4, CAL=  34.6,  47.0, ROT= 115.4, -47.0

2025-08-22T05:25:40.027Z,1755840340.027 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T05:25:40.048Z,1755840340.048 [DAT](INFO): direction in FSK: [-0.292533,0.616073,0.731354]
2025-08-22T05:25:40.048Z,1755840340.048 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:40.066Z,1755840340.066 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.365009
2025-08-22T05:25:40.117Z,1755840340.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.504103 s,
      deltaX: 0.200000 m,
      approachRate: 0.396744 m/s,
      rangeRepo size: 4

2025-08-22T05:25:40.120Z,1755840340.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584967 m,
      bearing: 141.789139 deg,
      lat: 36.779357 deg,
      lon: -121.859576 deg,
      deltaT: 0.504103 s,
      deltaX: 0.198843 m,
      approachRate: 0.394450 m/s,
      posRepo size: 4

2025-08-22T05:25:40.237Z,1755840340.237 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=4.536406
2025-08-22T05:25:40.494Z,1755840340.494 [DAT](INFO): DAT read: Rx Time:05:25:39.4227 

2025-08-22T05:25:40.497Z,1755840340.497 [DAT](INFO): Rx dataTimestamp_ set to:1755840340.495726
2025-08-22T05:25:40.501Z,1755840340.501 [DAT](INFO): DAT read: Bearing 292.4,  42.8 (Local)

2025-08-22T05:25:40.503Z,1755840340.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.4,  42.8 (Local)

2025-08-22T05:25:40.530Z,1755840340.530 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:40.552Z,1755840340.552 [DAT](INFO): DAT read: 05:25:39.4227 LVL= 23568, 10129, 22514, 26659, AGC= 44, IDX= 509, 0.13, 0.275, 0.083,-1.122, 1.014, PHS=-0.637,-0.886,-2.180, RAW=  38.7,  42.4, CAL=  36.5,  47.9, ROT= 113.5, -47.9

2025-08-22T05:25:40.553Z,1755840340.553 [DAT](INFO): got valid direction response:
 05:25:39.4227 LVL= 23568, 10129, 22514, 26659, AGC= 44, IDX= 509, 0.13, 0.275, 0.083,-1.122, 1.014, PHS=-0.637,-0.886,-2.180, RAW=  38.7,  42.4, CAL=  36.5,  47.9, ROT= 113.5, -47.9

2025-08-22T05:25:40.553Z,1755840340.553 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T05:25:40.554Z,1755840340.554 [DAT](INFO): direction in FSK: [-0.267332,0.614821,0.741976]
2025-08-22T05:25:40.555Z,1755840340.555 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:40.613Z,1755840340.613 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=4.911242
2025-08-22T05:25:40.662Z,1755840340.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.506041 s,
      deltaX: -0.300000 m,
      approachRate: -0.592837 m/s,
      rangeRepo size: 4

2025-08-22T05:25:40.671Z,1755840340.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286697 m,
      bearing: 139.943222 deg,
      lat: 36.779358 deg,
      lon: -121.859576 deg,
      deltaT: 0.506041 s,
      deltaX: -0.298270 m,
      approachRate: -0.589419 m/s,
      posRepo size: 4

2025-08-22T05:25:40.742Z,1755840340.742 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.040705
2025-08-22T05:25:40.997Z,1755840340.997 [DAT](INFO): DAT read: Rx Time:05:25:39.9227 

2025-08-22T05:25:40.999Z,1755840340.999 [DAT](INFO): Rx dataTimestamp_ set to:1755840340.997708
2025-08-22T05:25:41.003Z,1755840341.003 [DAT](INFO): DAT read: Bearing 291.7,  42.7 (Local)

2025-08-22T05:25:41.004Z,1755840341.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.7,  42.7 (Local)

2025-08-22T05:25:41.006Z,1755840341.006 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:41.032Z,1755840341.032 [DAT](INFO): DAT read: 05:25:39.9227 LVL= 23632,  9905, 22258, 26419, AGC= 43, IDX= 509, 0.28, 0.613, 0.401,-0.784, 1.354, PHS=-0.639,-0.908,-2.182, RAW=  39.4,  42.7, CAL=  37.2,  48.2, ROT= 112.8, -48.2

2025-08-22T05:25:41.033Z,1755840341.033 [DAT](INFO): got valid direction response:
 05:25:39.9227 LVL= 23632,  9905, 22258, 26419, AGC= 43, IDX= 509, 0.28, 0.613, 0.401,-0.784, 1.354, PHS=-0.639,-0.908,-2.182, RAW=  39.4,  42.7, CAL=  37.2,  48.2, ROT= 112.8, -48.2

2025-08-22T05:25:41.033Z,1755840341.033 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T05:25:41.034Z,1755840341.034 [DAT](INFO): direction in FSK: [-0.258292,0.614452,0.745476]
2025-08-22T05:25:41.035Z,1755840341.035 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:41.058Z,1755840341.058 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.357782
2025-08-22T05:25:41.166Z,1755840341.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.501982 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:41.169Z,1755840341.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286697 m,
      bearing: 139.449961 deg,
      lat: 36.779359 deg,
      lon: -121.859575 deg,
      deltaT: 0.501982 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:41.246Z,1755840341.246 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.544751
2025-08-22T05:25:41.501Z,1755840341.501 [DAT](INFO): DAT read: Rx Time:05:25:40.4226 

2025-08-22T05:25:41.503Z,1755840341.503 [DAT](INFO): Rx dataTimestamp_ set to:1755840341.502277
2025-08-22T05:25:41.505Z,1755840341.505 [DAT](INFO): DAT read: Bearing 294.2,  42.3 (Local)

2025-08-22T05:25:41.505Z,1755840341.505 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.2,  42.3 (Local)

2025-08-22T05:25:41.507Z,1755840341.507 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:25:41.516Z,1755840341.516 [DAT](INFO): DAT read: 05:25:40.4226 LVL= 23536, 10161, 22002, 25875, AGC= 43, IDX= 508, 0.46,-0.966,-1.116,-2.351,-0.224, PHS=-0.640,-0.847,-2.171, RAW=  37.1,  41.9, CAL=  35.0,  47.5, ROT= 115.0, -47.5

2025-08-22T05:25:41.517Z,1755840341.517 [DAT](INFO): got valid direction response:
 05:25:40.4226 LVL= 23536, 10161, 22002, 25875, AGC= 43, IDX= 508, 0.46,-0.966,-1.116,-2.351,-0.224, PHS=-0.640,-0.847,-2.171, RAW=  37.1,  41.9, CAL=  35.0,  47.5, ROT= 115.0, -47.5

2025-08-22T05:25:41.517Z,1755840341.517 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T05:25:41.518Z,1755840341.518 [DAT](INFO): direction in FSK: [-0.285517,0.612293,0.737277]
2025-08-22T05:25:41.518Z,1755840341.518 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:41.534Z,1755840341.534 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=5.833485
2025-08-22T05:25:41.733Z,1755840341.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504569 s,
      deltaX: -0.200000 m,
      approachRate: -0.396378 m/s,
      rangeRepo size: 4

2025-08-22T05:25:41.740Z,1755840341.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087851 m,
      bearing: 141.990209 deg,
      lat: 36.779361 deg,
      lon: -121.859575 deg,
      deltaT: 0.504569 s,
      deltaX: -0.198846 m,
      approachRate: -0.394091 m/s,
      posRepo size: 4

2025-08-22T05:25:41.748Z,1755840341.748 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.047575
2025-08-22T05:25:42.004Z,1755840342.004 [DAT](INFO): DAT read: Rx Time:05:25:40.9227 

2025-08-22T05:25:42.004Z,1755840342.004 [DAT](INFO): Rx dataTimestamp_ set to:1755840342.004121
2025-08-22T05:25:42.006Z,1755840342.006 [DAT](INFO): DAT read: Bearing 302.5,  41.2 (Local)

2025-08-22T05:25:42.006Z,1755840342.006 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.5,  41.2 (Local)

2025-08-22T05:25:42.008Z,1755840342.008 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:42.013Z,1755840342.013 [DAT](INFO): DAT read: 05:25:40.9227 LVL= 23472,  9953, 22002, 25955, AGC= 44, IDX= 510,-0.30,-1.564,-1.499,-2.935,-0.824, PHS=-0.638,-0.630,-2.155, RAW=  29.7,  38.5, CAL=  27.7,  44.2, ROT= 122.3, -44.2

2025-08-22T05:25:42.014Z,1755840342.014 [DAT](INFO): got valid direction response:
 05:25:40.9227 LVL= 23472,  9953, 22002, 25955, AGC= 44, IDX= 510,-0.30,-1.564,-1.499,-2.935,-0.824, PHS=-0.638,-0.630,-2.155, RAW=  29.7,  38.5, CAL=  27.7,  44.2, ROT= 122.3, -44.2

2025-08-22T05:25:42.014Z,1755840342.014 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T05:25:42.015Z,1755840342.015 [DAT](INFO): direction in FSK: [-0.383083,0.605977,0.697165]
2025-08-22T05:25:42.015Z,1755840342.015 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:42.019Z,1755840342.019 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.317928
2025-08-22T05:25:42.202Z,1755840342.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.501844 s,
      deltaX: 0.200000 m,
      approachRate: 0.398530 m/s,
      rangeRepo size: 4

2025-08-22T05:25:42.209Z,1755840342.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286694 m,
      bearing: 149.104112 deg,
      lat: 36.779361 deg,
      lon: -121.859575 deg,
      deltaT: 0.501844 s,
      deltaX: 0.198843 m,
      approachRate: 0.396225 m/s,
      posRepo size: 4

2025-08-22T05:25:42.252Z,1755840342.252 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.551733
2025-08-22T05:25:42.505Z,1755840342.505 [DAT](INFO): DAT read: Rx Time:05:25:41.4227 

2025-08-22T05:25:42.505Z,1755840342.505 [DAT](INFO): Rx dataTimestamp_ set to:1755840342.505079
2025-08-22T05:25:42.507Z,1755840342.507 [DAT](INFO): DAT read: Bearing 304.2,  40.9 (Local)

2025-08-22T05:25:42.507Z,1755840342.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.2,  40.9 (Local)

2025-08-22T05:25:42.509Z,1755840342.509 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:42.514Z,1755840342.514 [DAT](INFO): DAT read: 05:25:41.4227 LVL= 25936, 10321, 22482, 25843, AGC= 43, IDX= 509,-0.16,-2.466,-2.364, 2.449,-1.731, PHS=-0.633,-0.588,-2.147, RAW=  28.5,  37.8, CAL=  26.6,  43.5, ROT= 123.4, -43.5

2025-08-22T05:25:42.515Z,1755840342.515 [DAT](INFO): got valid direction response:
 05:25:41.4227 LVL= 25936, 10321, 22482, 25843, AGC= 43, IDX= 509,-0.16,-2.466,-2.364, 2.449,-1.731, PHS=-0.633,-0.588,-2.147, RAW=  28.5,  37.8, CAL=  26.6,  43.5, ROT= 123.4, -43.5

2025-08-22T05:25:42.515Z,1755840342.515 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T05:25:42.516Z,1755840342.516 [DAT](INFO): direction in FSK: [-0.399305,0.605577,0.688355]
2025-08-22T05:25:42.516Z,1755840342.516 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:42.520Z,1755840342.520 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.818990
2025-08-22T05:25:42.680Z,1755840342.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.500958 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:42.682Z,1755840342.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286689 m,
      bearing: 151.174888 deg,
      lat: 36.779361 deg,
      lon: -121.859576 deg,
      deltaT: 0.500958 s,
      deltaX: -0.000005 m,
      approachRate: -0.000010 m/s,
      posRepo size: 4

2025-08-22T05:25:42.757Z,1755840342.757 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.056031
2025-08-22T05:25:43.009Z,1755840343.009 [DAT](INFO): DAT read: Rx Time:05:25:41.9228 

2025-08-22T05:25:43.009Z,1755840343.009 [DAT](INFO): Rx dataTimestamp_ set to:1755840343.008994
2025-08-22T05:25:43.011Z,1755840343.011 [DAT](INFO): DAT read: Bearing 303.6,  41.0 (Local)

2025-08-22T05:25:43.011Z,1755840343.011 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,  41.0 (Local)

2025-08-22T05:25:43.013Z,1755840343.013 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:43.017Z,1755840343.017 [DAT](INFO): DAT read: 05:25:41.9228 LVL= 25744,  9761, 22562, 25363, AGC= 44, IDX= 510,-0.04,-0.968,-0.893,-2.339,-0.234, PHS=-0.633,-0.614,-2.149, RAW=  29.4,  38.2, CAL=  27.4,  43.9, ROT= 122.6, -43.9

2025-08-22T05:25:43.018Z,1755840343.018 [DAT](INFO): got valid direction response:
 05:25:41.9228 LVL= 25744,  9761, 22562, 25363, AGC= 44, IDX= 510,-0.04,-0.968,-0.893,-2.339,-0.234, PHS=-0.633,-0.614,-2.149, RAW=  29.4,  38.2, CAL=  27.4,  43.9, ROT= 122.6, -43.9

2025-08-22T05:25:43.019Z,1755840343.019 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T05:25:43.020Z,1755840343.020 [DAT](INFO): direction in FSK: [-0.388212,0.607030,0.693402]
2025-08-22T05:25:43.020Z,1755840343.020 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:43.024Z,1755840343.024 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.323163
2025-08-22T05:25:43.145Z,1755840343.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503915 s,
      deltaX: 0.100000 m,
      approachRate: 0.198446 m/s,
      rangeRepo size: 4

2025-08-22T05:25:43.154Z,1755840343.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386110 m,
      bearing: 150.661108 deg,
      lat: 36.779359 deg,
      lon: -121.859576 deg,
      deltaT: 0.503915 s,
      deltaX: 0.099421 m,
      approachRate: 0.197298 m/s,
      posRepo size: 4

2025-08-22T05:25:43.261Z,1755840343.261 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.560515
2025-08-22T05:25:43.513Z,1755840343.513 [DAT](INFO): DAT read: Rx Time:05:25:42.4227 

2025-08-22T05:25:43.514Z,1755840343.514 [DAT](INFO): Rx dataTimestamp_ set to:1755840343.513267
2025-08-22T05:25:43.515Z,1755840343.515 [DAT](INFO): DAT read: Bearing 303.0,  41.0 (Local)

2025-08-22T05:25:43.515Z,1755840343.515 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.0,  41.0 (Local)

2025-08-22T05:25:43.517Z,1755840343.517 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:43.522Z,1755840343.522 [DAT](INFO): DAT read: 05:25:42.4227 LVL= 28448, 10209, 24562, 28211, AGC= 43, IDX= 509, 0.07,-1.117,-1.065,-2.481,-0.382, PHS=-0.633,-0.638,-2.143, RAW=  30.2,  38.7, CAL=  28.1,  44.4, ROT= 121.9, -44.4

2025-08-22T05:25:43.523Z,1755840343.523 [DAT](INFO): got valid direction response:
 05:25:42.4227 LVL= 28448, 10209, 24562, 28211, AGC= 43, IDX= 509, 0.07,-1.117,-1.065,-2.481,-0.382, PHS=-0.633,-0.638,-2.143, RAW=  30.2,  38.7, CAL=  28.1,  44.4, ROT= 121.9, -44.4

2025-08-22T05:25:43.524Z,1755840343.524 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T05:25:43.525Z,1755840343.525 [DAT](INFO): direction in FSK: [-0.377555,0.606567,0.699663]
2025-08-22T05:25:43.525Z,1755840343.525 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:43.529Z,1755840343.529 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.827944
2025-08-22T05:25:43.671Z,1755840343.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504273 s,
      deltaX: -0.100000 m,
      approachRate: -0.198306 m/s,
      rangeRepo size: 4

2025-08-22T05:25:43.689Z,1755840343.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286646 m,
      bearing: 150.192122 deg,
      lat: 36.779359 deg,
      lon: -121.859577 deg,
      deltaT: 0.504273 s,
      deltaX: -0.099464 m,
      approachRate: -0.197242 m/s,
      posRepo size: 4

2025-08-22T05:25:43.764Z,1755840343.764 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.063672
2025-08-22T05:25:44.017Z,1755840344.017 [DAT](INFO): DAT read: Rx Time:05:25:42.9227 

2025-08-22T05:25:44.017Z,1755840344.017 [DAT](INFO): Rx dataTimestamp_ set to:1755840344.017054
2025-08-22T05:25:44.019Z,1755840344.019 [DAT](INFO): DAT read: Bearing 303.9,  40.5 (Local)

2025-08-22T05:25:44.019Z,1755840344.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.9,  40.5 (Local)

2025-08-22T05:25:44.021Z,1755840344.021 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:44.026Z,1755840344.026 [DAT](INFO): DAT read: 05:25:42.9227 LVL= 28656,  9857, 24386, 28147, AGC= 43, IDX= 509, 0.21,-0.787,-0.709,-2.143,-0.042, PHS=-0.643,-0.622,-2.145, RAW=  29.3,  38.6, CAL=  27.3,  44.2, ROT= 122.7, -44.2

2025-08-22T05:25:44.027Z,1755840344.027 [DAT](INFO): got valid direction response:
 05:25:42.9227 LVL= 28656,  9857, 24386, 28147, AGC= 43, IDX= 509, 0.21,-0.787,-0.709,-2.143,-0.042, PHS=-0.643,-0.622,-2.145, RAW=  29.3,  38.6, CAL=  27.3,  44.2, ROT= 122.7, -44.2

2025-08-22T05:25:44.027Z,1755840344.027 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T05:25:44.028Z,1755840344.028 [DAT](INFO): direction in FSK: [-0.387304,0.603288,0.697165]
2025-08-22T05:25:44.028Z,1755840344.028 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:44.036Z,1755840344.036 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.335409
2025-08-22T05:25:44.109Z,1755840344.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:44.111Z,1755840344.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286646 m,
      bearing: 151.182587 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.503787 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:44.268Z,1755840344.268 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.567785
2025-08-22T05:25:44.521Z,1755840344.521 [DAT](INFO): DAT read: Rx Time:05:25:43.4226 

2025-08-22T05:25:44.521Z,1755840344.521 [DAT](INFO): Rx dataTimestamp_ set to:1755840344.521140
2025-08-22T05:25:44.523Z,1755840344.523 [DAT](INFO): DAT read: Bearing 310.5,  38.7 (Local)

2025-08-22T05:25:44.523Z,1755840344.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.5,  38.7 (Local)

2025-08-22T05:25:44.525Z,1755840344.525 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:25:44.530Z,1755840344.530 [DAT](INFO): DAT read: 05:25:43.4226 LVL= 26736, 10225, 22066, 27411, AGC= 43, IDX= 508, 0.38,-2.349,-2.080, 2.573,-1.603, PHS=-0.643,-0.431,-2.151, RAW=  23.5,  35.1, CAL=  21.7,  41.2, ROT= 128.3, -41.2

2025-08-22T05:25:44.531Z,1755840344.531 [DAT](INFO): got valid direction response:
 05:25:43.4226 LVL= 26736, 10225, 22066, 27411, AGC= 43, IDX= 508, 0.38,-2.349,-2.080, 2.573,-1.603, PHS=-0.643,-0.431,-2.151, RAW=  23.5,  35.1, CAL=  21.7,  41.2, ROT= 128.3, -41.2

2025-08-22T05:25:44.532Z,1755840344.532 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T05:25:44.533Z,1755840344.533 [DAT](INFO): direction in FSK: [-0.466331,0.590477,0.658689]
2025-08-22T05:25:44.533Z,1755840344.533 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:44.537Z,1755840344.537 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.836284
2025-08-22T05:25:44.598Z,1755840344.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504086 s,
      deltaX: -0.200000 m,
      approachRate: -0.396758 m/s,
      rangeRepo size: 4

2025-08-22T05:25:44.605Z,1755840344.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087758 m,
      bearing: 156.827353 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.504086 s,
      deltaX: -0.198888 m,
      approachRate: -0.394552 m/s,
      posRepo size: 4

2025-08-22T05:25:44.772Z,1755840344.772 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.071693
2025-08-22T05:25:45.025Z,1755840345.025 [DAT](INFO): DAT read: Rx Time:05:25:43.9227 

2025-08-22T05:25:45.026Z,1755840345.026 [DAT](INFO): Rx dataTimestamp_ set to:1755840345.025479
2025-08-22T05:25:45.027Z,1755840345.027 [DAT](INFO): DAT read: Bearing 322.3,  34.8 (Local)

2025-08-22T05:25:45.027Z,1755840345.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.3,  34.8 (Local)

2025-08-22T05:25:45.029Z,1755840345.029 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:45.034Z,1755840345.034 [DAT](INFO): DAT read: 05:25:43.9227 LVL= 29728, 10641, 24114, 30003, AGC= 43, IDX= 510,-0.37,-3.042,-2.392, 1.924,-2.268, PHS=-0.672,-0.079,-2.135, RAW=  13.7,  29.1, CAL=  12.3,  34.5, ROT= 137.7, -34.5

2025-08-22T05:25:45.035Z,1755840345.035 [DAT](INFO): got valid direction response:
 05:25:43.9227 LVL= 29728, 10641, 24114, 30003, AGC= 43, IDX= 510,-0.37,-3.042,-2.392, 1.924,-2.268, PHS=-0.672,-0.079,-2.135, RAW=  13.7,  29.1, CAL=  12.3,  34.5, ROT= 137.7, -34.5

2025-08-22T05:25:45.036Z,1755840345.036 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T05:25:45.037Z,1755840345.037 [DAT](INFO): direction in FSK: [-0.609549,0.554647,0.566406]
2025-08-22T05:25:45.037Z,1755840345.037 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:45.045Z,1755840345.045 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.343905
2025-08-22T05:25:45.152Z,1755840345.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504339 s,
      deltaX: 0.200000 m,
      approachRate: 0.396559 m/s,
      rangeRepo size: 4

2025-08-22T05:25:45.161Z,1755840345.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286592 m,
      bearing: 165.390112 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.504339 s,
      deltaX: 0.198834 m,
      approachRate: 0.394247 m/s,
      posRepo size: 4

2025-08-22T05:25:45.276Z,1755840345.276 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.575819
2025-08-22T05:25:45.529Z,1755840345.529 [DAT](INFO): DAT read: Rx Time:05:25:44.4226 

2025-08-22T05:25:45.529Z,1755840345.529 [DAT](INFO): Rx dataTimestamp_ set to:1755840345.529072
2025-08-22T05:25:45.531Z,1755840345.531 [DAT](INFO): DAT read: Bearing 324.4,  33.4 (Local)

2025-08-22T05:25:45.531Z,1755840345.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4,  33.4 (Local)

2025-08-22T05:25:45.533Z,1755840345.533 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:25:45.538Z,1755840345.538 [DAT](INFO): DAT read: 05:25:44.4226 LVL= 28464, 14257, 22386, 28963, AGC= 42, IDX= 509,-0.19, 2.312, 3.058, 1.016, 3.109, PHS=-0.696,-0.006,-2.138, RAW=  11.5,  28.1, CAL=  10.3,  33.3, ROT= 139.7, -33.3

2025-08-22T05:25:45.539Z,1755840345.539 [DAT](INFO): got valid direction response:
 05:25:44.4226 LVL= 28464, 14257, 22386, 28963, AGC= 42, IDX= 509,-0.19, 2.312, 3.058, 1.016, 3.109, PHS=-0.696,-0.006,-2.138, RAW=  11.5,  28.1, CAL=  10.3,  33.3, ROT= 139.7, -33.3

2025-08-22T05:25:45.539Z,1755840345.539 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T05:25:45.540Z,1755840345.540 [DAT](INFO): direction in FSK: [-0.637444,0.540592,0.549023]
2025-08-22T05:25:45.540Z,1755840345.540 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:45.568Z,1755840345.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503593 s,
      deltaX: -0.200000 m,
      approachRate: -0.397146 m/s,
      rangeRepo size: 4

2025-08-22T05:25:45.570Z,1755840345.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087772 m,
      bearing: 167.423875 deg,
      lat: 36.779358 deg,
      lon: -121.859578 deg,
      deltaT: 0.503593 s,
      deltaX: -0.198820 m,
      approachRate: -0.394802 m/s,
      posRepo size: 4

2025-08-22T05:25:45.572Z,1755840345.572 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.871672
2025-08-22T05:25:45.780Z,1755840345.780 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.079633
2025-08-22T05:25:46.026Z,1755840346.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:46.033Z,1755840346.033 [DAT](INFO): DAT read: Rx Time:05:25:44.9228 

2025-08-22T05:25:46.034Z,1755840346.034 [DAT](INFO): Rx dataTimestamp_ set to:1755840346.033297
2025-08-22T05:25:46.035Z,1755840346.035 [DAT](INFO): DAT read: Bearing 327.1,  32.4 (Local)

2025-08-22T05:25:46.035Z,1755840346.035 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.1,  32.4 (Local)

2025-08-22T05:25:46.037Z,1755840346.037 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:46.042Z,1755840346.042 [DAT](INFO): DAT read: 05:25:44.9228 LVL= 29392, 14577, 22674, 29651, AGC= 43, IDX= 510,-0.08,-2.578,-1.726, 2.413,-1.773, PHS=-0.702, 0.093,-2.140, RAW=   9.4,  26.4, CAL=   8.4,  31.4, ROT= 141.6, -31.4

2025-08-22T05:25:46.044Z,1755840346.044 [DAT](INFO): got valid direction response:
 05:25:44.9228 LVL= 29392, 14577, 22674, 29651, AGC= 43, IDX= 510,-0.08,-2.578,-1.726, 2.413,-1.773, PHS=-0.702, 0.093,-2.140, RAW=   9.4,  26.4, CAL=   8.4,  31.4, ROT= 141.6, -31.4

2025-08-22T05:25:46.044Z,1755840346.044 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T05:25:46.045Z,1755840346.045 [DAT](INFO): direction in FSK: [-0.668922,0.530181,0.521010]
2025-08-22T05:25:46.045Z,1755840346.045 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:46.049Z,1755840346.049 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.348477
2025-08-22T05:25:46.057Z,1755840346.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504225 s,
      deltaX: 0.300000 m,
      approachRate: 0.594973 m/s,
      rangeRepo size: 4

2025-08-22T05:25:46.285Z,1755840346.285 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.584106
2025-08-22T05:25:46.537Z,1755840346.537 [DAT](INFO): DAT read: Rx Time:05:25:45.4227 

2025-08-22T05:25:46.538Z,1755840346.538 [DAT](INFO): Rx dataTimestamp_ set to:1755840346.537243
2025-08-22T05:25:46.539Z,1755840346.539 [DAT](INFO): DAT read: Bearing 324.8,  33.1 (Local)

2025-08-22T05:25:46.539Z,1755840346.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.8,  33.1 (Local)

2025-08-22T05:25:46.541Z,1755840346.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:46.546Z,1755840346.546 [DAT](INFO): DAT read: 05:25:45.4227 LVL= 30544, 13217, 23506, 30995, AGC= 43, IDX= 509, 0.04,-2.740,-1.972, 2.242,-1.935, PHS=-0.703, 0.008,-2.150, RAW=  11.1,  27.8, CAL=   9.9,  33.1, ROT= 140.1, -33.1

2025-08-22T05:25:46.547Z,1755840346.547 [DAT](INFO): got valid direction response:
 05:25:45.4227 LVL= 30544, 13217, 23506, 30995, AGC= 43, IDX= 509, 0.04,-2.740,-1.972, 2.242,-1.935, PHS=-0.703, 0.008,-2.150, RAW=  11.1,  27.8, CAL=   9.9,  33.1, ROT= 140.1, -33.1

2025-08-22T05:25:46.547Z,1755840346.547 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T05:25:46.548Z,1755840346.548 [DAT](INFO): direction in FSK: [-0.642669,0.537354,0.546102]
2025-08-22T05:25:46.549Z,1755840346.549 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:46.552Z,1755840346.552 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.851523
2025-08-22T05:25:46.788Z,1755840346.788 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.087484
2025-08-22T05:25:46.828Z,1755840346.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503946 s,
      deltaX: -0.100000 m,
      approachRate: -0.198434 m/s,
      rangeRepo size: 4

2025-08-22T05:25:46.830Z,1755840346.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286609 m,
      bearing: 167.927889 deg,
      lat: 36.779354 deg,
      lon: -121.859580 deg,
      deltaT: 1.008171 s,
      deltaX: 0.198837 m,
      approachRate: 0.197226 m/s,
      posRepo size: 4

2025-08-22T05:25:47.044Z,1755840347.044 [DAT](INFO): DAT read: Rx Time:05:25:45.9228 

2025-08-22T05:25:47.045Z,1755840347.045 [DAT](INFO): Rx dataTimestamp_ set to:1755840347.044645
2025-08-22T05:25:47.046Z,1755840347.046 [DAT](INFO): DAT read: Bearing 318.5,  34.7 (Local)

2025-08-22T05:25:47.046Z,1755840347.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.5,  34.7 (Local)

2025-08-22T05:25:47.049Z,1755840347.049 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:47.055Z,1755840347.055 [DAT](INFO): DAT read: 05:25:45.9228 LVL= 26928, 13585, 21330, 26947, AGC= 43, IDX= 510, 0.15,-1.257,-0.691,-2.563,-0.447, PHS=-0.707,-0.199,-2.159, RAW=  15.5,  31.6, CAL=  13.9,  37.3, ROT= 136.1, -37.3

2025-08-22T05:25:47.057Z,1755840347.057 [DAT](INFO): got valid direction response:
 05:25:45.9228 LVL= 26928, 13585, 21330, 26947, AGC= 43, IDX= 510, 0.15,-1.257,-0.691,-2.563,-0.447, PHS=-0.707,-0.199,-2.159, RAW=  15.5,  31.6, CAL=  13.9,  37.3, ROT= 136.1, -37.3

2025-08-22T05:25:47.057Z,1755840347.057 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T05:25:47.059Z,1755840347.059 [DAT](INFO): direction in FSK: [-0.573179,0.551583,0.605988]
2025-08-22T05:25:47.061Z,1755840347.061 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:47.065Z,1755840347.065 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.363835
2025-08-22T05:25:47.246Z,1755840347.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.507402 s,
      deltaX: 0.100000 m,
      approachRate: 0.197083 m/s,
      rangeRepo size: 4

2025-08-22T05:25:47.252Z,1755840347.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386018 m,
      bearing: 164.518872 deg,
      lat: 36.779354 deg,
      lon: -121.859580 deg,
      deltaT: 0.507402 s,
      deltaX: 0.099408 m,
      approachRate: 0.195916 m/s,
      posRepo size: 4

2025-08-22T05:25:47.292Z,1755840347.292 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.591685
2025-08-22T05:25:47.545Z,1755840347.545 [DAT](INFO): DAT read: Rx Time:05:25:46.4227 

2025-08-22T05:25:47.545Z,1755840347.545 [DAT](INFO): Rx dataTimestamp_ set to:1755840347.545016
2025-08-22T05:25:47.547Z,1755840347.547 [DAT](INFO): DAT read: Bearing 311.8,  36.6 (Local)

2025-08-22T05:25:47.547Z,1755840347.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  36.6 (Local)

2025-08-22T05:25:47.549Z,1755840347.549 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:47.554Z,1755840347.554 [DAT](INFO): DAT read: 05:25:46.4227 LVL= 27504, 12833, 21586, 27251, AGC= 43, IDX= 509, 0.29,-2.195,-1.841, 2.773,-1.391, PHS=-0.702,-0.405,-2.163, RAW=  20.9,  35.3, CAL=  19.1,  41.4, ROT= 130.9, -41.4

2025-08-22T05:25:47.555Z,1755840347.555 [DAT](INFO): got valid direction response:
 05:25:46.4227 LVL= 27504, 12833, 21586, 27251, AGC= 43, IDX= 509, 0.29,-2.195,-1.841, 2.773,-1.391, PHS=-0.702,-0.405,-2.163, RAW=  20.9,  35.3, CAL=  19.1,  41.4, ROT= 130.9, -41.4

2025-08-22T05:25:47.556Z,1755840347.556 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T05:25:47.557Z,1755840347.557 [DAT](INFO): direction in FSK: [-0.491128,0.566974,0.661312]
2025-08-22T05:25:47.557Z,1755840347.557 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:47.560Z,1755840347.560 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.859806
2025-08-22T05:25:47.746Z,1755840347.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.500371 s,
      deltaX: -0.100000 m,
      approachRate: -0.199852 m/s,
      rangeRepo size: 4

2025-08-22T05:25:47.753Z,1755840347.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286600 m,
      bearing: 159.978352 deg,
      lat: 36.779354 deg,
      lon: -121.859580 deg,
      deltaT: 0.500371 s,
      deltaX: -0.099417 m,
      approachRate: -0.198687 m/s,
      posRepo size: 4

2025-08-22T05:25:47.797Z,1755840347.797 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.096427
2025-08-22T05:25:48.049Z,1755840348.049 [DAT](INFO): DAT read: Rx Time:05:25:46.9228 

2025-08-22T05:25:48.049Z,1755840348.049 [DAT](INFO): Rx dataTimestamp_ set to:1755840348.049107
2025-08-22T05:25:48.051Z,1755840348.051 [DAT](INFO): DAT read: Bearing 309.9,  37.7 (Local)

2025-08-22T05:25:48.052Z,1755840348.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9,  37.7 (Local)

2025-08-22T05:25:48.054Z,1755840348.054 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:48.058Z,1755840348.058 [DAT](INFO): DAT read: 05:25:46.9228 LVL= 27216, 12273, 22002, 27475, AGC= 43, IDX= 510, 0.48,-1.398,-1.112,-2.724,-0.601, PHS=-0.695,-0.466,-2.167, RAW=  22.9,  36.3, CAL=  21.1,  42.3, ROT= 128.9, -42.3

2025-08-22T05:25:48.060Z,1755840348.060 [DAT](INFO): got valid direction response:
 05:25:46.9228 LVL= 27216, 12273, 22002, 27475, AGC= 43, IDX= 510, 0.48,-1.398,-1.112,-2.724,-0.601, PHS=-0.695,-0.466,-2.167, RAW=  22.9,  36.3, CAL=  21.1,  42.3, ROT= 128.9, -42.3

2025-08-22T05:25:48.060Z,1755840348.060 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T05:25:48.061Z,1755840348.061 [DAT](INFO): direction in FSK: [-0.464461,0.575613,0.673013]
2025-08-22T05:25:48.061Z,1755840348.061 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:48.074Z,1755840348.074 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.373588
2025-08-22T05:25:48.122Z,1755840348.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504091 s,
      deltaX: 0.100000 m,
      approachRate: 0.198377 m/s,
      rangeRepo size: 4

2025-08-22T05:25:48.128Z,1755840348.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386018 m,
      bearing: 158.140211 deg,
      lat: 36.779354 deg,
      lon: -121.859579 deg,
      deltaT: 0.504091 s,
      deltaX: 0.099417 m,
      approachRate: 0.197221 m/s,
      posRepo size: 4

2025-08-22T05:25:48.301Z,1755840348.301 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.599835
2025-08-22T05:25:48.524Z,1755840348.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:48.553Z,1755840348.553 [DAT](INFO): DAT read: Rx Time:05:25:47.4227 

2025-08-22T05:25:48.553Z,1755840348.553 [DAT](INFO): Rx dataTimestamp_ set to:1755840348.553039
2025-08-22T05:25:48.555Z,1755840348.555 [DAT](INFO): DAT read: Bearing 313.5,  36.8 (Local)

2025-08-22T05:25:48.555Z,1755840348.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5,  36.8 (Local)

2025-08-22T05:25:48.557Z,1755840348.557 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:48.562Z,1755840348.562 [DAT](INFO): DAT read: 05:25:47.4227 LVL= 27248, 11313, 22226, 26995, AGC= 43, IDX= 510,-0.32, 2.551, 2.957, 1.226,-2.936, PHS=-0.694,-0.346,-2.166, RAW=  19.6,  34.1, CAL=  17.8,  40.3, ROT= 132.2, -40.3

2025-08-22T05:25:48.563Z,1755840348.563 [DAT](INFO): got valid direction response:
 05:25:47.4227 LVL= 27248, 11313, 22226, 26995, AGC= 43, IDX= 510,-0.32, 2.551, 2.957, 1.226,-2.936, PHS=-0.694,-0.346,-2.166, RAW=  19.6,  34.1, CAL=  17.8,  40.3, ROT= 132.2, -40.3

2025-08-22T05:25:48.563Z,1755840348.563 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T05:25:48.564Z,1755840348.564 [DAT](INFO): direction in FSK: [-0.512300,0.564988,0.646790]
2025-08-22T05:25:48.564Z,1755840348.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:48.572Z,1755840348.572 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.871426
2025-08-22T05:25:48.804Z,1755840348.804 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.103672
2025-08-22T05:25:48.940Z,1755840348.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503932 s,
      deltaX: -0.100000 m,
      approachRate: -0.198440 m/s,
      rangeRepo size: 4

2025-08-22T05:25:48.942Z,1755840348.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286608 m,
      bearing: 161.222304 deg,
      lat: 36.779355 deg,
      lon: -121.859578 deg,
      deltaT: 0.503932 s,
      deltaX: -0.099410 m,
      approachRate: -0.197268 m/s,
      posRepo size: 4

2025-08-22T05:25:49.058Z,1755840349.058 [DAT](INFO): DAT read: Rx Time:05:25:47.9227 

2025-08-22T05:25:49.059Z,1755840349.059 [DAT](INFO): Rx dataTimestamp_ set to:1755840349.058534
2025-08-22T05:25:49.061Z,1755840349.061 [DAT](INFO): DAT read: Bearing 311.9,  37.5 (Local)

2025-08-22T05:25:49.061Z,1755840349.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  37.5 (Local)

2025-08-22T05:25:49.063Z,1755840349.063 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:49.068Z,1755840349.068 [DAT](INFO): DAT read: 05:25:47.9227 LVL= 26336, 10657, 22114, 26899, AGC= 43, IDX= 510,-0.17, 2.194, 2.551, 0.860, 2.985, PHS=-0.689,-0.389,-2.169, RAW=  20.9,  34.8, CAL=  19.2,  40.9, ROT= 130.8, -40.9

2025-08-22T05:25:49.069Z,1755840349.069 [DAT](INFO): got valid direction response:
 05:25:47.9227 LVL= 26336, 10657, 22114, 26899, AGC= 43, IDX= 510,-0.17, 2.194, 2.551, 0.860, 2.985, PHS=-0.689,-0.389,-2.169, RAW=  20.9,  34.8, CAL=  19.2,  40.9, ROT= 130.8, -40.9

2025-08-22T05:25:49.069Z,1755840349.069 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T05:25:49.070Z,1755840349.070 [DAT](INFO): direction in FSK: [-0.493890,0.572177,0.654741]
2025-08-22T05:25:49.070Z,1755840349.070 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:49.083Z,1755840349.083 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.382671
2025-08-22T05:25:49.308Z,1755840349.308 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.607782
2025-08-22T05:25:49.320Z,1755840349.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505495 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:49.322Z,1755840349.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286615 m,
      bearing: 159.454435 deg,
      lat: 36.779355 deg,
      lon: -121.859578 deg,
      deltaT: 0.505495 s,
      deltaX: 0.000007 m,
      approachRate: 0.000014 m/s,
      posRepo size: 4

2025-08-22T05:25:49.561Z,1755840349.561 [DAT](INFO): DAT read: Rx Time:05:25:48.4227 

2025-08-22T05:25:49.561Z,1755840349.561 [DAT](INFO): Rx dataTimestamp_ set to:1755840349.561007
2025-08-22T05:25:49.563Z,1755840349.563 [DAT](INFO): DAT read: Bearing 308.0,  38.9 (Local)

2025-08-22T05:25:49.563Z,1755840349.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.0,  38.9 (Local)

2025-08-22T05:25:49.565Z,1755840349.565 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:49.570Z,1755840349.570 [DAT](INFO): DAT read: 05:25:48.4227 LVL= 25824,  9921, 22546, 27091, AGC= 44, IDX= 509,-0.05, 1.362, 1.593, 0.007, 2.143, PHS=-0.679,-0.505,-2.180, RAW=  24.6,  36.7, CAL=  22.7,  42.6, ROT= 127.3, -42.6

2025-08-22T05:25:49.571Z,1755840349.571 [DAT](INFO): got valid direction response:
 05:25:48.4227 LVL= 25824,  9921, 22546, 27091, AGC= 44, IDX= 509,-0.05, 1.362, 1.593, 0.007, 2.143, PHS=-0.679,-0.505,-2.180, RAW=  24.6,  36.7, CAL=  22.7,  42.6, ROT= 127.3, -42.6

2025-08-22T05:25:49.571Z,1755840349.571 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T05:25:49.577Z,1755840349.577 [DAT](INFO): direction in FSK: [-0.446066,0.585546,0.676876]
2025-08-22T05:25:49.578Z,1755840349.578 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:49.581Z,1755840349.581 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.880615
2025-08-22T05:25:49.810Z,1755840349.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502473 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:49.820Z,1755840349.820 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.119656
2025-08-22T05:25:49.822Z,1755840349.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286615 m,
      bearing: 155.814373 deg,
      lat: 36.779355 deg,
      lon: -121.859578 deg,
      deltaT: 0.502473 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:50.076Z,1755840350.076 [DAT](INFO): DAT read: Rx Time:05:25:48.9228 

2025-08-22T05:25:50.077Z,1755840350.077 [DAT](INFO): Rx dataTimestamp_ set to:1755840350.076346
2025-08-22T05:25:50.078Z,1755840350.078 [DAT](INFO): DAT read: Bearing 298.3,  40.7 (Local)

2025-08-22T05:25:50.078Z,1755840350.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.3,  40.7 (Local)

2025-08-22T05:25:50.080Z,1755840350.080 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:50.095Z,1755840350.095 [DAT](INFO): DAT read: 05:25:48.9228 LVL= 25840, 10145, 22162, 27475, AGC= 43, IDX= 510, 0.05,-1.989,-2.031, 2.938,-1.211, PHS=-0.676,-0.774,-2.178, RAW=  33.4,  41.4, CAL=  31.3,  46.8, ROT= 118.7, -46.8

2025-08-22T05:25:50.112Z,1755840350.112 [DAT](INFO): got valid direction response:
 05:25:48.9228 LVL= 25840, 10145, 22162, 27475, AGC= 43, IDX= 510, 0.05,-1.989,-2.031, 2.938,-1.211, PHS=-0.676,-0.774,-2.178, RAW=  33.4,  41.4, CAL=  31.3,  46.8, ROT= 118.7, -46.8

2025-08-22T05:25:50.112Z,1755840350.112 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T05:25:50.113Z,1755840350.113 [DAT](INFO): direction in FSK: [-0.328736,0.600448,0.728969]
2025-08-22T05:25:50.114Z,1755840350.114 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:50.122Z,1755840350.122 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.420994
2025-08-22T05:25:50.226Z,1755840350.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.515339 s,
      deltaX: 0.100000 m,
      approachRate: 0.194047 m/s,
      rangeRepo size: 4

2025-08-22T05:25:50.232Z,1755840350.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386069 m,
      bearing: 147.215995 deg,
      lat: 36.779355 deg,
      lon: -121.859577 deg,
      deltaT: 0.515339 s,
      deltaX: 0.099453 m,
      approachRate: 0.192986 m/s,
      posRepo size: 4

2025-08-22T05:25:50.326Z,1755840350.326 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.624846
2025-08-22T05:25:50.541Z,1755840350.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:50.578Z,1755840350.578 [DAT](INFO): DAT read: Rx Time:05:25:49.4227 

2025-08-22T05:25:50.578Z,1755840350.578 [DAT](INFO): Rx dataTimestamp_ set to:1755840350.577976
2025-08-22T05:25:50.580Z,1755840350.580 [DAT](INFO): DAT read: Bearing 296.5,  40.9 (Local)

2025-08-22T05:25:50.581Z,1755840350.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.5,  40.9 (Local)

2025-08-22T05:25:50.585Z,1755840350.585 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:50.591Z,1755840350.591 [DAT](INFO): DAT read: 05:25:49.4227 LVL= 25312,  9953, 21794, 27523, AGC= 43, IDX= 509, 0.17,-2.884,-2.967, 2.034,-2.107, PHS=-0.675,-0.815,-2.186, RAW=  34.8,  41.9, CAL=  32.8,  47.4, ROT= 117.2, -47.4

2025-08-22T05:25:50.593Z,1755840350.593 [DAT](INFO): got valid direction response:
 05:25:49.4227 LVL= 25312,  9953, 21794, 27523, AGC= 43, IDX= 509, 0.17,-2.884,-2.967, 2.034,-2.107, PHS=-0.675,-0.815,-2.186, RAW=  34.8,  41.9, CAL=  32.8,  47.4, ROT= 117.2, -47.4

2025-08-22T05:25:50.593Z,1755840350.593 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T05:25:50.595Z,1755840350.595 [DAT](INFO): direction in FSK: [-0.309399,0.602025,0.736097]
2025-08-22T05:25:50.619Z,1755840350.619 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:50.623Z,1755840350.623 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.922004
2025-08-22T05:25:50.828Z,1755840350.828 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.127538
2025-08-22T05:25:51.025Z,1755840351.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.501630 s,
      deltaX: -0.100000 m,
      approachRate: -0.199350 m/s,
      rangeRepo size: 4

2025-08-22T05:25:51.028Z,1755840351.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286649 m,
      bearing: 145.386175 deg,
      lat: 36.779356 deg,
      lon: -121.859577 deg,
      deltaT: 0.501630 s,
      deltaX: -0.099420 m,
      approachRate: -0.198193 m/s,
      posRepo size: 4

2025-08-22T05:25:51.082Z,1755840351.082 [DAT](INFO): DAT read: Rx Time:05:25:49.9228 

2025-08-22T05:25:51.083Z,1755840351.083 [DAT](INFO): Rx dataTimestamp_ set to:1755840351.082081
2025-08-22T05:25:51.085Z,1755840351.085 [DAT](INFO): DAT read: Bearing 293.7,  41.2 (Local)

2025-08-22T05:25:51.085Z,1755840351.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,  41.2 (Local)

2025-08-22T05:25:51.090Z,1755840351.090 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:51.122Z,1755840351.122 [DAT](INFO): DAT read: 05:25:49.9228 LVL= 24880, 10065, 21730, 26995, AGC= 44, IDX= 510, 0.31,-1.455,-1.606,-2.824,-0.679, PHS=-0.674,-0.882,-2.189, RAW=  37.3,  42.9, CAL=  35.2,  48.3, ROT= 114.8, -48.3

2025-08-22T05:25:51.123Z,1755840351.123 [DAT](INFO): got valid direction response:
 05:25:49.9228 LVL= 24880, 10065, 21730, 26995, AGC= 44, IDX= 510, 0.31,-1.455,-1.606,-2.824,-0.679, PHS=-0.674,-0.882,-2.189, RAW=  37.3,  42.9, CAL=  35.2,  48.3, ROT= 114.8, -48.3

2025-08-22T05:25:51.131Z,1755840351.131 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T05:25:51.132Z,1755840351.132 [DAT](INFO): direction in FSK: [-0.279032,0.603881,0.746638]
2025-08-22T05:25:51.132Z,1755840351.132 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:51.139Z,1755840351.139 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.437986
2025-08-22T05:25:51.332Z,1755840351.332 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.631739
2025-08-22T05:25:51.360Z,1755840351.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.504105 s,
      deltaX: 0.100000 m,
      approachRate: 0.198372 m/s,
      rangeRepo size: 4

2025-08-22T05:25:51.362Z,1755840351.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386074 m,
      bearing: 142.440390 deg,
      lat: 36.779358 deg,
      lon: -121.859576 deg,
      deltaT: 0.504105 s,
      deltaX: 0.099425 m,
      approachRate: 0.197230 m/s,
      posRepo size: 4

2025-08-22T05:25:51.585Z,1755840351.585 [DAT](INFO): DAT read: Rx Time:05:25:50.4227 

2025-08-22T05:25:51.585Z,1755840351.585 [DAT](INFO): Rx dataTimestamp_ set to:1755840351.585016
2025-08-22T05:25:51.587Z,1755840351.587 [DAT](INFO): DAT read: Bearing 302.9,  39.7 (Local)

2025-08-22T05:25:51.587Z,1755840351.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.9,  39.7 (Local)

2025-08-22T05:25:51.589Z,1755840351.589 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:51.594Z,1755840351.594 [DAT](INFO): DAT read: 05:25:50.4227 LVL= 24656,  9937, 22594, 27555, AGC= 44, IDX= 510,-0.47, 1.779, 1.899, 0.426, 2.563, PHS=-0.682,-0.619,-2.181, RAW=  28.0,  38.8, CAL=  26.1,  44.5, ROT= 123.9, -44.5

2025-08-22T05:25:51.595Z,1755840351.595 [DAT](INFO): got valid direction response:
 05:25:50.4227 LVL= 24656,  9937, 22594, 27555, AGC= 44, IDX= 510,-0.47, 1.779, 1.899, 0.426, 2.563, PHS=-0.682,-0.619,-2.181, RAW=  28.0,  38.8, CAL=  26.1,  44.5, ROT= 123.9, -44.5

2025-08-22T05:25:51.595Z,1755840351.595 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T05:25:51.596Z,1755840351.596 [DAT](INFO): direction in FSK: [-0.397812,0.592007,0.700909]
2025-08-22T05:25:51.596Z,1755840351.596 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:51.600Z,1755840351.600 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.899642
2025-08-22T05:25:51.836Z,1755840351.836 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.135607
2025-08-22T05:25:51.861Z,1755840351.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502935 s,
      deltaX: -0.100000 m,
      approachRate: -0.198833 m/s,
      rangeRepo size: 4

2025-08-22T05:25:51.863Z,1755840351.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286654 m,
      bearing: 151.208520 deg,
      lat: 36.779358 deg,
      lon: -121.859576 deg,
      deltaT: 0.502935 s,
      deltaX: -0.099420 m,
      approachRate: -0.197679 m/s,
      posRepo size: 4

2025-08-22T05:25:52.089Z,1755840352.089 [DAT](INFO): DAT read: Rx Time:05:25:50.9227 

2025-08-22T05:25:52.089Z,1755840352.089 [DAT](INFO): Rx dataTimestamp_ set to:1755840352.089003
2025-08-22T05:25:52.091Z,1755840352.091 [DAT](INFO): DAT read: Bearing 303.9,  39.4 (Local)

2025-08-22T05:25:52.091Z,1755840352.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.9,  39.4 (Local)

2025-08-22T05:25:52.093Z,1755840352.093 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:52.098Z,1755840352.098 [DAT](INFO): DAT read: 05:25:50.9227 LVL= 24560,  9553, 21698, 27315, AGC= 44, IDX= 510,-0.27, 1.383, 1.541, 0.029, 2.167, PHS=-0.682,-0.581,-2.182, RAW=  26.8,  38.1, CAL=  24.9,  43.9, ROT= 125.1, -43.9

2025-08-22T05:25:52.099Z,1755840352.099 [DAT](INFO): got valid direction response:
 05:25:50.9227 LVL= 24560,  9553, 21698, 27315, AGC= 44, IDX= 510,-0.27, 1.383, 1.541, 0.029, 2.167, PHS=-0.682,-0.581,-2.182, RAW=  26.8,  38.1, CAL=  24.9,  43.9, ROT= 125.1, -43.9

2025-08-22T05:25:52.099Z,1755840352.099 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T05:25:52.104Z,1755840352.104 [DAT](INFO): direction in FSK: [-0.414321,0.589519,0.693402]
2025-08-22T05:25:52.105Z,1755840352.105 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:52.169Z,1755840352.169 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.462440
2025-08-22T05:25:52.293Z,1755840352.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503987 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:52.295Z,1755840352.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286617 m,
      bearing: 152.357338 deg,
      lat: 36.779358 deg,
      lon: -121.859576 deg,
      deltaT: 0.503987 s,
      deltaX: -0.000037 m,
      approachRate: -0.000074 m/s,
      posRepo size: 4

2025-08-22T05:25:52.329Z,1755840352.329 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T05:25:52.340Z,1755840352.340 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.639624
2025-08-22T05:25:52.595Z,1755840352.595 [DAT](INFO): DAT read: Rx Time:05:25:51.4227 

2025-08-22T05:25:52.595Z,1755840352.595 [DAT](INFO): Rx dataTimestamp_ set to:1755840352.594765
2025-08-22T05:25:52.597Z,1755840352.597 [DAT](INFO): DAT read: Bearing 302.4,  39.4 (Local)

2025-08-22T05:25:52.597Z,1755840352.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.4,  39.4 (Local)

2025-08-22T05:25:52.600Z,1755840352.600 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:52.627Z,1755840352.627 [DAT](INFO): DAT read: 05:25:51.4227 LVL= 25040,  9969, 21586, 27443, AGC= 42, IDX= 509,-0.13, 0.518, 0.647,-0.825, 1.311, PHS=-0.691,-0.619,-2.180, RAW=  27.7,  39.0, CAL=  25.8,  44.6, ROT= 124.2, -44.6

2025-08-22T05:25:52.629Z,1755840352.629 [DAT](INFO): got valid direction response:
 05:25:51.4227 LVL= 25040,  9969, 21586, 27443, AGC= 42, IDX= 509,-0.13, 0.518, 0.647,-0.825, 1.311, PHS=-0.691,-0.619,-2.180, RAW=  27.7,  39.0, CAL=  25.8,  44.6, ROT= 124.2, -44.6

2025-08-22T05:25:52.629Z,1755840352.629 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T05:25:52.630Z,1755840352.630 [DAT](INFO): direction in FSK: [-0.400218,0.588903,0.702153]
2025-08-22T05:25:52.630Z,1755840352.630 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:52.646Z,1755840352.646 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.945112
2025-08-22T05:25:52.736Z,1755840352.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505762 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:52.738Z,1755840352.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286617 m,
      bearing: 151.542875 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.505762 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:52.844Z,1755840352.844 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.143723
2025-08-22T05:25:53.097Z,1755840353.097 [DAT](INFO): DAT read: Rx Time:05:25:51.9228 

2025-08-22T05:25:53.097Z,1755840353.097 [DAT](INFO): Rx dataTimestamp_ set to:1755840353.096962
2025-08-22T05:25:53.099Z,1755840353.099 [DAT](INFO): DAT read: Bearing 300.9,  39.7 (Local)

2025-08-22T05:25:53.099Z,1755840353.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.9,  39.7 (Local)

2025-08-22T05:25:53.101Z,1755840353.101 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:53.105Z,1755840353.105 [DAT](INFO): DAT read: 05:25:51.9228 LVL= 26096, 10033, 22578, 28003, AGC= 43, IDX= 510,-0.03, 1.978, 2.067, 0.631, 2.770, PHS=-0.690,-0.658,-2.182, RAW=  29.0,  39.6, CAL=  27.0,  45.2, ROT= 123.0, -45.2

2025-08-22T05:25:53.106Z,1755840353.106 [DAT](INFO): got valid direction response:
 05:25:51.9228 LVL= 26096, 10033, 22578, 28003, AGC= 43, IDX= 510,-0.03, 1.978, 2.067, 0.631, 2.770, PHS=-0.690,-0.658,-2.182, RAW=  29.0,  39.6, CAL=  27.0,  45.2, ROT= 123.0, -45.2

2025-08-22T05:25:53.107Z,1755840353.107 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T05:25:53.108Z,1755840353.108 [DAT](INFO): direction in FSK: [-0.383771,0.590956,0.709571]
2025-08-22T05:25:53.108Z,1755840353.108 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:53.112Z,1755840353.112 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.411207
2025-08-22T05:25:53.338Z,1755840353.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.502197 s,
      deltaX: 0.100000 m,
      approachRate: 0.199125 m/s,
      rangeRepo size: 4

2025-08-22T05:25:53.345Z,1755840353.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386009 m,
      bearing: 149.868450 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.502197 s,
      deltaX: 0.099392 m,
      approachRate: 0.197914 m/s,
      posRepo size: 4

2025-08-22T05:25:53.349Z,1755840353.349 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.647957
2025-08-22T05:25:53.601Z,1755840353.601 [DAT](INFO): DAT read: Rx Time:05:25:52.4227 

2025-08-22T05:25:53.601Z,1755840353.601 [DAT](INFO): Rx dataTimestamp_ set to:1755840353.601035
2025-08-22T05:25:53.603Z,1755840353.603 [DAT](INFO): DAT read: Bearing 296.3,  40.0 (Local)

2025-08-22T05:25:53.603Z,1755840353.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.3,  40.0 (Local)

2025-08-22T05:25:53.605Z,1755840353.605 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:53.610Z,1755840353.610 [DAT](INFO): DAT read: 05:25:52.4227 LVL= 25248, 10513, 21938, 24771, AGC= 44, IDX= 509, 0.07, 1.766, 1.736, 0.423, 2.567, PHS=-0.699,-0.786,-2.188, RAW=  33.0,  41.9, CAL=  31.0,  47.2, ROT= 119.0, -47.2

2025-08-22T05:25:53.611Z,1755840353.611 [DAT](INFO): got valid direction response:
 05:25:52.4227 LVL= 25248, 10513, 21938, 24771, AGC= 44, IDX= 509, 0.07, 1.766, 1.736, 0.423, 2.567, PHS=-0.699,-0.786,-2.188, RAW=  33.0,  41.9, CAL=  31.0,  47.2, ROT= 119.0, -47.2

2025-08-22T05:25:53.611Z,1755840353.611 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T05:25:53.613Z,1755840353.613 [DAT](INFO): direction in FSK: [-0.329400,0.594253,0.733730]
2025-08-22T05:25:53.613Z,1755840353.613 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:53.616Z,1755840353.616 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.915827
2025-08-22T05:25:53.852Z,1755840353.852 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.151508
2025-08-22T05:25:53.959Z,1755840353.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504073 s,
      deltaX: -0.100000 m,
      approachRate: -0.198384 m/s,
      rangeRepo size: 4

2025-08-22T05:25:53.974Z,1755840353.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286591 m,
      bearing: 145.613052 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.504073 s,
      deltaX: -0.099417 m,
      approachRate: -0.197228 m/s,
      posRepo size: 4

2025-08-22T05:25:53.981Z,1755840353.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.30 m.
2025-08-22T05:25:53.982Z,1755840353.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-22T05:25:54.105Z,1755840354.105 [DAT](INFO): DAT read: Rx Time:05:25:52.9228 

2025-08-22T05:25:54.105Z,1755840354.105 [DAT](INFO): Rx dataTimestamp_ set to:1755840354.104996
2025-08-22T05:25:54.107Z,1755840354.107 [DAT](INFO): DAT read: Bearing 302.1,  37.7 (Local)

2025-08-22T05:25:54.107Z,1755840354.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,  37.7 (Local)

2025-08-22T05:25:54.109Z,1755840354.109 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:54.114Z,1755840354.114 [DAT](INFO): DAT read: 05:25:52.9228 LVL= 28480, 10545, 22210, 28275, AGC= 42, IDX= 510, 0.21,-3.109,-2.939, 1.878,-2.280, PHS=-0.728,-0.614,-2.170, RAW=  26.2,  39.6, CAL=  24.4,  45.2, ROT= 125.6, -45.2

2025-08-22T05:25:54.115Z,1755840354.115 [DAT](INFO): got valid direction response:
 05:25:52.9228 LVL= 28480, 10545, 22210, 28275, AGC= 42, IDX= 510, 0.21,-3.109,-2.939, 1.878,-2.280, PHS=-0.728,-0.614,-2.170, RAW=  26.2,  39.6, CAL=  24.4,  45.2, ROT= 125.6, -45.2

2025-08-22T05:25:54.115Z,1755840354.115 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T05:25:54.116Z,1755840354.116 [DAT](INFO): direction in FSK: [-0.410184,0.572939,0.709571]
2025-08-22T05:25:54.117Z,1755840354.117 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:54.157Z,1755840354.157 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.456013
2025-08-22T05:25:54.356Z,1755840354.356 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.655676
2025-08-22T05:25:54.450Z,1755840354.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503961 s,
      deltaX: 0.100000 m,
      approachRate: 0.198428 m/s,
      rangeRepo size: 4

2025-08-22T05:25:54.474Z,1755840354.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386005 m,
      bearing: 151.953112 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.503961 s,
      deltaX: 0.099413 m,
      approachRate: 0.197264 m/s,
      posRepo size: 4

2025-08-22T05:25:54.609Z,1755840354.609 [DAT](INFO): DAT read: Rx Time:05:25:53.4227 

2025-08-22T05:25:54.609Z,1755840354.609 [DAT](INFO): Rx dataTimestamp_ set to:1755840354.609165
2025-08-22T05:25:54.611Z,1755840354.611 [DAT](INFO): DAT read: Bearing 310.2,  34.0 (Local)

2025-08-22T05:25:54.611Z,1755840354.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.2,  34.0 (Local)

2025-08-22T05:25:54.613Z,1755840354.613 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:54.618Z,1755840354.618 [DAT](INFO): DAT read: 05:25:53.4227 LVL= 28496, 10801, 21138, 28483, AGC= 42, IDX= 509, 0.40, 1.493, 1.960, 0.250, 2.367, PHS=-0.772,-0.362,-2.161, RAW=  17.5,  35.5, CAL=  15.7,  41.4, ROT= 134.3, -41.4

2025-08-22T05:25:54.620Z,1755840354.620 [DAT](INFO): got valid direction response:
 05:25:53.4227 LVL= 28496, 10801, 21138, 28483, AGC= 42, IDX= 509, 0.40, 1.493, 1.960, 0.250, 2.367, PHS=-0.772,-0.362,-2.161, RAW=  17.5,  35.5, CAL=  15.7,  41.4, ROT= 134.3, -41.4

2025-08-22T05:25:54.620Z,1755840354.620 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T05:25:54.621Z,1755840354.621 [DAT](INFO): direction in FSK: [-0.523889,0.536849,0.661312]
2025-08-22T05:25:54.621Z,1755840354.621 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:54.626Z,1755840354.626 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.925817
2025-08-22T05:25:54.860Z,1755840354.860 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.159639
2025-08-22T05:25:54.917Z,1755840354.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504169 s,
      deltaX: -0.100000 m,
      approachRate: -0.198346 m/s,
      rangeRepo size: 4

2025-08-22T05:25:54.936Z,1755840354.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286587 m,
      bearing: 160.308021 deg,
      lat: 36.779358 deg,
      lon: -121.859577 deg,
      deltaT: 0.504169 s,
      deltaX: -0.099417 m,
      approachRate: -0.197190 m/s,
      posRepo size: 4

2025-08-22T05:25:55.113Z,1755840355.113 [DAT](INFO): DAT read: Rx Time:05:25:53.9228 

2025-08-22T05:25:55.113Z,1755840355.113 [DAT](INFO): Rx dataTimestamp_ set to:1755840355.113042
2025-08-22T05:25:55.115Z,1755840355.115 [DAT](INFO): DAT read: Bearing 323.2,  29.2 (Local)

2025-08-22T05:25:55.115Z,1755840355.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.2,  29.2 (Local)

2025-08-22T05:25:55.117Z,1755840355.117 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:55.122Z,1755840355.122 [DAT](INFO): DAT read: 05:25:53.9228 LVL= 28928, 12625, 21330, 30179, AGC= 42, IDX= 511,-0.36, 0.747, 1.698,-0.422, 1.660, PHS=-0.811, 0.083,-2.126, RAW=   6.3,  27.7, CAL=   5.2,  32.8, ROT= 144.8, -32.8

2025-08-22T05:25:55.123Z,1755840355.123 [DAT](INFO): got valid direction response:
 05:25:53.9228 LVL= 28928, 12625, 21330, 30179, AGC= 42, IDX= 511,-0.36, 0.747, 1.698,-0.422, 1.660, PHS=-0.811, 0.083,-2.126, RAW=   6.3,  27.7, CAL=   5.2,  32.8, ROT= 144.8, -32.8

2025-08-22T05:25:55.134Z,1755840355.134 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T05:25:55.135Z,1755840355.135 [DAT](INFO): direction in FSK: [-0.686865,0.484530,0.541708]
2025-08-22T05:25:55.135Z,1755840355.135 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:55.138Z,1755840355.138 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.437656
2025-08-22T05:25:55.329Z,1755840355.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503877 s,
      deltaX: 0.100000 m,
      approachRate: 0.198461 m/s,
      rangeRepo size: 4

2025-08-22T05:25:55.331Z,1755840355.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386004 m,
      bearing: 169.659215 deg,
      lat: 36.779357 deg,
      lon: -121.859577 deg,
      deltaT: 0.503877 s,
      deltaX: 0.099416 m,
      approachRate: 0.197303 m/s,
      posRepo size: 4

2025-08-22T05:25:55.364Z,1755840355.364 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.663630
2025-08-22T05:25:55.617Z,1755840355.617 [DAT](INFO): DAT read: Rx Time:05:25:54.4227 

2025-08-22T05:25:55.617Z,1755840355.617 [DAT](INFO): Rx dataTimestamp_ set to:1755840355.616960
2025-08-22T05:25:55.618Z,1755840355.618 [DAT](INFO): DAT read: Bearing 325.2,  28.2 (Local)

2025-08-22T05:25:55.619Z,1755840355.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2,  28.2 (Local)

2025-08-22T05:25:55.621Z,1755840355.621 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:55.625Z,1755840355.625 [DAT](INFO): DAT read: 05:25:54.4227 LVL= 26544, 13617, 19538, 28659, AGC= 43, IDX= 510,-0.19,-0.108, 0.932,-1.267, 0.817, PHS=-0.823, 0.160,-2.128, RAW=   4.7,  26.4, CAL=   3.8,  31.4, ROT= 146.2, -31.4

2025-08-22T05:25:55.626Z,1755840355.626 [DAT](INFO): got valid direction response:
 05:25:54.4227 LVL= 26544, 13617, 19538, 28659, AGC= 43, IDX= 510,-0.19,-0.108, 0.932,-1.267, 0.817, PHS=-0.823, 0.160,-2.128, RAW=   4.7,  26.4, CAL=   3.8,  31.4, ROT= 146.2, -31.4

2025-08-22T05:25:55.627Z,1755840355.627 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T05:25:55.628Z,1755840355.628 [DAT](INFO): direction in FSK: [-0.709287,0.474827,0.521010]
2025-08-22T05:25:55.628Z,1755840355.628 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:55.632Z,1755840355.632 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.931025
2025-08-22T05:25:55.802Z,1755840355.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503918 s,
      deltaX: -0.100000 m,
      approachRate: -0.198445 m/s,
      rangeRepo size: 4

2025-08-22T05:25:55.824Z,1755840355.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286587 m,
      bearing: 170.931738 deg,
      lat: 36.779356 deg,
      lon: -121.859579 deg,
      deltaT: 0.503918 s,
      deltaX: -0.099417 m,
      approachRate: -0.197288 m/s,
      posRepo size: 4

2025-08-22T05:25:55.868Z,1755840355.868 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.167727
2025-08-22T05:25:56.121Z,1755840356.121 [DAT](INFO): DAT read: Rx Time:05:25:54.9227 

2025-08-22T05:25:56.121Z,1755840356.121 [DAT](INFO): Rx dataTimestamp_ set to:1755840356.121154
2025-08-22T05:25:56.123Z,1755840356.123 [DAT](INFO): DAT read: Bearing 323.9,  27.9 (Local)

2025-08-22T05:25:56.123Z,1755840356.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.9,  27.9 (Local)

2025-08-22T05:25:56.125Z,1755840356.125 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:56.130Z,1755840356.130 [DAT](INFO): DAT read: 05:25:54.9227 LVL= 23376, 12145, 18866, 25843, AGC= 41, IDX= 510,-0.06,-0.522, 0.471,-1.641, 0.415, PHS=-0.835, 0.101,-2.100, RAW=   4.9,  27.6, CAL=   3.9,  32.8, ROT= 146.1, -32.8

2025-08-22T05:25:56.131Z,1755840356.131 [DAT](INFO): got valid direction response:
 05:25:54.9227 LVL= 23376, 12145, 18866, 25843, AGC= 41, IDX= 510,-0.06,-0.522, 0.471,-1.641, 0.415, PHS=-0.835, 0.101,-2.100, RAW=   4.9,  27.6, CAL=   3.9,  32.8, ROT= 146.1, -32.8

2025-08-22T05:25:56.132Z,1755840356.132 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T05:25:56.133Z,1755840356.133 [DAT](INFO): direction in FSK: [-0.697681,0.468822,0.541708]
2025-08-22T05:25:56.133Z,1755840356.133 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:56.136Z,1755840356.136 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.435818
2025-08-22T05:25:56.297Z,1755840356.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504194 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:56.299Z,1755840356.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286599 m,
      bearing: 171.411597 deg,
      lat: 36.779353 deg,
      lon: -121.859582 deg,
      deltaT: 0.504194 s,
      deltaX: 0.000012 m,
      approachRate: 0.000023 m/s,
      posRepo size: 4

2025-08-22T05:25:56.373Z,1755840356.373 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.672222
2025-08-22T05:25:56.581Z,1755840356.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:56.626Z,1755840356.626 [DAT](INFO): DAT read: Rx Time:05:25:55.4227 

2025-08-22T05:25:56.627Z,1755840356.627 [DAT](INFO): Rx dataTimestamp_ set to:1755840356.626271
2025-08-22T05:25:56.629Z,1755840356.629 [DAT](INFO): DAT read: Bearing 320.9,  29.3 (Local)

2025-08-22T05:25:56.629Z,1755840356.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.9,  29.3 (Local)

2025-08-22T05:25:56.632Z,1755840356.632 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:56.638Z,1755840356.638 [DAT](INFO): DAT read: 05:25:55.4227 LVL= 26976, 12401, 20066, 30067, AGC= 42, IDX= 509, 0.06,-0.012, 0.847,-1.168, 0.919, PHS=-0.829,-0.027,-2.131, RAW=   7.8,  29.9, CAL=   6.5,  35.3, ROT= 143.5, -35.3

2025-08-22T05:25:56.641Z,1755840356.641 [DAT](INFO): got valid direction response:
 05:25:55.4227 LVL= 26976, 12401, 20066, 30067, AGC= 42, IDX= 509, 0.06,-0.012, 0.847,-1.168, 0.919, PHS=-0.829,-0.027,-2.131, RAW=   7.8,  29.9, CAL=   6.5,  35.3, ROT= 143.5, -35.3

2025-08-22T05:25:56.641Z,1755840356.641 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T05:25:56.643Z,1755840356.643 [DAT](INFO): direction in FSK: [-0.656058,0.485457,0.577858]
2025-08-22T05:25:56.643Z,1755840356.643 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:56.647Z,1755840356.647 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.946220
2025-08-22T05:25:56.876Z,1755840356.876 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.175550
2025-08-22T05:25:57.063Z,1755840357.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505117 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T05:25:57.065Z,1755840357.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286599 m,
      bearing: 169.930732 deg,
      lat: 36.779353 deg,
      lon: -121.859582 deg,
      deltaT: 0.505117 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T05:25:57.129Z,1755840357.129 [DAT](INFO): DAT read: Rx Time:05:25:55.9228 

2025-08-22T05:25:57.130Z,1755840357.130 [DAT](INFO): Rx dataTimestamp_ set to:1755840357.129316
2025-08-22T05:25:57.131Z,1755840357.131 [DAT](INFO): DAT read: Bearing 317.2,  30.4 (Local)

2025-08-22T05:25:57.131Z,1755840357.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.2,  30.4 (Local)

2025-08-22T05:25:57.133Z,1755840357.133 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:25:57.138Z,1755840357.138 [DAT](INFO): DAT read: 05:25:55.9228 LVL= 24224, 11553, 19186, 27715, AGC= 42, IDX= 510, 0.19, 0.841, 1.552,-0.324, 1.766, PHS=-0.824,-0.169,-2.135, RAW=  10.9,  32.5, CAL=   9.3,  38.3, ROT= 140.7, -38.3

2025-08-22T05:25:57.139Z,1755840357.139 [DAT](INFO): got valid direction response:
 05:25:55.9228 LVL= 24224, 11553, 19186, 27715, AGC= 42, IDX= 510, 0.19, 0.841, 1.552,-0.324, 1.766, PHS=-0.824,-0.169,-2.135, RAW=  10.9,  32.5, CAL=   9.3,  38.3, ROT= 140.7, -38.3

2025-08-22T05:25:57.139Z,1755840357.139 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T05:25:57.140Z,1755840357.140 [DAT](INFO): direction in FSK: [-0.607292,0.497062,0.619779]
2025-08-22T05:25:57.141Z,1755840357.141 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:57.146Z,1755840357.146 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.444834
2025-08-22T05:25:57.380Z,1755840357.380 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.679489
2025-08-22T05:25:57.518Z,1755840357.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.503045 s,
      deltaX: 0.100000 m,
      approachRate: 0.198790 m/s,
      rangeRepo size: 4

2025-08-22T05:25:57.524Z,1755840357.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.386033 m,
      bearing: 168.020928 deg,
      lat: 36.779353 deg,
      lon: -121.859582 deg,
      deltaT: 0.503045 s,
      deltaX: 0.099434 m,
      approachRate: 0.197664 m/s,
      posRepo size: 4

2025-08-22T05:25:57.633Z,1755840357.633 [DAT](INFO): DAT read: Rx Time:05:25:56.4227 

2025-08-22T05:25:57.633Z,1755840357.633 [DAT](INFO): Rx dataTimestamp_ set to:1755840357.632997
2025-08-22T05:25:57.635Z,1755840357.635 [DAT](INFO): DAT read: Bearing 312.8,  32.6 (Local)

2025-08-22T05:25:57.635Z,1755840357.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.8,  32.6 (Local)

2025-08-22T05:25:57.637Z,1755840357.637 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:57.649Z,1755840357.649 [DAT](INFO): DAT read: 05:25:56.4227 LVL= 26912, 11761, 20626, 30307, AGC= 42, IDX= 509, 0.37, 0.011, 0.538,-1.187, 0.914, PHS=-0.801,-0.331,-2.145, RAW=  15.6,  35.4, CAL=  13.8,  41.3, ROT= 136.2, -41.3

2025-08-22T05:25:57.651Z,1755840357.651 [DAT](INFO): got valid direction response:
 05:25:56.4227 LVL= 26912, 11761, 20626, 30307, AGC= 42, IDX= 509, 0.37, 0.011, 0.538,-1.187, 0.914, PHS=-0.801,-0.331,-2.145, RAW=  15.6,  35.4, CAL=  13.8,  41.3, ROT= 136.2, -41.3

2025-08-22T05:25:57.651Z,1755840357.651 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T05:25:57.656Z,1755840357.656 [DAT](INFO): direction in FSK: [-0.542233,0.519982,0.660002]
2025-08-22T05:25:57.656Z,1755840357.656 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:57.664Z,1755840357.664 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.963526
2025-08-22T05:25:57.886Z,1755840357.886 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.185265
2025-08-22T05:25:58.028Z,1755840358.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503681 s,
      deltaX: -0.100000 m,
      approachRate: -0.198539 m/s,
      rangeRepo size: 4

2025-08-22T05:25:58.030Z,1755840358.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.286615 m,
      bearing: 164.493443 deg,
      lat: 36.779354 deg,
      lon: -121.859582 deg,
      deltaT: 0.503681 s,
      deltaX: -0.099418 m,
      approachRate: -0.197383 m/s,
      posRepo size: 4

2025-08-22T05:25:58.136Z,1755840358.136 [DAT](INFO): DAT read: d 0.0

2025-08-22T05:25:58.137Z,1755840358.137 [DAT](INFO): unknown deviceResponse_: d 0.0

2025-08-22T05:25:58.141Z,1755840358.141 [DAT](INFO): DAT read: 05:25:56.9228 LVL= 27088, 12145, 20370, 31715, AGC= 43, IDX= 511,-0.38,-0.567, 0.046,-1.780, 0.307, PHS=-0.772,-0.216,-2.131, RAW=  13.6,  32.9, CAL=  11.9,  38.8, ROT= 138.1, -38.8

2025-08-22T05:25:58.142Z,1755840358.142 [DAT](INFO): got valid direction response:
 05:25:56.9228 LVL= 27088, 12145, 20370, 31715, AGC= 43, IDX= 511,-0.38,-0.567, 0.046,-1.780, 0.307, PHS=-0.772,-0.216,-2.131, RAW=  13.6,  32.9, CAL=  11.9,  38.8, ROT= 138.1, -38.8

2025-08-22T05:25:58.142Z,1755840358.142 [DAT](INFO): #Rx 44: Read direction message, but no range.
2025-08-22T05:25:58.144Z,1755840358.144 [DAT](INFO): direction in FSK: [-0.580070,0.520467,0.626604]
2025-08-22T05:25:58.150Z,1755840358.150 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.448954
2025-08-22T05:25:58.342Z,1755840358.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.30 m. Lat: 36.779354 Lon: -121.859582 Cable present. Reached intercept timeout.
2025-08-22T05:25:58.342Z,1755840358.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-22T05:25:58.342Z,1755840358.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T05:25:58.343Z,1755840358.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-22T05:25:58.390Z,1755840358.390 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.689060
2025-08-22T05:25:58.641Z,1755840358.641 [DAT](INFO): DAT read: Rx Time:05:25:57.4226 

2025-08-22T05:25:58.641Z,1755840358.641 [DAT](INFO): Rx dataTimestamp_ set to:1755840358.641045
2025-08-22T05:25:58.643Z,1755840358.643 [DAT](INFO): DAT read: Bearing 317.8,  32.5 (Local)

2025-08-22T05:25:58.643Z,1755840358.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.8,  32.5 (Local)

2025-08-22T05:25:58.645Z,1755840358.645 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:25:58.650Z,1755840358.650 [DAT](INFO): DAT read: 05:25:57.4226 LVL= 24400, 10065, 19682, 27299, AGC= 42, IDX= 510,-0.21,-2.144,-1.519, 2.943,-1.271, PHS=-0.771,-0.204,-2.114, RAW=  13.2,  32.7, CAL=  11.5,  38.6, ROT= 138.5, -38.6

2025-08-22T05:25:58.651Z,1755840358.651 [DAT](INFO): got valid direction response:
 05:25:57.4226 LVL= 24400, 10065, 19682, 27299, AGC= 42, IDX= 510,-0.21,-2.144,-1.519, 2.943,-1.271, PHS=-0.771,-0.204,-2.114, RAW=  13.2,  32.7, CAL=  11.5,  38.6, ROT= 138.5, -38.6

2025-08-22T05:25:58.652Z,1755840358.652 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T05:25:58.653Z,1755840358.653 [DAT](INFO): direction in FSK: [-0.585324,0.517851,0.623880]
2025-08-22T05:25:58.653Z,1755840358.653 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:58.657Z,1755840358.657 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.955908
2025-08-22T05:25:58.784Z,1755840358.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-22T05:25:58.784Z,1755840358.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-22T05:25:58.784Z,1755840358.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-22T05:25:58.896Z,1755840358.896 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.194824
2025-08-22T05:25:59.145Z,1755840359.145 [DAT](INFO): DAT read: Rx Time:05:25:57.9227 

2025-08-22T05:25:59.146Z,1755840359.146 [DAT](INFO): Rx dataTimestamp_ set to:1755840359.145407
2025-08-22T05:25:59.148Z,1755840359.148 [DAT](INFO): DAT read: Bearing 318.5,  32.2 (Local)

2025-08-22T05:25:59.148Z,1755840359.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.5,  32.2 (Local)

2025-08-22T05:25:59.151Z,1755840359.151 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:59.157Z,1755840359.157 [DAT](INFO): DAT read: 05:25:57.9227 LVL= 24560, 11057, 19522, 27571, AGC= 42, IDX= 511,-0.07,-0.688,-0.046,-1.883, 0.192, PHS=-0.778,-0.193,-2.118, RAW=  12.8,  32.6, CAL=  11.1,  38.4, ROT= 138.9, -38.4

2025-08-22T05:25:59.158Z,1755840359.158 [DAT](INFO): got valid direction response:
 05:25:57.9227 LVL= 24560, 11057, 19522, 27571, AGC= 42, IDX= 511,-0.07,-0.688,-0.046,-1.883, 0.192, PHS=-0.778,-0.193,-2.118, RAW=  12.8,  32.6, CAL=  11.1,  38.4, ROT= 138.9, -38.4

2025-08-22T05:25:59.159Z,1755840359.159 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T05:25:59.173Z,1755840359.173 [DAT](INFO): direction in FSK: [-0.590563,0.515181,0.621148]
2025-08-22T05:25:59.174Z,1755840359.174 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:59.179Z,1755840359.179 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.477945
2025-08-22T05:25:59.301Z,1755840359.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-22T05:25:59.303Z,1755840359.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T05:25:59.303Z,1755840359.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T05:25:59.303Z,1755840359.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T05:25:59.307Z,1755840359.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T05:25:59.307Z,1755840359.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T05:25:59.307Z,1755840359.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T05:25:59.308Z,1755840359.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T05:25:59.308Z,1755840359.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T05:25:59.308Z,1755840359.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T05:25:59.308Z,1755840359.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T05:25:59.397Z,1755840359.397 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.696272
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T05:25:59.565Z,1755840359.565 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T05:25:59.566Z,1755840359.566 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-22T05:25:59.566Z,1755840359.566 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T05:25:59.566Z,1755840359.566 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-22T05:25:59.566Z,1755840359.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:25:59.567Z,1755840359.567 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-22T05:25:59.568Z,1755840359.568 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:25:59.649Z,1755840359.649 [DAT](INFO): DAT read: Rx Time:05:25:58.4227 

2025-08-22T05:25:59.649Z,1755840359.649 [DAT](INFO): Rx dataTimestamp_ set to:1755840359.648985
2025-08-22T05:25:59.651Z,1755840359.651 [DAT](INFO): DAT read: Bearing 316.1,  33.0 (Local)

2025-08-22T05:25:59.651Z,1755840359.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1,  33.0 (Local)

2025-08-22T05:25:59.653Z,1755840359.653 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:25:59.658Z,1755840359.658 [DAT](INFO): DAT read: 05:25:58.4227 LVL= 24800, 11153, 19650, 27507, AGC= 42, IDX= 510, 0.04,-0.821,-0.272,-2.032, 0.056, PHS=-0.774,-0.283,-2.131, RAW=  15.1,  34.2, CAL=  13.4,  40.2, ROT= 136.6, -40.2

2025-08-22T05:25:59.659Z,1755840359.659 [DAT](INFO): got valid direction response:
 05:25:58.4227 LVL= 24800, 11153, 19650, 27507, AGC= 42, IDX= 510, 0.04,-0.821,-0.272,-2.032, 0.056, PHS=-0.774,-0.283,-2.131, RAW=  15.1,  34.2, CAL=  13.4,  40.2, ROT= 136.6, -40.2

2025-08-22T05:25:59.659Z,1755840359.659 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T05:25:59.660Z,1755840359.660 [DAT](INFO): direction in FSK: [-0.554955,0.524795,0.645458]
2025-08-22T05:25:59.660Z,1755840359.660 [DAT](INFO): publishing direction and range info
2025-08-22T05:25:59.664Z,1755840359.664 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.963469
2025-08-22T05:25:59.901Z,1755840359.901 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.200335
2025-08-22T05:26:00.029Z,1755840360.029 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-22T05:26:00.029Z,1755840360.029 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-22T05:26:00.153Z,1755840360.153 [DAT](INFO): DAT read: Rx Time:05:25:58.9227 

2025-08-22T05:26:00.154Z,1755840360.154 [DAT](INFO): Rx dataTimestamp_ set to:1755840360.153678
2025-08-22T05:26:00.156Z,1755840360.156 [DAT](INFO): DAT read: Bearing 311.7,  35.8 (Local)

2025-08-22T05:26:00.156Z,1755840360.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.7,  35.8 (Local)

2025-08-22T05:26:00.159Z,1755840360.159 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:00.165Z,1755840360.165 [DAT](INFO): DAT read: 05:25:58.9227 LVL= 27680, 12593, 21634, 30579, AGC= 43, IDX= 510, 0.18,-0.365,-0.011,-1.628, 0.474, PHS=-0.737,-0.440,-2.146, RAW=  20.6,  36.7, CAL=  18.9,  42.5, ROT= 131.1, -42.5

2025-08-22T05:26:00.167Z,1755840360.167 [DAT](INFO): got valid direction response:
 05:25:58.9227 LVL= 27680, 12593, 21634, 30579, AGC= 43, IDX= 510, 0.18,-0.365,-0.011,-1.628, 0.474, PHS=-0.737,-0.440,-2.146, RAW=  20.6,  36.7, CAL=  18.9,  42.5, ROT= 131.1, -42.5

2025-08-22T05:26:00.178Z,1755840360.178 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T05:26:00.179Z,1755840360.179 [DAT](INFO): direction in FSK: [-0.484668,0.555585,0.675590]
2025-08-22T05:26:00.180Z,1755840360.180 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:00.216Z,1755840360.216 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.515776
2025-08-22T05:26:00.366Z,1755840360.366 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T05:26:00.366Z,1755840360.366 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T05:26:00.366Z,1755840360.366 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-22T05:26:00.406Z,1755840360.406 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.704647
2025-08-22T05:26:00.657Z,1755840360.657 [DAT](INFO): DAT read: Rx Time:05:25:59.4226 

2025-08-22T05:26:00.657Z,1755840360.657 [DAT](INFO): Rx dataTimestamp_ set to:1755840360.656962
2025-08-22T05:26:00.659Z,1755840360.659 [DAT](INFO): DAT read: Bearing 312.1,  37.2 (Local)

2025-08-22T05:26:00.659Z,1755840360.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.1,  37.2 (Local)

2025-08-22T05:26:00.661Z,1755840360.661 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:26:00.666Z,1755840360.666 [DAT](INFO): DAT read: 05:25:59.4226 LVL= 29776, 12401, 22162, 30707, AGC= 43, IDX= 509, 0.34,-1.776,-1.463,-3.066,-0.980, PHS=-0.694,-0.438,-2.131, RAW=  21.9,  36.1, CAL=  20.2,  42.1, ROT= 129.8, -42.1

2025-08-22T05:26:00.667Z,1755840360.667 [DAT](INFO): got valid direction response:
 05:25:59.4226 LVL= 29776, 12401, 22162, 30707, AGC= 43, IDX= 509, 0.34,-1.776,-1.463,-3.066,-0.980, PHS=-0.694,-0.438,-2.131, RAW=  21.9,  36.1, CAL=  20.2,  42.1, ROT= 129.8, -42.1

2025-08-22T05:26:00.667Z,1755840360.667 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T05:26:00.668Z,1755840360.668 [DAT](INFO): direction in FSK: [-0.474946,0.570048,0.670427]
2025-08-22T05:26:00.668Z,1755840360.668 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:00.672Z,1755840360.672 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.971188
2025-08-22T05:26:00.912Z,1755840360.912 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.210758
2025-08-22T05:26:01.162Z,1755840361.162 [DAT](INFO): DAT read: Rx Time:05:25:59.9227 

2025-08-22T05:26:01.162Z,1755840361.162 [DAT](INFO): Rx dataTimestamp_ set to:1755840361.161901
2025-08-22T05:26:01.164Z,1755840361.164 [DAT](INFO): DAT read: Bearing 320.5,  36.0 (Local)

2025-08-22T05:26:01.164Z,1755840361.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.5,  36.0 (Local)

2025-08-22T05:26:01.167Z,1755840361.167 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:01.173Z,1755840361.173 [DAT](INFO): DAT read: 05:25:59.9227 LVL= 26848, 12193, 22194, 29011, AGC= 43, IDX= 511,-0.41,-2.315,-1.785, 2.676,-1.539, PHS=-0.673,-0.200,-2.112, RAW=  16.3,  31.5, CAL=  14.6,  37.2, ROT= 135.4, -37.2

2025-08-22T05:26:01.175Z,1755840361.175 [DAT](INFO): got valid direction response:
 05:25:59.9227 LVL= 26848, 12193, 22194, 29011, AGC= 43, IDX= 511,-0.41,-2.315,-1.785, 2.676,-1.539, PHS=-0.673,-0.200,-2.112, RAW=  16.3,  31.5, CAL=  14.6,  37.2, ROT= 135.4, -37.2

2025-08-22T05:26:01.195Z,1755840361.195 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T05:26:01.196Z,1755840361.196 [DAT](INFO): direction in FSK: [-0.567150,0.559286,0.604599]
2025-08-22T05:26:01.196Z,1755840361.196 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:01.212Z,1755840361.212 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.511448
2025-08-22T05:26:01.412Z,1755840361.412 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.711571
2025-08-22T05:26:01.573Z,1755840361.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:26:01.665Z,1755840361.665 [DAT](INFO): DAT read: Rx Time:05:26:00.4226 

2025-08-22T05:26:01.665Z,1755840361.665 [DAT](INFO): Rx dataTimestamp_ set to:1755840361.664993
2025-08-22T05:26:01.667Z,1755840361.667 [DAT](INFO): DAT read: Bearing 324.4,  35.4 (Local)

2025-08-22T05:26:01.667Z,1755840361.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 324.4,  35.4 (Local)

2025-08-22T05:26:01.669Z,1755840361.669 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:26:01.674Z,1755840361.674 [DAT](INFO): DAT read: 05:26:00.4226 LVL= 27568, 11857, 21698, 28883, AGC= 44, IDX= 510,-0.22, 2.510, 3.140, 1.206,-3.007, PHS=-0.664,-0.091,-2.114, RAW=  14.1,  29.3, CAL=  12.6,  34.7, ROT= 137.4, -34.7

2025-08-22T05:26:01.675Z,1755840361.675 [DAT](INFO): got valid direction response:
 05:26:00.4226 LVL= 27568, 11857, 21698, 28883, AGC= 44, IDX= 510,-0.22, 2.510, 3.140, 1.206,-3.007, PHS=-0.664,-0.091,-2.114, RAW=  14.1,  29.3, CAL=  12.6,  34.7, ROT= 137.4, -34.7

2025-08-22T05:26:01.676Z,1755840361.676 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T05:26:01.677Z,1755840361.677 [DAT](INFO): direction in FSK: [-0.605178,0.556490,0.569280]
2025-08-22T05:26:01.677Z,1755840361.677 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:01.681Z,1755840361.681 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.979996
2025-08-22T05:26:01.918Z,1755840361.918 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.217173
2025-08-22T05:26:02.169Z,1755840362.169 [DAT](INFO): DAT read: Rx Time:05:26:00.9227 

2025-08-22T05:26:02.170Z,1755840362.170 [DAT](INFO): Rx dataTimestamp_ set to:1755840362.169498
2025-08-22T05:26:02.173Z,1755840362.173 [DAT](INFO): DAT read: Bearing 325.2,  35.2 (Local)

2025-08-22T05:26:02.173Z,1755840362.173 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.2,  35.2 (Local)

2025-08-22T05:26:02.176Z,1755840362.176 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:02.181Z,1755840362.181 [DAT](INFO): DAT read: 05:26:00.9227 LVL= 27968, 12209, 21330, 28387, AGC= 43, IDX= 511,-0.06,-2.229,-1.583, 2.758,-1.469, PHS=-0.658,-0.070,-2.101, RAW=  13.6,  28.9, CAL=  12.2,  34.3, ROT= 137.8, -34.3

2025-08-22T05:26:02.182Z,1755840362.182 [DAT](INFO): got valid direction response:
 05:26:00.9227 LVL= 27968, 12209, 21330, 28387, AGC= 43, IDX= 511,-0.06,-2.229,-1.583, 2.758,-1.469, PHS=-0.658,-0.070,-2.101, RAW=  13.6,  28.9, CAL=  12.2,  34.3, ROT= 137.8, -34.3

2025-08-22T05:26:02.183Z,1755840362.183 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T05:26:02.184Z,1755840362.184 [DAT](INFO): direction in FSK: [-0.611978,0.554907,0.563526]
2025-08-22T05:26:02.184Z,1755840362.184 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:02.188Z,1755840362.188 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.487223
2025-08-22T05:26:02.428Z,1755840362.428 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.727623
2025-08-22T05:26:02.681Z,1755840362.681 [DAT](INFO): DAT read: Rx Time:05:26:01.4227 

2025-08-22T05:26:02.681Z,1755840362.681 [DAT](INFO): Rx dataTimestamp_ set to:1755840362.680965
2025-08-22T05:26:02.683Z,1755840362.683 [DAT](INFO): DAT read: Bearing 325.1,  35.9 (Local)

2025-08-22T05:26:02.683Z,1755840362.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.1,  35.9 (Local)

2025-08-22T05:26:02.685Z,1755840362.685 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:02.689Z,1755840362.689 [DAT](INFO): DAT read: 05:26:01.4227 LVL= 27632, 11713, 23218, 28595, AGC= 44, IDX= 510, 0.05,-2.272,-1.661, 2.686,-1.532, PHS=-0.638,-0.084,-2.108, RAW=  14.7,  28.9, CAL=  13.2,  34.3, ROT= 136.8, -34.3

2025-08-22T05:26:02.690Z,1755840362.690 [DAT](INFO): got valid direction response:
 05:26:01.4227 LVL= 27632, 11713, 23218, 28595, AGC= 44, IDX= 510, 0.05,-2.272,-1.661, 2.686,-1.532, PHS=-0.638,-0.084,-2.108, RAW=  14.7,  28.9, CAL=  13.2,  34.3, ROT= 136.8, -34.3

2025-08-22T05:26:02.691Z,1755840362.691 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T05:26:02.692Z,1755840362.692 [DAT](INFO): direction in FSK: [-0.602200,0.565503,0.563526]
2025-08-22T05:26:02.692Z,1755840362.692 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:02.696Z,1755840362.696 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.995113
2025-08-22T05:26:02.935Z,1755840362.935 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.233332
2025-08-22T05:26:03.185Z,1755840363.185 [DAT](INFO): DAT read: Rx Time:05:26:01.9228 

2025-08-22T05:26:03.185Z,1755840363.185 [DAT](INFO): Rx dataTimestamp_ set to:1755840363.184913
2025-08-22T05:26:03.186Z,1755840363.186 [DAT](INFO): DAT read: Bearing 322.7,  37.4 (Local)

2025-08-22T05:26:03.187Z,1755840363.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.7,  37.4 (Local)

2025-08-22T05:26:03.189Z,1755840363.189 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:03.194Z,1755840363.194 [DAT](INFO): DAT read: 05:26:01.9228 LVL= 27488, 11297, 23826, 28147, AGC= 44, IDX= 511, 0.18,-0.714,-0.210,-2.065, 0.000, PHS=-0.613,-0.166,-2.109, RAW=  17.3,  30.1, CAL=  15.7,  35.6, ROT= 134.3, -35.6

2025-08-22T05:26:03.195Z,1755840363.195 [DAT](INFO): got valid direction response:
 05:26:01.9228 LVL= 27488, 11297, 23826, 28147, AGC= 44, IDX= 511, 0.18,-0.714,-0.210,-2.065, 0.000, PHS=-0.613,-0.166,-2.109, RAW=  17.3,  30.1, CAL=  15.7,  35.6, ROT= 134.3, -35.6

2025-08-22T05:26:03.207Z,1755840363.207 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T05:26:03.208Z,1755840363.208 [DAT](INFO): direction in FSK: [-0.567882,0.581930,0.582123]
2025-08-22T05:26:03.208Z,1755840363.208 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:03.244Z,1755840363.244 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.543293
2025-08-22T05:26:03.327Z,1755840363.327 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-22T05:26:03.327Z,1755840363.327 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-22T05:26:03.327Z,1755840363.327 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T05:26:03.328Z,1755840363.328 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-22T05:26:03.437Z,1755840363.437 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.736115
2025-08-22T05:26:03.609Z,1755840363.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:26:03.610Z,1755840363.610 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-22T05:26:03.610Z,1755840363.610 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-22T05:26:03.613Z,1755840363.613 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T05:26:03.614Z,1755840363.614 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T05:26:03.691Z,1755840363.691 [DAT](INFO): DAT read: Rx Time:05:26:02.4227 

2025-08-22T05:26:03.691Z,1755840363.691 [DAT](INFO): Rx dataTimestamp_ set to:1755840363.690845
2025-08-22T05:26:03.693Z,1755840363.693 [DAT](INFO): DAT read: Bearing 323.8,  37.9 (Local)

2025-08-22T05:26:03.693Z,1755840363.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.8,  37.9 (Local)

2025-08-22T05:26:03.695Z,1755840363.695 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:03.700Z,1755840363.700 [DAT](INFO): DAT read: 05:26:02.4227 LVL= 27792, 10401, 23602, 28371, AGC= 43, IDX= 510, 0.35,-2.257,-1.747, 2.668,-1.568, PHS=-0.587,-0.134,-2.092, RAW=  17.2,  29.3, CAL=  15.7,  34.7, ROT= 134.3, -34.7

2025-08-22T05:26:03.701Z,1755840363.701 [DAT](INFO): got valid direction response:
 05:26:02.4227 LVL= 27792, 10401, 23602, 28371, AGC= 43, IDX= 510, 0.35,-2.257,-1.747, 2.668,-1.568, PHS=-0.587,-0.134,-2.092, RAW=  17.2,  29.3, CAL=  15.7,  34.7, ROT= 134.3, -34.7

2025-08-22T05:26:03.701Z,1755840363.701 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T05:26:03.702Z,1755840363.702 [DAT](INFO): direction in FSK: [-0.574198,0.588402,0.569280]
2025-08-22T05:26:03.703Z,1755840363.703 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:03.706Z,1755840363.706 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.005596
2025-08-22T05:26:03.943Z,1755840363.943 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.241611
2025-08-22T05:26:04.050Z,1755840364.050 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-22T05:26:04.050Z,1755840364.050 [lineCaptureHoming:Lap:B] Stopped
2025-08-22T05:26:04.050Z,1755840364.050 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-22T05:26:04.050Z,1755840364.050 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-22T05:26:04.193Z,1755840364.193 [DAT](INFO): DAT read: Rx Time:05:26:02.9227 

2025-08-22T05:26:04.193Z,1755840364.193 [DAT](INFO): Rx dataTimestamp_ set to:1755840364.193085
2025-08-22T05:26:04.195Z,1755840364.195 [DAT](INFO): DAT read: Bearing 330.5,  35.9 (Local)

2025-08-22T05:26:04.195Z,1755840364.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.5,  35.9 (Local)

2025-08-22T05:26:04.197Z,1755840364.197 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:04.202Z,1755840364.202 [DAT](INFO): DAT read: 05:26:02.9227 LVL= 28336, 10097, 23778, 27939, AGC= 44, IDX= 511,-0.40, 2.263, 2.998, 0.907, 2.950, PHS=-0.584, 0.093,-2.086, RAW=  12.3,  25.3, CAL=  11.2,  30.2, ROT= 138.8, -30.2

2025-08-22T05:26:04.203Z,1755840364.203 [DAT](INFO): got valid direction response:
 05:26:02.9227 LVL= 28336, 10097, 23778, 27939, AGC= 44, IDX= 511,-0.40, 2.263, 2.998, 0.907, 2.950, PHS=-0.584, 0.093,-2.086, RAW=  12.3,  25.3, CAL=  11.2,  30.2, ROT= 138.8, -30.2

2025-08-22T05:26:04.203Z,1755840364.203 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T05:26:04.204Z,1755840364.204 [DAT](INFO): direction in FSK: [-0.650293,0.569289,0.503020]
2025-08-22T05:26:04.205Z,1755840364.205 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:04.208Z,1755840364.208 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.507545
2025-08-22T05:26:04.421Z,1755840364.421 [lineCaptureHoming:Lap:C] Stopped
2025-08-22T05:26:04.422Z,1755840364.422 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-22T05:26:04.444Z,1755840364.444 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.743692
2025-08-22T05:26:04.697Z,1755840364.697 [DAT](INFO): DAT read: Rx Time:05:26:03.4226 

2025-08-22T05:26:04.697Z,1755840364.697 [DAT](INFO): Rx dataTimestamp_ set to:1755840364.697022
2025-08-22T05:26:04.699Z,1755840364.699 [DAT](INFO): DAT read: Bearing 331.4,  35.0 (Local)

2025-08-22T05:26:04.699Z,1755840364.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4,  35.0 (Local)

2025-08-22T05:26:04.701Z,1755840364.701 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T05:26:04.706Z,1755840364.706 [DAT](INFO): DAT read: 05:26:03.4226 LVL= 28816, 10849, 23730, 28627, AGC= 43, IDX= 510,-0.23, 0.690, 1.487,-0.652, 1.389, PHS=-0.598, 0.143,-2.086, RAW=  11.0,  24.6, CAL=  10.0,  29.4, ROT= 140.0, -29.4

2025-08-22T05:26:04.707Z,1755840364.707 [DAT](INFO): got valid direction response:
 05:26:03.4226 LVL= 28816, 10849, 23730, 28627, AGC= 43, IDX= 510,-0.23, 0.690, 1.487,-0.652, 1.389, PHS=-0.598, 0.143,-2.086, RAW=  11.0,  24.6, CAL=  10.0,  29.4, ROT= 140.0, -29.4

2025-08-22T05:26:04.707Z,1755840364.707 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T05:26:04.708Z,1755840364.708 [DAT](INFO): direction in FSK: [-0.667388,0.560005,0.490904]
2025-08-22T05:26:04.709Z,1755840364.709 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:04.712Z,1755840364.712 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.011442
2025-08-22T05:26:04.806Z,1755840364.806 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-22T05:26:04.806Z,1755840364.806 [lineCaptureHoming:Lap:D] Stopped
2025-08-22T05:26:04.806Z,1755840364.806 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-22T05:26:04.806Z,1755840364.806 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-22T05:26:04.953Z,1755840364.953 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.251383
2025-08-22T05:26:05.201Z,1755840365.201 [DAT](INFO): DAT read: Rx Time:05:26:03.9227 

2025-08-22T05:26:05.201Z,1755840365.201 [DAT](INFO): Rx dataTimestamp_ set to:1755840365.200956
2025-08-22T05:26:05.203Z,1755840365.203 [DAT](INFO): DAT read: Bearing 331.3,  34.9 (Local)

2025-08-22T05:26:05.203Z,1755840365.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.3,  34.9 (Local)

2025-08-22T05:26:05.205Z,1755840365.205 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:05.210Z,1755840365.210 [DAT](INFO): DAT read: 05:26:03.9227 LVL= 30016, 10817, 23666, 28659, AGC= 43, IDX= 511,-0.09, 2.226, 3.033, 0.876, 2.927, PHS=-0.599, 0.152,-2.094, RAW=  10.8,  24.4, CAL=   9.9,  29.2, ROT= 140.1, -29.2

2025-08-22T05:26:05.211Z,1755840365.211 [DAT](INFO): got valid direction response:
 05:26:03.9227 LVL= 30016, 10817, 23666, 28659, AGC= 43, IDX= 511,-0.09, 2.226, 3.033, 0.876, 2.927, PHS=-0.599, 0.152,-2.094, RAW=  10.8,  24.4, CAL=   9.9,  29.2, ROT= 140.1, -29.2

2025-08-22T05:26:05.212Z,1755840365.212 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T05:26:05.213Z,1755840365.213 [DAT](INFO): direction in FSK: [-0.669675,0.559935,0.487860]
2025-08-22T05:26:05.213Z,1755840365.213 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:05.217Z,1755840365.217 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.516209
2025-08-22T05:26:05.279Z,1755840365.279 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-22T05:26:05.279Z,1755840365.279 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-22T05:26:05.288Z,1755840365.288 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-22T05:26:05.288Z,1755840365.288 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-22T05:26:05.289Z,1755840365.289 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-22T05:26:05.289Z,1755840365.289 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-22T05:26:05.458Z,1755840365.458 [DAT](INFO): DAT read: Rx Time:05:26:04.4227 

2025-08-22T05:26:05.459Z,1755840365.459 [DAT](INFO): Rx dataTimestamp_ set to:1755840365.458190
2025-08-22T05:26:05.461Z,1755840365.461 [DAT](INFO): DAT read: Bearing 326.2,  36.7 (Local)

2025-08-22T05:26:05.462Z,1755840365.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.2,  36.7 (Local)

2025-08-22T05:26:05.464Z,1755840365.464 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.762859
2025-08-22T05:26:05.625Z,1755840365.625 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T05:26:05.625Z,1755840365.625 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-22T05:26:05.625Z,1755840365.625 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-22T05:26:05.625Z,1755840365.625 [lineCaptureHoming:restartDHCP] Stopped
2025-08-22T05:26:05.625Z,1755840365.625 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-22T05:26:05.626Z,1755840365.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:26:05.629Z,1755840365.629 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T05:26:05.711Z,1755840365.711 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:05.718Z,1755840365.718 [DAT](INFO): DAT read: 05:26:04.4227 LVL= 29888, 11313, 23266, 29347, AGC= 44, IDX= 510, 0.02, 2.096, 2.734, 0.727, 2.791, PHS=-0.593,-0.013,-2.108, RAW=  14.4,  27.1, CAL=  13.1,  32.2, ROT= 136.9, -32.2

2025-08-22T05:26:05.719Z,1755840365.719 [DAT](INFO): got valid direction response:
 05:26:04.4227 LVL= 29888, 11313, 23266, 29347, AGC= 44, IDX= 510, 0.02, 2.096, 2.734, 0.727, 2.791, PHS=-0.593,-0.013,-2.108, RAW=  14.4,  27.1, CAL=  13.1,  32.2, ROT= 136.9, -32.2

2025-08-22T05:26:05.720Z,1755840365.720 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T05:26:05.721Z,1755840365.721 [DAT](INFO): direction in FSK: [-0.617858,0.578182,0.532876]
2025-08-22T05:26:05.721Z,1755840365.721 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:05.746Z,1755840365.746 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.045752
2025-08-22T05:26:05.973Z,1755840365.973 [DAT](INFO): DAT read: Rx Time:05:26:04.9228 

2025-08-22T05:26:05.975Z,1755840365.975 [DAT](INFO): Rx dataTimestamp_ set to:1755840365.973663
2025-08-22T05:26:06.023Z,1755840366.023 [DAT](INFO): DAT read: Bearing 317.5,  39.0 (Local)

2025-08-22T05:26:06.024Z,1755840366.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.5,  39.0 (Local)

2025-08-22T05:26:06.026Z,1755840366.026 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:06.039Z,1755840366.039 [DAT](INFO): DAT read: 05:26:04.9228 LVL= 30288, 10737, 22962, 28979, AGC= 44, IDX= 511, 0.13,-2.648,-2.268, 2.258,-1.961, PHS=-0.586,-0.262,-2.108, RAW=  20.5,  31.5, CAL=  18.8,  37.3, ROT= 131.2, -37.3

2025-08-22T05:26:06.049Z,1755840366.049 [DAT](INFO): got valid direction response:
 05:26:04.9228 LVL= 30288, 10737, 22962, 28979, AGC= 44, IDX= 511, 0.13,-2.648,-2.268, 2.258,-1.961, PHS=-0.586,-0.262,-2.108, RAW=  20.5,  31.5, CAL=  18.8,  37.3, ROT= 131.2, -37.3

2025-08-22T05:26:06.049Z,1755840366.049 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T05:26:06.050Z,1755840366.050 [DAT](INFO): direction in FSK: [-0.523970,0.598526,0.605988]
2025-08-22T05:26:06.050Z,1755840366.050 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:06.106Z,1755840366.106 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.405661
2025-08-22T05:26:06.220Z,1755840366.220 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.519609
2025-08-22T05:26:06.226Z,1755840366.226 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-22T05:26:06.226Z,1755840366.226 [lineCaptureHoming:Lap:E] Stopped
2025-08-22T05:26:06.226Z,1755840366.226 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-22T05:26:06.226Z,1755840366.226 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-22T05:26:06.226Z,1755840366.226 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-22T05:26:06.227Z,1755840366.227 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-22T05:26:06.359Z,1755840366.359 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-22UTC052606_sh
  
2025-08-22T05:26:06.475Z,1755840366.475 [DAT](INFO): DAT read: Rx Time:05:26:05.4227 

2025-08-22T05:26:06.476Z,1755840366.476 [DAT](INFO): Rx dataTimestamp_ set to:1755840366.475497
2025-08-22T05:26:06.479Z,1755840366.479 [DAT](INFO): DAT read: Bearing 310.0,  40.5 (Local)

2025-08-22T05:26:06.480Z,1755840366.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.0,  40.5 (Local)

2025-08-22T05:26:06.484Z,1755840366.484 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:06.486Z,1755840366.486 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-22T05:26:06.490Z,1755840366.490 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.788492
2025-08-22T05:26:06.538Z,1755840366.538 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-22T05:26:06.538Z,1755840366.538 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-22T05:26:06.538Z,1755840366.538 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-22T05:26:06.728Z,1755840366.728 [DAT](INFO): DAT read: 05:26:05.4227 LVL= 29872, 11569, 22562, 28915, AGC= 44, IDX= 510, 0.26, 2.766, 2.960, 1.381,-2.824, PHS=-0.591,-0.454,-2.122, RAW=  25.8,  34.9, CAL=  23.8,  41.0, ROT= 126.2, -41.0

2025-08-22T05:26:06.729Z,1755840366.729 [DAT](INFO): got valid direction response:
 05:26:05.4227 LVL= 29872, 11569, 22562, 28915, AGC= 44, IDX= 510, 0.26, 2.766, 2.960, 1.381,-2.824, PHS=-0.591,-0.454,-2.122, RAW=  25.8,  34.9, CAL=  23.8,  41.0, ROT= 126.2, -41.0

2025-08-22T05:26:06.730Z,1755840366.730 [DAT](INFO): #Rx 62: Read direction message, but no range.
2025-08-22T05:26:06.731Z,1755840366.731 [DAT](INFO): direction in FSK: [-0.445736,0.609021,0.656059]
2025-08-22T05:26:06.735Z,1755840366.735 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.033875
2025-08-22T05:26:06.848Z,1755840366.848 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-22T05:26:06.848Z,1755840366.848 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-22T05:26:06.994Z,1755840366.994 [DAT](INFO): DAT read: Rx Time:05:26:05.9228 

2025-08-22T05:26:06.996Z,1755840366.996 [DAT](INFO): Rx dataTimestamp_ set to:1755840366.994432
2025-08-22T05:26:07.014Z,1755840367.014 [DAT](INFO): DAT read: Bearing 302.1,  41.7 (Local)

2025-08-22T05:26:07.022Z,1755840367.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1,  41.7 (Local)

2025-08-22T05:26:07.040Z,1755840367.040 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:07.049Z,1755840367.049 [DAT](INFO): DAT read: 05:26:05.9228 LVL= 29600, 11249, 22322, 28963, AGC= 43, IDX= 511, 0.43,-2.001,-1.998, 2.905,-1.296, PHS=-0.603,-0.657,-2.126, RAW=  31.8,  38.7, CAL=  29.7,  44.3, ROT= 120.3, -44.3

2025-08-22T05:26:07.050Z,1755840367.050 [DAT](INFO): got valid direction response:
 05:26:05.9228 LVL= 29600, 11249, 22322, 28963, AGC= 43, IDX= 511, 0.43,-2.001,-1.998, 2.905,-1.296, PHS=-0.603,-0.657,-2.126, RAW=  31.8,  38.7, CAL=  29.7,  44.3, ROT= 120.3, -44.3

2025-08-22T05:26:07.051Z,1755840367.051 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T05:26:07.056Z,1755840367.056 [DAT](INFO): direction in FSK: [-0.361087,0.617926,0.698415]
2025-08-22T05:26:07.056Z,1755840367.056 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:07.069Z,1755840367.069 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.368210
2025-08-22T05:26:07.232Z,1755840367.232 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.531736
2025-08-22T05:26:07.256Z,1755840367.256 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-22T05:26:07.256Z,1755840367.256 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-22T05:26:07.257Z,1755840367.257 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-22T05:26:07.257Z,1755840367.257 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T05:26:07.487Z,1755840367.487 [DAT](INFO): DAT read: Rx Time:05:26:06.4227 

2025-08-22T05:26:07.488Z,1755840367.488 [DAT](INFO): Rx dataTimestamp_ set to:1755840367.487189
2025-08-22T05:26:07.490Z,1755840367.490 [DAT](INFO): DAT read: Bearing 309.2,  40.0 (Local)

2025-08-22T05:26:07.492Z,1755840367.492 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.2,  40.0 (Local)

2025-08-22T05:26:07.496Z,1755840367.496 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:07.498Z,1755840367.498 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-22T05:26:07.501Z,1755840367.501 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.800673
2025-08-22T05:26:07.740Z,1755840367.740 [DAT](INFO): DAT read: 05:26:06.4227 LVL= 30480, 10865, 22626, 28995, AGC= 43, IDX= 511,-0.35, 1.341, 1.578,-0.030, 2.056, PHS=-0.612,-0.433,-2.129, RAW=  24.5,  34.8, CAL=  22.6,  40.9, ROT= 127.4, -40.9

2025-08-22T05:26:07.741Z,1755840367.741 [DAT](INFO): got valid direction response:
 05:26:06.4227 LVL= 30480, 10865, 22626, 28995, AGC= 43, IDX= 511,-0.35, 1.341, 1.578,-0.030, 2.056, PHS=-0.612,-0.433,-2.129, RAW=  24.5,  34.8, CAL=  22.6,  40.9, ROT= 127.4, -40.9

2025-08-22T05:26:07.741Z,1755840367.741 [DAT](INFO): #Rx 65: Read direction message, but no range.
2025-08-22T05:26:07.742Z,1755840367.742 [DAT](INFO): direction in FSK: [-0.459087,0.600461,0.654741]
2025-08-22T05:26:07.747Z,1755840367.747 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.046230
2025-08-22T05:26:07.747Z,1755840367.747 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T05:26:07.994Z,1755840367.994 [DAT](INFO): DAT read: Rx Time:05:26:06.9227 

2025-08-22T05:26:07.997Z,1755840367.997 [DAT](INFO): Rx dataTimestamp_ set to:1755840367.995326
2025-08-22T05:26:08.002Z,1755840368.002 [DAT](INFO): DAT read: Bearing 300.3,  42.4 (Local)

2025-08-22T05:26:08.003Z,1755840368.003 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.3,  42.4 (Local)

2025-08-22T05:26:08.043Z,1755840368.043 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:08.080Z,1755840368.080 [DAT](INFO): DAT read: 05:26:06.9227 LVL= 29856, 10913, 22754, 29027, AGC= 43, IDX= 511,-0.20, 1.703, 1.691, 0.310, 2.402, PHS=-0.597,-0.666,-2.136, RAW=  32.3,  38.6, CAL=  30.2,  44.3, ROT= 119.8, -44.3

2025-08-22T05:26:08.081Z,1755840368.081 [DAT](INFO): got valid direction response:
 05:26:06.9227 LVL= 29856, 10913, 22754, 29027, AGC= 43, IDX= 511,-0.20, 1.703, 1.691, 0.310, 2.402, PHS=-0.597,-0.666,-2.136, RAW=  32.3,  38.6, CAL=  30.2,  44.3, ROT= 119.8, -44.3

2025-08-22T05:26:08.081Z,1755840368.081 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T05:26:08.082Z,1755840368.082 [DAT](INFO): direction in FSK: [-0.355681,0.621053,0.698415]
2025-08-22T05:26:08.082Z,1755840368.082 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:08.111Z,1755840368.111 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.409843
2025-08-22T05:26:08.111Z,1755840368.111 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T05:26:08.240Z,1755840368.240 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.539642
2025-08-22T05:26:08.241Z,1755840368.241 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T05:26:08.500Z,1755840368.500 [DAT](INFO): DAT read: Rx Time:05:26:07.4227 

2025-08-22T05:26:08.501Z,1755840368.501 [DAT](INFO): Rx dataTimestamp_ set to:1755840368.500295
2025-08-22T05:26:08.502Z,1755840368.502 [DAT](INFO): DAT read: Bearing 290.9,  44.4 (Local)

2025-08-22T05:26:08.502Z,1755840368.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.9,  44.4 (Local)

2025-08-22T05:26:08.505Z,1755840368.505 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:08.509Z,1755840368.509 [DAT](INFO): DAT read: 05:26:07.4227 LVL= 29680, 10881, 24146, 30931, AGC= 43, IDX= 510,-0.08, 0.976, 0.724,-0.438, 1.647, PHS=-0.569,-0.878,-2.129, RAW=  40.8,  41.5, CAL=  38.5,  47.2, ROT= 111.5, -47.2

2025-08-22T05:26:08.510Z,1755840368.510 [DAT](INFO): got valid direction response:
 05:26:07.4227 LVL= 29680, 10881, 24146, 30931, AGC= 43, IDX= 510,-0.08, 0.976, 0.724,-0.438, 1.647, PHS=-0.569,-0.878,-2.129, RAW=  40.8,  41.5, CAL=  38.5,  47.2, ROT= 111.5, -47.2

2025-08-22T05:26:08.511Z,1755840368.511 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T05:26:08.524Z,1755840368.524 [DAT](INFO): direction in FSK: [-0.249016,0.632164,0.733730]
2025-08-22T05:26:08.524Z,1755840368.524 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:08.536Z,1755840368.536 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.835606
2025-08-22T05:26:08.539Z,1755840368.539 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T05:26:08.656Z,1755840368.656 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T05:26:08.744Z,1755840368.744 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.043625
2025-08-22T05:26:09.002Z,1755840369.002 [DAT](INFO): DAT read: Rx Time:05:26:07.9228 

2025-08-22T05:26:09.004Z,1755840369.004 [DAT](INFO): Rx dataTimestamp_ set to:1755840369.002855
2025-08-22T05:26:09.008Z,1755840369.008 [DAT](INFO): DAT read: Bearing 285.6,  46.0 (Local)

2025-08-22T05:26:09.009Z,1755840369.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.6,  46.0 (Local)

2025-08-22T05:26:09.015Z,1755840369.015 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:09.031Z,1755840369.031 [DAT](INFO): DAT read: 05:26:07.9228 LVL= 27072, 10833, 24690, 28915, AGC= 44, IDX= 511, 0.01,-3.014, 2.879, 1.834,-2.373, PHS=-0.539,-0.986,-2.121, RAW=  45.9,  42.4, CAL=  43.4,  47.9, ROT= 106.6, -47.9

2025-08-22T05:26:09.034Z,1755840369.034 [DAT](INFO): got valid direction response:
 05:26:07.9228 LVL= 27072, 10833, 24690, 28915, AGC= 44, IDX= 511, 0.01,-3.014, 2.879, 1.834,-2.373, PHS=-0.539,-0.986,-2.121, RAW=  45.9,  42.4, CAL=  43.4,  47.9, ROT= 106.6, -47.9

2025-08-22T05:26:09.059Z,1755840369.059 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T05:26:09.060Z,1755840369.060 [DAT](INFO): direction in FSK: [-0.191533,0.642485,0.741976]
2025-08-22T05:26:09.061Z,1755840369.061 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:09.068Z,1755840369.068 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.367783
2025-08-22T05:26:09.248Z,1755840369.248 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.547684
2025-08-22T05:26:09.332Z,1755840369.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T05:26:09.502Z,1755840369.502 [DAT](INFO): DAT read: Rx Time:05:26:08.4227 

2025-08-22T05:26:09.503Z,1755840369.503 [DAT](INFO): Rx dataTimestamp_ set to:1755840369.502361
2025-08-22T05:26:09.504Z,1755840369.504 [DAT](INFO): DAT read: Bearing 284.0,  46.8 (Local)

2025-08-22T05:26:09.504Z,1755840369.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.0,  46.8 (Local)

2025-08-22T05:26:09.506Z,1755840369.506 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:09.511Z,1755840369.511 [DAT](INFO): DAT read: 05:26:08.4227 LVL= 24368, 11153, 24082, 27619, AGC= 43, IDX= 510, 0.14, 2.541, 2.123, 1.103,-3.114, PHS=-0.527,-1.002,-2.110, RAW=  47.0,  42.4, CAL=  44.4,  48.0, ROT= 105.6, -48.0

2025-08-22T05:26:09.512Z,1755840369.512 [DAT](INFO): got valid direction response:
 05:26:08.4227 LVL= 24368, 11153, 24082, 27619, AGC= 43, IDX= 510, 0.14, 2.541, 2.123, 1.103,-3.114, PHS=-0.527,-1.002,-2.110, RAW=  47.0,  42.4, CAL=  44.4,  48.0, ROT= 105.6, -48.0

2025-08-22T05:26:09.512Z,1755840369.512 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T05:26:09.513Z,1755840369.513 [DAT](INFO): direction in FSK: [-0.179942,0.644482,0.743145]
2025-08-22T05:26:09.514Z,1755840369.514 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:09.518Z,1755840369.518 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.817032
2025-08-22T05:26:09.752Z,1755840369.752 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.051575
2025-08-22T05:26:10.010Z,1755840370.010 [DAT](INFO): DAT read: Rx Time:05:26:08.9228 

2025-08-22T05:26:10.011Z,1755840370.011 [DAT](INFO): Rx dataTimestamp_ set to:1755840370.010191
2025-08-22T05:26:10.015Z,1755840370.015 [DAT](INFO): DAT read: Bearing 284.3,  46.6 (Local)

2025-08-22T05:26:10.016Z,1755840370.016 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.3,  46.6 (Local)

2025-08-22T05:26:10.043Z,1755840370.043 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:10.055Z,1755840370.055 [DAT](INFO): DAT read: 05:26:08.9228 LVL= 25136, 11345, 25650, 28019, AGC= 43, IDX= 511, 0.27,-2.311,-2.695, 2.552,-1.669, PHS=-0.540,-0.981,-2.107, RAW=  45.8,  42.5, CAL=  43.3,  48.0, ROT= 106.7, -48.0

2025-08-22T05:26:10.080Z,1755840370.080 [DAT](INFO): got valid direction response:
 05:26:08.9228 LVL= 25136, 11345, 25650, 28019, AGC= 43, IDX= 511, 0.27,-2.311,-2.695, 2.552,-1.669, PHS=-0.540,-0.981,-2.107, RAW=  45.8,  42.5, CAL=  43.3,  48.0, ROT= 106.7, -48.0

2025-08-22T05:26:10.081Z,1755840370.081 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T05:26:10.081Z,1755840370.081 [DAT](INFO): direction in FSK: [-0.192282,0.640908,0.743145]
2025-08-22T05:26:10.082Z,1755840370.082 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:10.099Z,1755840370.099 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.397842
2025-08-22T05:26:10.256Z,1755840370.256 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.555592
2025-08-22T05:26:10.336Z,1755840370.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T05:26:10.509Z,1755840370.509 [DAT](INFO): DAT read: Rx Time:05:26:09.4227 

2025-08-22T05:26:10.509Z,1755840370.509 [DAT](INFO): Rx dataTimestamp_ set to:1755840370.509057
2025-08-22T05:26:10.511Z,1755840370.511 [DAT](INFO): DAT read: Bearing 283.4,  47.0 (Local)

2025-08-22T05:26:10.511Z,1755840370.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.4,  47.0 (Local)

2025-08-22T05:26:10.513Z,1755840370.513 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:10.518Z,1755840370.518 [DAT](INFO): DAT read: 05:26:09.4227 LVL= 25296, 10257, 26674, 30787, AGC= 44, IDX= 510, 0.48, 2.402, 1.988, 0.947, 3.024, PHS=-0.520,-0.991,-2.121, RAW=  46.6,  42.0, CAL=  44.0,  47.6, ROT= 106.0, -47.6

2025-08-22T05:26:10.519Z,1755840370.519 [DAT](INFO): got valid direction response:
 05:26:09.4227 LVL= 25296, 10257, 26674, 30787, AGC= 44, IDX= 510, 0.48, 2.402, 1.988, 0.947, 3.024, PHS=-0.520,-0.991,-2.121, RAW=  46.6,  42.0, CAL=  44.0,  47.6, ROT= 106.0, -47.6

2025-08-22T05:26:10.519Z,1755840370.519 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T05:26:10.520Z,1755840370.520 [DAT](INFO): direction in FSK: [-0.185863,0.648181,0.738455]
2025-08-22T05:26:10.521Z,1755840370.521 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:10.525Z,1755840370.525 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.823994
2025-08-22T05:26:10.760Z,1755840370.760 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.059589
2025-08-22T05:26:11.016Z,1755840371.016 [DAT](INFO): DAT read: Rx Time:05:26:09.9228 

2025-08-22T05:26:11.017Z,1755840371.017 [DAT](INFO): Rx dataTimestamp_ set to:1755840371.016241
2025-08-22T05:26:11.021Z,1755840371.021 [DAT](INFO): DAT read: Bearing 286.1,  50.9 (Local)

2025-08-22T05:26:11.022Z,1755840371.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.1,  50.9 (Local)

2025-08-22T05:26:11.029Z,1755840371.029 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:11.044Z,1755840371.044 [DAT](INFO): DAT read: 05:26:09.9228 LVL= 25648, 11313, 24562, 28467, AGC= 43, IDX= 512,-0.31, 0.334,-0.081,-1.095, 0.735, PHS=-0.298,-0.771,-1.873, RAW=  47.0,  36.6, CAL=  44.1,  42.8, ROT= 105.9, -42.8

2025-08-22T05:26:11.047Z,1755840371.047 [DAT](INFO): got valid direction response:
 05:26:09.9228 LVL= 25648, 11313, 24562, 28467, AGC= 43, IDX= 512,-0.31, 0.334,-0.081,-1.095, 0.735, PHS=-0.298,-0.771,-1.873, RAW=  47.0,  36.6, CAL=  44.1,  42.8, ROT= 105.9, -42.8

2025-08-22T05:26:11.048Z,1755840371.048 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T05:26:11.054Z,1755840371.054 [DAT](INFO): direction in FSK: [-0.201012,0.705658,0.679441]
2025-08-22T05:26:11.054Z,1755840371.054 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:11.114Z,1755840371.114 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.413174
2025-08-22T05:26:11.264Z,1755840371.264 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.563576
2025-08-22T05:26:11.517Z,1755840371.517 [DAT](INFO): DAT read: Rx Time:05:26:10.4228 

2025-08-22T05:26:11.518Z,1755840371.518 [DAT](INFO): Rx dataTimestamp_ set to:1755840371.517305
2025-08-22T05:26:11.519Z,1755840371.519 [DAT](INFO): DAT read: Bearing 287.9,  44.8 (Local)

2025-08-22T05:26:11.519Z,1755840371.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.9,  44.8 (Local)

2025-08-22T05:26:11.521Z,1755840371.521 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:11.526Z,1755840371.526 [DAT](INFO): DAT read: 05:26:10.4228 LVL= 26192, 10785, 26514, 28435, AGC= 43, IDX= 511,-0.16, 0.915, 0.667,-0.504, 1.581, PHS=-0.564,-0.869,-2.129, RAW=  40.6,  41.2, CAL=  38.3,  46.9, ROT= 111.7, -46.9

2025-08-22T05:26:11.527Z,1755840371.527 [DAT](INFO): got valid direction response:
 05:26:10.4228 LVL= 26192, 10785, 26514, 28435, AGC= 43, IDX= 511,-0.16, 0.915, 0.667,-0.504, 1.581, PHS=-0.564,-0.869,-2.129, RAW=  40.6,  41.2, CAL=  38.3,  46.9, ROT= 111.7, -46.9

2025-08-22T05:26:11.528Z,1755840371.528 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T05:26:11.529Z,1755840371.529 [DAT](INFO): direction in FSK: [-0.252638,0.634852,0.730162]
2025-08-22T05:26:11.529Z,1755840371.529 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:11.533Z,1755840371.533 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.832108
2025-08-22T05:26:11.768Z,1755840371.768 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.067673
2025-08-22T05:26:12.025Z,1755840372.025 [DAT](INFO): DAT read: Rx Time:05:26:10.9228 

2025-08-22T05:26:12.026Z,1755840372.026 [DAT](INFO): Rx dataTimestamp_ set to:1755840372.025140
2025-08-22T05:26:12.030Z,1755840372.030 [DAT](INFO): DAT read: Bearing 287.6,  44.2 (Local)

2025-08-22T05:26:12.031Z,1755840372.031 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.6,  44.2 (Local)

2025-08-22T05:26:12.055Z,1755840372.055 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:12.085Z,1755840372.085 [DAT](INFO): DAT read: 05:26:10.9228 LVL= 26976, 10737, 26098, 29427, AGC= 43, IDX= 511,-0.04, 1.237, 0.991,-0.183, 1.914, PHS=-0.574,-0.877,-2.140, RAW=  40.5,  41.4, CAL=  38.3,  47.1, ROT= 111.7, -47.1

2025-08-22T05:26:12.086Z,1755840372.086 [DAT](INFO): got valid direction response:
 05:26:10.9228 LVL= 26976, 10737, 26098, 29427, AGC= 43, IDX= 511,-0.04, 1.237, 0.991,-0.183, 1.914, PHS=-0.574,-0.877,-2.140, RAW=  40.5,  41.4, CAL=  38.3,  47.1, ROT= 111.7, -47.1

2025-08-22T05:26:12.087Z,1755840372.087 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T05:26:12.135Z,1755840372.135 [DAT](INFO): direction in FSK: [-0.251694,0.632480,0.732543]
2025-08-22T05:26:12.137Z,1755840372.137 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:12.150Z,1755840372.150 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.449570
2025-08-22T05:26:12.268Z,1755840372.268 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T05:26:12.275Z,1755840372.275 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.574257
2025-08-22T05:26:12.529Z,1755840372.529 [DAT](INFO): DAT read: Rx Time:05:26:11.4227 

2025-08-22T05:26:12.529Z,1755840372.529 [DAT](INFO): Rx dataTimestamp_ set to:1755840372.529137
2025-08-22T05:26:12.531Z,1755840372.531 [DAT](INFO): DAT read: Bearing 284.5,  44.1 (Local)

2025-08-22T05:26:12.531Z,1755840372.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.5,  44.1 (Local)

2025-08-22T05:26:12.533Z,1755840372.533 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:12.538Z,1755840372.538 [DAT](INFO): DAT read: 05:26:11.4227 LVL= 27872, 10769, 25266, 29347, AGC= 43, IDX= 510, 0.08, 1.064, 0.738,-0.356, 1.744, PHS=-0.578,-0.961,-2.143, RAW=  43.6,  42.6, CAL=  41.2,  48.2, ROT= 108.8, -48.2

2025-08-22T05:26:12.539Z,1755840372.539 [DAT](INFO): got valid direction response:
 05:26:11.4227 LVL= 27872, 10769, 25266, 29347, AGC= 43, IDX= 510, 0.08, 1.064, 0.738,-0.356, 1.744, PHS=-0.578,-0.961,-2.143, RAW=  43.6,  42.6, CAL=  41.2,  48.2, ROT= 108.8, -48.2

2025-08-22T05:26:12.539Z,1755840372.539 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T05:26:12.540Z,1755840372.540 [DAT](INFO): direction in FSK: [-0.214801,0.630972,0.745476]
2025-08-22T05:26:12.541Z,1755840372.541 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:12.577Z,1755840372.577 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.876495
2025-08-22T05:26:12.780Z,1755840372.780 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.079464
2025-08-22T05:26:13.034Z,1755840373.034 [DAT](INFO): DAT read: Rx Time:05:26:11.9229 

2025-08-22T05:26:13.034Z,1755840373.034 [DAT](INFO): Rx dataTimestamp_ set to:1755840373.034154
2025-08-22T05:26:13.036Z,1755840373.036 [DAT](INFO): DAT read: Bearing 299.9,  46.4 (Local)

2025-08-22T05:26:13.036Z,1755840373.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.9,  46.4 (Local)

2025-08-22T05:26:13.038Z,1755840373.038 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:13.047Z,1755840373.047 [DAT](INFO): DAT read: 05:26:11.9229 LVL= 27776, 11217, 25522, 29683, AGC= 43, IDX= 512, 0.22, 2.595, 2.532, 1.036, 3.127, PHS=-0.430,-0.550,-2.135, RAW=  33.6,  33.7, CAL=  31.3,  40.0, ROT= 118.7, -40.0

2025-08-22T05:26:13.051Z,1755840373.051 [DAT](INFO): got valid direction response:
 05:26:11.9229 LVL= 27776, 11217, 25522, 29683, AGC= 43, IDX= 512, 0.22, 2.595, 2.532, 1.036, 3.127, PHS=-0.430,-0.550,-2.135, RAW=  33.6,  33.7, CAL=  31.3,  40.0, ROT= 118.7, -40.0

2025-08-22T05:26:13.054Z,1755840373.054 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T05:26:13.058Z,1755840373.058 [DAT](INFO): direction in FSK: [-0.367873,0.671933,0.642788]
2025-08-22T05:26:13.059Z,1755840373.059 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:13.072Z,1755840373.072 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.370121
2025-08-22T05:26:13.284Z,1755840373.284 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.583740
2025-08-22T05:26:13.537Z,1755840373.537 [DAT](INFO): DAT read: Rx Time:05:26:12.4228 

2025-08-22T05:26:13.537Z,1755840373.537 [DAT](INFO): Rx dataTimestamp_ set to:1755840373.537005
2025-08-22T05:26:13.539Z,1755840373.539 [DAT](INFO): DAT read: Bearing 283.9,  44.8 (Local)

2025-08-22T05:26:13.539Z,1755840373.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.9,  44.8 (Local)

2025-08-22T05:26:13.541Z,1755840373.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:13.546Z,1755840373.546 [DAT](INFO): DAT read: 05:26:12.4228 LVL= 26848, 10945, 23154, 28931, AGC= 43, IDX= 511, 0.41, 2.366, 2.003, 0.949, 3.034, PHS=-0.566,-0.986,-2.129, RAW=  45.0,  42.9, CAL=  42.6,  48.4, ROT= 107.4, -48.4

2025-08-22T05:26:13.547Z,1755840373.547 [DAT](INFO): got valid direction response:
 05:26:12.4228 LVL= 26848, 10945, 23154, 28931, AGC= 43, IDX= 511, 0.41, 2.366, 2.003, 0.949, 3.034, PHS=-0.566,-0.986,-2.129, RAW=  45.0,  42.9, CAL=  42.6,  48.4, ROT= 107.4, -48.4

2025-08-22T05:26:13.547Z,1755840373.547 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T05:26:13.548Z,1755840373.548 [DAT](INFO): direction in FSK: [-0.198541,0.633545,0.747798]
2025-08-22T05:26:13.548Z,1755840373.548 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:13.552Z,1755840373.552 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.851585
2025-08-22T05:26:13.788Z,1755840373.788 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.087593
2025-08-22T05:26:14.041Z,1755840374.041 [DAT](INFO): DAT read: Rx Time:05:26:12.9229 

2025-08-22T05:26:14.042Z,1755840374.042 [DAT](INFO): Rx dataTimestamp_ set to:1755840374.041371
2025-08-22T05:26:14.046Z,1755840374.046 [DAT](INFO): DAT read: Bearing 293.8,  46.4 (Local)

2025-08-22T05:26:14.048Z,1755840374.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.8,  46.4 (Local)

2025-08-22T05:26:14.062Z,1755840374.062 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:14.117Z,1755840374.117 [DAT](INFO): DAT read: 05:26:12.9229 LVL= 27072, 11041, 25330, 30243, AGC= 43, IDX= 513,-0.35, 0.401, 0.210,-1.093, 0.989, PHS=-0.486,-0.734,-2.126, RAW=  38.1,  37.7, CAL=  35.7,  43.7, ROT= 114.3, -43.7

2025-08-22T05:26:14.118Z,1755840374.118 [DAT](INFO): got valid direction response:
 05:26:12.9229 LVL= 27072, 11041, 25330, 30243, AGC= 43, IDX= 513,-0.35, 0.401, 0.210,-1.093, 0.989, PHS=-0.486,-0.734,-2.126, RAW=  38.1,  37.7, CAL=  35.7,  43.7, ROT= 114.3, -43.7

2025-08-22T05:26:14.118Z,1755840374.118 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T05:26:14.127Z,1755840374.127 [DAT](INFO): direction in FSK: [-0.297511,0.658915,0.690882]
2025-08-22T05:26:14.128Z,1755840374.128 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:14.151Z,1755840374.151 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.430386
2025-08-22T05:26:14.293Z,1755840374.293 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.592213
2025-08-22T05:26:14.545Z,1755840374.545 [DAT](INFO): DAT read: Rx Time:05:26:13.4229 

2025-08-22T05:26:14.545Z,1755840374.545 [DAT](INFO): Rx dataTimestamp_ set to:1755840374.545083
2025-08-22T05:26:14.547Z,1755840374.547 [DAT](INFO): DAT read: Bearing 294.1,  45.8 (Local)

2025-08-22T05:26:14.547Z,1755840374.547 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.1,  45.8 (Local)

2025-08-22T05:26:14.549Z,1755840374.549 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:14.556Z,1755840374.556 [DAT](INFO): DAT read: 05:26:13.4229 LVL= 26080, 10993, 22930, 28051, AGC= 43, IDX= 512,-0.18,-1.129,-1.286,-2.518,-0.534, PHS=-0.494,-0.708,-2.028, RAW=  37.4,  38.4, CAL=  35.1,  44.3, ROT= 114.9, -44.3

2025-08-22T05:26:14.557Z,1755840374.557 [DAT](INFO): got valid direction response:
 05:26:13.4229 LVL= 26080, 10993, 22930, 28051, AGC= 43, IDX= 512,-0.18,-1.129,-1.286,-2.518,-0.534, PHS=-0.494,-0.708,-2.028, RAW=  37.4,  38.4, CAL=  35.1,  44.3, ROT= 114.9, -44.3

2025-08-22T05:26:14.558Z,1755840374.558 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T05:26:14.564Z,1755840374.564 [DAT](INFO): direction in FSK: [-0.301332,0.649165,0.698415]
2025-08-22T05:26:14.564Z,1755840374.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:14.569Z,1755840374.569 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.868351
2025-08-22T05:26:14.796Z,1755840374.796 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.095642
2025-08-22T05:26:15.049Z,1755840375.049 [DAT](INFO): DAT read: Rx Time:05:26:13.9230 

2025-08-22T05:26:15.049Z,1755840375.049 [DAT](INFO): Rx dataTimestamp_ set to:1755840375.048958
2025-08-22T05:26:15.051Z,1755840375.051 [DAT](INFO): DAT read: Bearing 289.2,  47.6 (Local)

2025-08-22T05:26:15.051Z,1755840375.051 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.2,  47.6 (Local)

2025-08-22T05:26:15.054Z,1755840375.054 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.0

2025-08-22T05:26:15.063Z,1755840375.063 [DAT](INFO): DAT read: 05:26:13.9230 LVL= 27360, 11361, 24402, 30707, AGC= 43, IDX= 513,-0.06, 0.409, 0.060,-1.122, 0.974, PHS=-0.463,-0.869,-2.140, RAW=  43.4,  39.0, CAL=  40.9,  45.0, ROT= 109.1, -45.0

2025-08-22T05:26:15.081Z,1755840375.081 [DAT](INFO): got valid direction response:
 05:26:13.9230 LVL= 27360, 11361, 24402, 30707, AGC= 43, IDX= 513,-0.06, 0.409, 0.060,-1.122, 0.974, PHS=-0.463,-0.869,-2.140, RAW=  43.4,  39.0, CAL=  40.9,  45.0, ROT= 109.1, -45.0

2025-08-22T05:26:15.082Z,1755840375.082 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T05:26:15.114Z,1755840375.114 [DAT](INFO): direction in FSK: [-0.231378,0.668180,0.707107]
2025-08-22T05:26:15.115Z,1755840375.115 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:15.146Z,1755840375.146 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.444897
2025-08-22T05:26:15.302Z,1755840375.302 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.601357
2025-08-22T05:26:15.553Z,1755840375.553 [DAT](INFO): DAT read: Rx Time:05:26:14.4228 

2025-08-22T05:26:15.553Z,1755840375.553 [DAT](INFO): Rx dataTimestamp_ set to:1755840375.553055
2025-08-22T05:26:15.555Z,1755840375.555 [DAT](INFO): DAT read: Bearing 291.0,  46.1 (Local)

2025-08-22T05:26:15.555Z,1755840375.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,  46.1 (Local)

2025-08-22T05:26:15.557Z,1755840375.557 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:15.562Z,1755840375.562 [DAT](INFO): DAT read: 05:26:14.4228 LVL= 26544, 10945, 24114, 27795, AGC= 43, IDX= 512, 0.06, 1.048, 0.794,-0.352, 1.648, PHS=-0.498,-0.809,-2.045, RAW=  41.0,  39.9, CAL=  38.6,  45.8, ROT= 111.4, -45.8

2025-08-22T05:26:15.563Z,1755840375.563 [DAT](INFO): got valid direction response:
 05:26:14.4228 LVL= 26544, 10945, 24114, 27795, AGC= 43, IDX= 512, 0.06, 1.048, 0.794,-0.352, 1.648, PHS=-0.498,-0.809,-2.045, RAW=  41.0,  39.9, CAL=  38.6,  45.8, ROT= 111.4, -45.8

2025-08-22T05:26:15.572Z,1755840375.572 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T05:26:15.573Z,1755840375.573 [DAT](INFO): direction in FSK: [-0.254379,0.649100,0.716911]
2025-08-22T05:26:15.574Z,1755840375.574 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:15.578Z,1755840375.578 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.877323
2025-08-22T05:26:15.804Z,1755840375.804 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.103584
2025-08-22T05:26:16.060Z,1755840376.060 [DAT](INFO): DAT read: Rx Time:05:26:14.9228 

2025-08-22T05:26:16.061Z,1755840376.061 [DAT](INFO): Rx dataTimestamp_ set to:1755840376.060571
2025-08-22T05:26:16.062Z,1755840376.062 [DAT](INFO): DAT read: Bearing 289.0,  47.3 (Local)

2025-08-22T05:26:16.063Z,1755840376.063 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.0,  47.3 (Local)

2025-08-22T05:26:16.065Z,1755840376.065 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:16.070Z,1755840376.070 [DAT](INFO): DAT read: 05:26:14.9228 LVL= 28512, 10865, 24562, 29667, AGC= 43, IDX= 512, 0.17, 1.370, 1.035,-0.026, 1.916, PHS=-0.444,-0.836,-1.986, RAW=  44.2,  39.8, CAL=  41.6,  45.7, ROT= 108.4, -45.7

2025-08-22T05:26:16.071Z,1755840376.071 [DAT](INFO): got valid direction response:
 05:26:14.9228 LVL= 28512, 10865, 24562, 29667, AGC= 43, IDX= 512, 0.17, 1.370, 1.035,-0.026, 1.916, PHS=-0.444,-0.836,-1.986, RAW=  44.2,  39.8, CAL=  41.6,  45.7, ROT= 108.4, -45.7

2025-08-22T05:26:16.076Z,1755840376.076 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T05:26:16.128Z,1755840376.128 [DAT](INFO): direction in FSK: [-0.220454,0.662710,0.715693]
2025-08-22T05:26:16.129Z,1755840376.129 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:16.142Z,1755840376.142 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.441452
2025-08-22T05:26:16.308Z,1755840376.308 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.607800
2025-08-22T05:26:16.561Z,1755840376.561 [DAT](INFO): DAT read: Rx Time:05:26:15.4227 

2025-08-22T05:26:16.562Z,1755840376.562 [DAT](INFO): Rx dataTimestamp_ set to:1755840376.561658
2025-08-22T05:26:16.564Z,1755840376.564 [DAT](INFO): DAT read: Bearing 288.0,  45.4 (Local)

2025-08-22T05:26:16.564Z,1755840376.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.0,  45.4 (Local)

2025-08-22T05:26:16.567Z,1755840376.567 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:16.573Z,1755840376.573 [DAT](INFO): DAT read: 05:26:15.4227 LVL= 28000, 10833, 25650, 30195, AGC= 44, IDX= 511, 0.32, 1.107, 0.781,-0.304, 1.768, PHS=-0.558,-0.942,-2.116, RAW=  43.7,  42.3, CAL=  41.3,  47.9, ROT= 108.7, -47.9

2025-08-22T05:26:16.574Z,1755840376.574 [DAT](INFO): got valid direction response:
 05:26:15.4227 LVL= 28000, 10833, 25650, 30195, AGC= 44, IDX= 511, 0.32, 1.107, 0.781,-0.304, 1.768, PHS=-0.558,-0.942,-2.116, RAW=  43.7,  42.3, CAL=  41.3,  47.9, ROT= 108.7, -47.9

2025-08-22T05:26:16.575Z,1755840376.575 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T05:26:16.576Z,1755840376.576 [DAT](INFO): direction in FSK: [-0.214947,0.635035,0.741976]
2025-08-22T05:26:16.577Z,1755840376.577 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:16.582Z,1755840376.582 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.880867
2025-08-22T05:26:16.813Z,1755840376.813 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.111874
2025-08-22T05:26:17.065Z,1755840377.065 [DAT](INFO): DAT read: Rx Time:05:26:15.9228 

2025-08-22T05:26:17.065Z,1755840377.065 [DAT](INFO): Rx dataTimestamp_ set to:1755840377.065148
2025-08-22T05:26:17.067Z,1755840377.067 [DAT](INFO): DAT read: Bearing 299.4,  46.8 (Local)

2025-08-22T05:26:17.067Z,1755840377.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.4,  46.8 (Local)

2025-08-22T05:26:17.069Z,1755840377.069 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:17.074Z,1755840377.074 [DAT](INFO): DAT read: 05:26:15.9228 LVL= 30112, 11025, 24146, 30915, AGC= 44, IDX= 513,-0.46,-0.190,-0.318,-1.667, 0.358, PHS=-0.446,-0.631,-2.069, RAW=  36.0,  35.9, CAL=  33.6,  42.0, ROT= 116.4, -42.0

2025-08-22T05:26:17.075Z,1755840377.075 [DAT](INFO): got valid direction response:
 05:26:15.9228 LVL= 30112, 11025, 24146, 30915, AGC= 44, IDX= 513,-0.46,-0.190,-0.318,-1.667, 0.358, PHS=-0.446,-0.631,-2.069, RAW=  36.0,  35.9, CAL=  33.6,  42.0, ROT= 116.4, -42.0

2025-08-22T05:26:17.079Z,1755840377.079 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T05:26:17.080Z,1755840377.080 [DAT](INFO): direction in FSK: [-0.330428,0.665644,0.669131]
2025-08-22T05:26:17.081Z,1755840377.081 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:17.085Z,1755840377.085 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.384068
2025-08-22T05:26:17.316Z,1755840377.316 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.615463
2025-08-22T05:26:17.569Z,1755840377.569 [DAT](INFO): DAT read: Rx Time:05:26:16.4227 

2025-08-22T05:26:17.570Z,1755840377.570 [DAT](INFO): Rx dataTimestamp_ set to:1755840377.569298
2025-08-22T05:26:17.571Z,1755840377.571 [DAT](INFO): DAT read: Bearing 311.9,  48.5 (Local)

2025-08-22T05:26:17.571Z,1755840377.571 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.9,  48.5 (Local)

2025-08-22T05:26:17.573Z,1755840377.573 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:17.578Z,1755840377.578 [DAT](INFO): DAT read: 05:26:16.4227 LVL= 27824, 10657, 22514, 28787, AGC= 43, IDX= 512,-0.25,-1.891,-1.855, 3.063,-1.512, PHS=-0.277,-0.298,-1.752, RAW=  30.7,  29.3, CAL=  28.4,  34.6, ROT= 121.6, -34.6

2025-08-22T05:26:17.579Z,1755840377.579 [DAT](INFO): got valid direction response:
 05:26:16.4227 LVL= 27824, 10657, 22514, 28787, AGC= 43, IDX= 512,-0.25,-1.891,-1.855, 3.063,-1.512, PHS=-0.277,-0.298,-1.752, RAW=  30.7,  29.3, CAL=  28.4,  34.6, ROT= 121.6, -34.6

2025-08-22T05:26:17.579Z,1755840377.579 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T05:26:17.580Z,1755840377.580 [DAT](INFO): direction in FSK: [-0.431312,0.701087,0.567844]
2025-08-22T05:26:17.581Z,1755840377.581 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:17.596Z,1755840377.596 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.895767
2025-08-22T05:26:17.820Z,1755840377.820 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.119797
2025-08-22T05:26:18.073Z,1755840378.073 [DAT](INFO): DAT read: Rx Time:05:26:16.9229 

2025-08-22T05:26:18.073Z,1755840378.073 [DAT](INFO): Rx dataTimestamp_ set to:1755840378.072922
2025-08-22T05:26:18.074Z,1755840378.074 [DAT](INFO): DAT read: Bearing 284.8,  46.9 (Local)

2025-08-22T05:26:18.075Z,1755840378.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.8,  46.9 (Local)

2025-08-22T05:26:18.077Z,1755840378.077 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:18.081Z,1755840378.081 [DAT](INFO): DAT read: 05:26:16.9229 LVL= 27792, 10865, 22354, 28515, AGC= 43, IDX= 513,-0.12,-1.124,-1.571,-2.527,-0.553, PHS=-0.469,-0.973,-2.018, RAW=  48.6,  41.8, CAL=  45.8,  47.4, ROT= 104.2, -47.4

2025-08-22T05:26:18.082Z,1755840378.082 [DAT](INFO): got valid direction response:
 05:26:16.9229 LVL= 27792, 10865, 22354, 28515, AGC= 43, IDX= 513,-0.12,-1.124,-1.571,-2.527,-0.553, PHS=-0.469,-0.973,-2.018, RAW=  48.6,  41.8, CAL=  45.8,  47.4, ROT= 104.2, -47.4

2025-08-22T05:26:18.083Z,1755840378.083 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T05:26:18.084Z,1755840378.084 [DAT](INFO): direction in FSK: [-0.166043,0.656194,0.736097]
2025-08-22T05:26:18.084Z,1755840378.084 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:18.093Z,1755840378.093 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.391850
2025-08-22T05:26:18.325Z,1755840378.325 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.624111
2025-08-22T05:26:18.577Z,1755840378.577 [DAT](INFO): DAT read: Rx Time:05:26:17.4228 

2025-08-22T05:26:18.578Z,1755840378.578 [DAT](INFO): Rx dataTimestamp_ set to:1755840378.577269
2025-08-22T05:26:18.579Z,1755840378.579 [DAT](INFO): DAT read: Bearing 303.0,  45.1 (Local)

2025-08-22T05:26:18.580Z,1755840378.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.0,  45.1 (Local)

2025-08-22T05:26:18.583Z,1755840378.583 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:18.593Z,1755840378.593 [DAT](INFO): DAT read: 05:26:17.4228 LVL= 28240, 10801, 24882, 30995, AGC= 44, IDX= 512,-0.01,-1.016,-1.028,-2.568,-0.378, PHS=-0.536,-0.605,-2.234, RAW=  32.1,  35.6, CAL=  29.9,  41.6, ROT= 120.1, -41.6

2025-08-22T05:26:18.594Z,1755840378.594 [DAT](INFO): got valid direction response:
 05:26:17.4228 LVL= 28240, 10801, 24882, 30995, AGC= 44, IDX= 512,-0.01,-1.016,-1.028,-2.568,-0.378, PHS=-0.536,-0.605,-2.234, RAW=  32.1,  35.6, CAL=  29.9,  41.6, ROT= 120.1, -41.6

2025-08-22T05:26:18.595Z,1755840378.595 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T05:26:18.600Z,1755840378.600 [DAT](INFO): direction in FSK: [-0.375029,0.646959,0.663926]
2025-08-22T05:26:18.601Z,1755840378.601 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:18.616Z,1755840378.616 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.915028
2025-08-22T05:26:18.828Z,1755840378.828 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.127716
2025-08-22T05:26:19.081Z,1755840379.081 [DAT](INFO): DAT read: Rx Time:05:26:17.9228 

2025-08-22T05:26:19.081Z,1755840379.081 [DAT](INFO): Rx dataTimestamp_ set to:1755840379.081042
2025-08-22T05:26:19.083Z,1755840379.083 [DAT](INFO): DAT read: Bearing 304.0,  50.3 (Local)

2025-08-22T05:26:19.083Z,1755840379.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0,  50.3 (Local)

2025-08-22T05:26:19.085Z,1755840379.085 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:19.090Z,1755840379.090 [DAT](INFO): DAT read: 05:26:17.9228 LVL= 27808, 10977, 23186, 28883, AGC= 43, IDX= 512, 0.11, 0.032,-0.112,-1.436, 0.413, PHS=-0.279,-0.480,-1.893, RAW=  36.6,  31.6, CAL=  34.0,  37.6, ROT= 116.0, -37.6

2025-08-22T05:26:19.091Z,1755840379.091 [DAT](INFO): got valid direction response:
 05:26:17.9228 LVL= 27808, 10977, 23186, 28883, AGC= 43, IDX= 512, 0.11, 0.032,-0.112,-1.436, 0.413, PHS=-0.279,-0.480,-1.893, RAW=  36.6,  31.6, CAL=  34.0,  37.6, ROT= 116.0, -37.6

2025-08-22T05:26:19.091Z,1755840379.091 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T05:26:19.092Z,1755840379.092 [DAT](INFO): direction in FSK: [-0.347317,0.712105,0.610145]
2025-08-22T05:26:19.092Z,1755840379.092 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:19.096Z,1755840379.096 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.395416
2025-08-22T05:26:19.332Z,1755840379.332 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.631729
2025-08-22T05:26:19.585Z,1755840379.585 [DAT](INFO): DAT read: Rx Time:05:26:18.4227 

2025-08-22T05:26:19.585Z,1755840379.585 [DAT](INFO): Rx dataTimestamp_ set to:1755840379.584926
2025-08-22T05:26:19.586Z,1755840379.586 [DAT](INFO): DAT read: Bearing 285.0,  45.1 (Local)

2025-08-22T05:26:19.587Z,1755840379.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.0,  45.1 (Local)

2025-08-22T05:26:19.589Z,1755840379.589 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:19.593Z,1755840379.593 [DAT](INFO): DAT read: 05:26:18.4227 LVL= 27568, 10193, 21122, 27155, AGC= 43, IDX= 511, 0.24, 0.563, 0.159,-0.861, 1.255, PHS=-0.591,-1.052,-2.161, RAW=  46.6,  43.9, CAL=  44.1,  49.2, ROT= 105.9, -49.2

2025-08-22T05:26:19.594Z,1755840379.594 [DAT](INFO): got valid direction response:
 05:26:18.4227 LVL= 27568, 10193, 21122, 27155, AGC= 43, IDX= 511, 0.24, 0.563, 0.159,-0.861, 1.255, PHS=-0.591,-1.052,-2.161, RAW=  46.6,  43.9, CAL=  44.1,  49.2, ROT= 105.9, -49.2

2025-08-22T05:26:19.595Z,1755840379.595 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T05:26:19.596Z,1755840379.596 [DAT](INFO): direction in FSK: [-0.179011,0.628422,0.756995]
2025-08-22T05:26:19.596Z,1755840379.596 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:19.600Z,1755840379.600 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.899067
2025-08-22T05:26:19.837Z,1755840379.837 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.136810
2025-08-22T05:26:20.089Z,1755840380.089 [DAT](INFO): DAT read: Rx Time:05:26:18.9228 

2025-08-22T05:26:20.089Z,1755840380.089 [DAT](INFO): Rx dataTimestamp_ set to:1755840380.089042
2025-08-22T05:26:20.091Z,1755840380.091 [DAT](INFO): DAT read: Bearing 293.7,  48.0 (Local)

2025-08-22T05:26:20.091Z,1755840380.091 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,  48.0 (Local)

2025-08-22T05:26:20.093Z,1755840380.093 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:20.098Z,1755840380.098 [DAT](INFO): DAT read: 05:26:18.9228 LVL= 27520, 11185, 23282, 29171, AGC= 43, IDX= 512, 0.43,-0.066,-0.317,-1.476, 0.449, PHS=-0.413,-0.721,-1.969, RAW=  40.8,  37.5, CAL=  38.3,  43.7, ROT= 111.7, -43.7

2025-08-22T05:26:20.099Z,1755840380.099 [DAT](INFO): got valid direction response:
 05:26:18.9228 LVL= 27520, 11185, 23282, 29171, AGC= 43, IDX= 512, 0.43,-0.066,-0.317,-1.476, 0.449, PHS=-0.413,-0.721,-1.969, RAW=  40.8,  37.5, CAL=  38.3,  43.7, ROT= 111.7, -43.7

2025-08-22T05:26:20.099Z,1755840380.099 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T05:26:20.100Z,1755840380.100 [DAT](INFO): direction in FSK: [-0.267315,0.671732,0.690882]
2025-08-22T05:26:20.100Z,1755840380.100 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:20.109Z,1755840380.109 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.408524
2025-08-22T05:26:20.342Z,1755840380.342 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.640789
2025-08-22T05:26:20.594Z,1755840380.594 [DAT](INFO): DAT read: Rx Time:05:26:19.4227 

2025-08-22T05:26:20.594Z,1755840380.594 [DAT](INFO): Rx dataTimestamp_ set to:1755840380.593854
2025-08-22T05:26:20.596Z,1755840380.596 [DAT](INFO): DAT read: Bearing 323.1,  47.6 (Local)

2025-08-22T05:26:20.597Z,1755840380.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.1,  47.6 (Local)

2025-08-22T05:26:20.600Z,1755840380.600 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:20.606Z,1755840380.606 [DAT](INFO): DAT read: 05:26:19.4227 LVL= 28080, 10993, 25330, 29875, AGC= 44, IDX= 512,-0.34,-2.889,-2.628, 1.823,-2.525, PHS=-0.262,-0.058,-1.980, RAW=  24.4,  24.0, CAL=  22.5,  28.4, ROT= 127.5, -28.4

2025-08-22T05:26:20.607Z,1755840380.607 [DAT](INFO): got valid direction response:
 05:26:19.4227 LVL= 28080, 10993, 25330, 29875, AGC= 44, IDX= 512,-0.34,-2.889,-2.628, 1.823,-2.525, PHS=-0.262,-0.058,-1.980, RAW=  24.4,  24.0, CAL=  22.5,  28.4, ROT= 127.5, -28.4

2025-08-22T05:26:20.608Z,1755840380.608 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T05:26:20.609Z,1755840380.609 [DAT](INFO): direction in FSK: [-0.535496,0.697872,0.475624]
2025-08-22T05:26:20.609Z,1755840380.609 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:20.614Z,1755840380.614 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.913574
2025-08-22T05:26:20.845Z,1755840380.845 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.144527
2025-08-22T05:26:21.097Z,1755840381.097 [DAT](INFO): DAT read: Rx Time:05:26:19.9229 

2025-08-22T05:26:21.097Z,1755840381.097 [DAT](INFO): Rx dataTimestamp_ set to:1755840381.096967
2025-08-22T05:26:21.099Z,1755840381.099 [DAT](INFO): DAT read: Bearing 300.6,  49.5 (Local)

2025-08-22T05:26:21.099Z,1755840381.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.6,  49.5 (Local)

2025-08-22T05:26:21.101Z,1755840381.101 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:21.106Z,1755840381.106 [DAT](INFO): DAT read: 05:26:19.9229 LVL= 26736, 10737, 23330, 29491, AGC= 43, IDX= 513,-0.18,-2.104,-2.258, 2.702,-1.677, PHS=-0.325,-0.536,-1.948, RAW=  36.9,  33.0, CAL=  34.4,  39.3, ROT= 115.6, -39.3

2025-08-22T05:26:21.107Z,1755840381.107 [DAT](INFO): got valid direction response:
 05:26:19.9229 LVL= 26736, 10737, 23330, 29491, AGC= 43, IDX= 513,-0.18,-2.104,-2.258, 2.702,-1.677, PHS=-0.325,-0.536,-1.948, RAW=  36.9,  33.0, CAL=  34.4,  39.3, ROT= 115.6, -39.3

2025-08-22T05:26:21.110Z,1755840381.110 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T05:26:21.135Z,1755840381.135 [DAT](INFO): direction in FSK: [-0.334365,0.697874,0.633381]
2025-08-22T05:26:21.135Z,1755840381.135 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:21.139Z,1755840381.139 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.438244
2025-08-22T05:26:21.349Z,1755840381.349 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.647781
2025-08-22T05:26:21.601Z,1755840381.601 [DAT](INFO): DAT read: Rx Time:05:26:20.4228 

2025-08-22T05:26:21.601Z,1755840381.601 [DAT](INFO): Rx dataTimestamp_ set to:1755840381.601021
2025-08-22T05:26:21.603Z,1755840381.603 [DAT](INFO): DAT read: Bearing 309.5,  50.3 (Local)

2025-08-22T05:26:21.603Z,1755840381.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,  50.3 (Local)

2025-08-22T05:26:21.605Z,1755840381.605 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:21.610Z,1755840381.610 [DAT](INFO): DAT read: 05:26:20.4228 LVL= 27312, 10545, 23314, 29555, AGC= 43, IDX= 512,-0.06,-2.974,-3.005, 1.785,-2.607, PHS=-0.266,-0.353,-1.936, RAW=  32.7,  29.0, CAL=  30.1,  34.2, ROT= 119.9, -34.2

2025-08-22T05:26:21.611Z,1755840381.611 [DAT](INFO): got valid direction response:
 05:26:20.4228 LVL= 27312, 10545, 23314, 29555, AGC= 43, IDX= 512,-0.06,-2.974,-3.005, 1.785,-2.607, PHS=-0.266,-0.353,-1.936, RAW=  32.7,  29.0, CAL=  30.1,  34.2, ROT= 119.9, -34.2

2025-08-22T05:26:21.632Z,1755840381.632 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T05:26:21.633Z,1755840381.633 [DAT](INFO): direction in FSK: [-0.412289,0.716993,0.562083]
2025-08-22T05:26:21.633Z,1755840381.633 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:21.637Z,1755840381.637 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.936008
2025-08-22T05:26:21.853Z,1755840381.853 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.152439
2025-08-22T05:26:22.109Z,1755840382.109 [DAT](INFO): DAT read: Rx Time:05:26:20.9229 

2025-08-22T05:26:22.110Z,1755840382.110 [DAT](INFO): Rx dataTimestamp_ set to:1755840382.109318
2025-08-22T05:26:22.111Z,1755840382.111 [DAT](INFO): DAT read: Bearing 286.5,  49.9 (Local)

2025-08-22T05:26:22.111Z,1755840382.111 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.5,  49.9 (Local)

2025-08-22T05:26:22.113Z,1755840382.113 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:22.118Z,1755840382.118 [DAT](INFO): DAT read: 05:26:20.9229 LVL= 27280, 11025, 23570, 29491, AGC= 43, IDX= 513, 0.05,-0.012,-0.424,-1.455, 0.437, PHS=-0.347,-0.816,-1.936, RAW=  46.7,  37.8, CAL=  43.9,  43.8, ROT= 106.1, -43.8

2025-08-22T05:26:22.119Z,1755840382.119 [DAT](INFO): got valid direction response:
 05:26:20.9229 LVL= 27280, 11025, 23570, 29491, AGC= 43, IDX= 513, 0.05,-0.012,-0.424,-1.455, 0.437, PHS=-0.347,-0.816,-1.936, RAW=  46.7,  37.8, CAL=  43.9,  43.8, ROT= 106.1, -43.8

2025-08-22T05:26:22.120Z,1755840382.120 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T05:26:22.121Z,1755840382.121 [DAT](INFO): direction in FSK: [-0.200155,0.693452,0.692143]
2025-08-22T05:26:22.121Z,1755840382.121 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:22.125Z,1755840382.125 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.423985
2025-08-22T05:26:22.357Z,1755840382.357 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.656574
2025-08-22T05:26:22.609Z,1755840382.609 [DAT](INFO): DAT read: Rx Time:05:26:21.4228 

2025-08-22T05:26:22.609Z,1755840382.609 [DAT](INFO): Rx dataTimestamp_ set to:1755840382.609121
2025-08-22T05:26:22.611Z,1755840382.611 [DAT](INFO): DAT read: Bearing 285.8,  48.2 (Local)

2025-08-22T05:26:22.611Z,1755840382.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.8,  48.2 (Local)

2025-08-22T05:26:22.613Z,1755840382.613 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:22.618Z,1755840382.618 [DAT](INFO): DAT read: 05:26:21.4228 LVL= 26944,  9073, 26482, 29763, AGC= 43, IDX= 512, 0.17,-0.800,-1.169,-2.199,-0.284, PHS=-0.414,-0.840,-1.959, RAW=  45.5,  39.4, CAL=  42.8,  45.3, ROT= 107.2, -45.3

2025-08-22T05:26:22.619Z,1755840382.619 [DAT](INFO): got valid direction response:
 05:26:21.4228 LVL= 26944,  9073, 26482, 29763, AGC= 43, IDX= 512, 0.17,-0.800,-1.169,-2.199,-0.284, PHS=-0.414,-0.840,-1.959, RAW=  45.5,  39.4, CAL=  42.8,  45.3, ROT= 107.2, -45.3

2025-08-22T05:26:22.619Z,1755840382.619 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T05:26:22.620Z,1755840382.620 [DAT](INFO): direction in FSK: [-0.207999,0.671938,0.710799]
2025-08-22T05:26:22.621Z,1755840382.621 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:22.625Z,1755840382.625 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.924015
2025-08-22T05:26:22.862Z,1755840382.862 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.161049
2025-08-22T05:26:23.113Z,1755840383.113 [DAT](INFO): DAT read: Rx Time:05:26:21.9228 

2025-08-22T05:26:23.113Z,1755840383.113 [DAT](INFO): Rx dataTimestamp_ set to:1755840383.113039
2025-08-22T05:26:23.115Z,1755840383.115 [DAT](INFO): DAT read: Bearing 291.6,  46.2 (Local)

2025-08-22T05:26:23.115Z,1755840383.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.6,  46.2 (Local)

2025-08-22T05:26:23.117Z,1755840383.117 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:23.122Z,1755840383.122 [DAT](INFO): DAT read: 05:26:21.9228 LVL= 26928, 10929, 26002, 28531, AGC= 44, IDX= 512, 0.33,-1.145,-1.335,-2.551,-0.543, PHS=-0.500,-0.747,-2.052, RAW=  38.5,  38.9, CAL=  36.2,  44.8, ROT= 113.8, -44.8

2025-08-22T05:26:23.123Z,1755840383.123 [DAT](INFO): got valid direction response:
 05:26:21.9228 LVL= 26928, 10929, 26002, 28531, AGC= 44, IDX= 512, 0.33,-1.145,-1.335,-2.551,-0.543, PHS=-0.500,-0.747,-2.052, RAW=  38.5,  38.9, CAL=  36.2,  44.8, ROT= 113.8, -44.8

2025-08-22T05:26:23.123Z,1755840383.123 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T05:26:23.124Z,1755840383.124 [DAT](INFO): direction in FSK: [-0.286344,0.649229,0.704634]
2025-08-22T05:26:23.124Z,1755840383.124 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:23.128Z,1755840383.128 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.427402
2025-08-22T05:26:23.365Z,1755840383.365 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.663757
2025-08-22T05:26:23.617Z,1755840383.617 [DAT](INFO): DAT read: Rx Time:05:26:22.4227 

2025-08-22T05:26:23.617Z,1755840383.617 [DAT](INFO): Rx dataTimestamp_ set to:1755840383.617024
2025-08-22T05:26:23.619Z,1755840383.619 [DAT](INFO): DAT read: Bearing 301.7,  51.1 (Local)

2025-08-22T05:26:23.619Z,1755840383.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.7,  51.1 (Local)

2025-08-22T05:26:23.621Z,1755840383.621 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:23.626Z,1755840383.626 [DAT](INFO): DAT read: 05:26:22.4227 LVL= 26464, 11217, 23970, 29795, AGC= 43, IDX= 512,-0.42, 2.334, 2.183, 0.724, 2.716, PHS=-0.280,-0.488,-2.036, RAW=  36.2,  30.8, CAL=  33.6,  36.6, ROT= 116.4, -36.6

2025-08-22T05:26:23.627Z,1755840383.627 [DAT](INFO): got valid direction response:
 05:26:22.4227 LVL= 26464, 11217, 23970, 29795, AGC= 43, IDX= 512,-0.42, 2.334, 2.183, 0.724, 2.716, PHS=-0.280,-0.488,-2.036, RAW=  36.2,  30.8, CAL=  33.6,  36.6, ROT= 116.4, -36.6

2025-08-22T05:26:23.627Z,1755840383.627 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T05:26:23.628Z,1755840383.628 [DAT](INFO): direction in FSK: [-0.356961,0.719093,0.596225]
2025-08-22T05:26:23.629Z,1755840383.629 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:23.632Z,1755840383.632 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.931461
2025-08-22T05:26:23.869Z,1755840383.869 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.167873
2025-08-22T05:26:24.121Z,1755840384.121 [DAT](INFO): DAT read: Rx Time:05:26:22.9228 

2025-08-22T05:26:24.121Z,1755840384.121 [DAT](INFO): Rx dataTimestamp_ set to:1755840384.120977
2025-08-22T05:26:24.123Z,1755840384.123 [DAT](INFO): DAT read: Bearing 288.0,  52.5 (Local)

2025-08-22T05:26:24.123Z,1755840384.123 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.0,  52.5 (Local)

2025-08-22T05:26:24.125Z,1755840384.125 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:24.130Z,1755840384.130 [DAT](INFO): DAT read: 05:26:22.9228 LVL= 26224, 11345, 23794, 28547, AGC= 44, IDX= 513,-0.23,-3.025, 2.824, 1.677,-2.678, PHS=-0.246,-0.737,-1.973, RAW=  46.0,  34.1, CAL=  43.0,  40.7, ROT= 107.0, -40.7

2025-08-22T05:26:24.131Z,1755840384.131 [DAT](INFO): got valid direction response:
 05:26:22.9228 LVL= 26224, 11345, 23794, 28547, AGC= 44, IDX= 513,-0.23,-3.025, 2.824, 1.677,-2.678, PHS=-0.246,-0.737,-1.973, RAW=  46.0,  34.1, CAL=  43.0,  40.7, ROT= 107.0, -40.7

2025-08-22T05:26:24.131Z,1755840384.131 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T05:26:24.132Z,1755840384.132 [DAT](INFO): direction in FSK: [-0.221657,0.725007,0.652098]
2025-08-22T05:26:24.132Z,1755840384.132 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:24.137Z,1755840384.137 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.436035
2025-08-22T05:26:24.372Z,1755840384.372 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.671703
2025-08-22T05:26:24.625Z,1755840384.625 [DAT](INFO): DAT read: Rx Time:05:26:23.4228 

2025-08-22T05:26:24.625Z,1755840384.625 [DAT](INFO): Rx dataTimestamp_ set to:1755840384.625120
2025-08-22T05:26:24.627Z,1755840384.627 [DAT](INFO): DAT read: Bearing 291.0,  46.5 (Local)

2025-08-22T05:26:24.627Z,1755840384.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,  46.5 (Local)

2025-08-22T05:26:24.629Z,1755840384.629 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:24.634Z,1755840384.634 [DAT](INFO): DAT read: 05:26:23.4228 LVL= 26432, 10945, 23746, 28659, AGC= 43, IDX= 512,-0.08, 2.505, 2.314, 1.057, 3.107, PHS=-0.501,-0.749,-2.095, RAW=  38.3,  38.5, CAL=  36.0,  44.5, ROT= 114.0, -44.5

2025-08-22T05:26:24.635Z,1755840384.635 [DAT](INFO): got valid direction response:
 05:26:23.4228 LVL= 26432, 10945, 23746, 28659, AGC= 43, IDX= 512,-0.08, 2.505, 2.314, 1.057, 3.107, PHS=-0.501,-0.749,-2.095, RAW=  38.3,  38.5, CAL=  36.0,  44.5, ROT= 114.0, -44.5

2025-08-22T05:26:24.635Z,1755840384.635 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T05:26:24.636Z,1755840384.636 [DAT](INFO): direction in FSK: [-0.290105,0.651587,0.700909]
2025-08-22T05:26:24.637Z,1755840384.637 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:24.646Z,1755840384.646 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.945770
2025-08-22T05:26:24.876Z,1755840384.876 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.175591
2025-08-22T05:26:25.129Z,1755840385.129 [DAT](INFO): DAT read: Rx Time:05:26:23.9229 

2025-08-22T05:26:25.129Z,1755840385.129 [DAT](INFO): Rx dataTimestamp_ set to:1755840385.128975
2025-08-22T05:26:25.131Z,1755840385.131 [DAT](INFO): DAT read: Bearing 298.4,  50.9 (Local)

2025-08-22T05:26:25.131Z,1755840385.131 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.4,  50.9 (Local)

2025-08-22T05:26:25.133Z,1755840385.133 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:25.138Z,1755840385.138 [DAT](INFO): DAT read: 05:26:23.9229 LVL= 27280, 11217, 23842, 29235, AGC= 43, IDX= 513, 0.03,-1.499,-1.673,-2.990,-1.124, PHS=-0.272,-0.503,-1.910, RAW=  37.5,  31.7, CAL=  34.9,  37.8, ROT= 115.1, -37.8

2025-08-22T05:26:25.139Z,1755840385.139 [DAT](INFO): got valid direction response:
 05:26:23.9229 LVL= 27280, 11217, 23842, 29235, AGC= 43, IDX= 513, 0.03,-1.499,-1.673,-2.990,-1.124, PHS=-0.272,-0.503,-1.910, RAW=  37.5,  31.7, CAL=  34.9,  37.8, ROT= 115.1, -37.8

2025-08-22T05:26:25.139Z,1755840385.139 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T05:26:25.140Z,1755840385.140 [DAT](INFO): direction in FSK: [-0.335183,0.715540,0.612907]
2025-08-22T05:26:25.140Z,1755840385.140 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:25.145Z,1755840385.145 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.444042
2025-08-22T05:26:25.380Z,1755840385.380 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.679642
2025-08-22T05:26:25.633Z,1755840385.633 [DAT](INFO): DAT read: Rx Time:05:26:24.4228 

2025-08-22T05:26:25.633Z,1755840385.633 [DAT](INFO): Rx dataTimestamp_ set to:1755840385.632963
2025-08-22T05:26:25.635Z,1755840385.635 [DAT](INFO): DAT read: Bearing 289.3,  48.2 (Local)

2025-08-22T05:26:25.635Z,1755840385.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.3,  48.2 (Local)

2025-08-22T05:26:25.637Z,1755840385.637 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:25.642Z,1755840385.642 [DAT](INFO): DAT read: 05:26:24.4228 LVL= 27312, 11185, 24098, 29939, AGC= 43, IDX= 512, 0.17,-2.309,-2.540, 2.695,-1.843, PHS=-0.364,-0.652,-1.790, RAW=  41.0,  37.2, CAL=  38.6,  43.4, ROT= 111.4, -43.4

2025-08-22T05:26:25.643Z,1755840385.643 [DAT](INFO): got valid direction response:
 05:26:24.4228 LVL= 27312, 11185, 24098, 29939, AGC= 43, IDX= 512, 0.17,-2.309,-2.540, 2.695,-1.843, PHS=-0.364,-0.652,-1.790, RAW=  41.0,  37.2, CAL=  38.6,  43.4, ROT= 111.4, -43.4

2025-08-22T05:26:25.643Z,1755840385.643 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T05:26:25.644Z,1755840385.644 [DAT](INFO): direction in FSK: [-0.265110,0.676482,0.687088]
2025-08-22T05:26:25.644Z,1755840385.644 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:25.648Z,1755840385.648 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.947346
2025-08-22T05:26:25.901Z,1755840385.901 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.200588
2025-08-22T05:26:26.153Z,1755840386.153 [DAT](INFO): DAT read: Rx Time:05:26:24.9229 

2025-08-22T05:26:26.154Z,1755840386.154 [DAT](INFO): Rx dataTimestamp_ set to:1755840386.153666
2025-08-22T05:26:26.156Z,1755840386.156 [DAT](INFO): DAT read: Bearing 307.4,  47.6 (Local)

2025-08-22T05:26:26.156Z,1755840386.156 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.4,  47.6 (Local)

2025-08-22T05:26:26.159Z,1755840386.159 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:26.165Z,1755840386.165 [DAT](INFO): DAT read: 05:26:24.9229 LVL= 28304, 11089, 24658, 30675, AGC= 44, IDX= 513, 0.32,-1.459,-1.387,-3.010,-1.005, PHS=-0.352,-0.337,-2.049, RAW=  29.6,  29.6, CAL=  27.3,  34.9, ROT= 122.7, -34.9

2025-08-22T05:26:26.166Z,1755840386.166 [DAT](INFO): got valid direction response:
 05:26:24.9229 LVL= 28304, 11089, 24658, 30675, AGC= 44, IDX= 513, 0.32,-1.459,-1.387,-3.010,-1.005, PHS=-0.352,-0.337,-2.049, RAW=  29.6,  29.6, CAL=  27.3,  34.9, ROT= 122.7, -34.9

2025-08-22T05:26:26.167Z,1755840386.167 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T05:26:26.169Z,1755840386.169 [DAT](INFO): direction in FSK: [-0.443079,0.690167,0.572146]
2025-08-22T05:26:26.169Z,1755840386.169 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:26.174Z,1755840386.174 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.473251
2025-08-22T05:26:26.405Z,1755840386.405 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.704033
2025-08-22T05:26:26.657Z,1755840386.657 [DAT](INFO): DAT read: Rx Time:05:26:25.4228 

2025-08-22T05:26:26.658Z,1755840386.658 [DAT](INFO): Rx dataTimestamp_ set to:1755840386.657261
2025-08-22T05:26:26.659Z,1755840386.659 [DAT](INFO): DAT read: Bearing 291.8,  49.6 (Local)

2025-08-22T05:26:26.663Z,1755840386.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.8,  49.6 (Local)

2025-08-22T05:26:26.665Z,1755840386.665 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:26.670Z,1755840386.670 [DAT](INFO): DAT read: 05:26:25.4228 LVL= 28752, 11345, 24562, 30883, AGC= 43, IDX= 513,-0.44, 2.808, 2.527, 1.228,-3.034, PHS=-0.339,-0.677,-2.065, RAW=  40.7,  34.5, CAL=  38.1,  41.0, ROT= 111.9, -41.0

2025-08-22T05:26:26.671Z,1755840386.671 [DAT](INFO): got valid direction response:
 05:26:25.4228 LVL= 28752, 11345, 24562, 30883, AGC= 43, IDX= 513,-0.44, 2.808, 2.527, 1.228,-3.034, PHS=-0.339,-0.677,-2.065, RAW=  40.7,  34.5, CAL=  38.1,  41.0, ROT= 111.9, -41.0

2025-08-22T05:26:26.672Z,1755840386.672 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T05:26:26.673Z,1755840386.673 [DAT](INFO): direction in FSK: [-0.281497,0.700247,0.656059]
2025-08-22T05:26:26.673Z,1755840386.673 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:26.685Z,1755840386.685 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.984146
2025-08-22T05:26:26.910Z,1755840386.910 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.208893
2025-08-22T05:26:27.162Z,1755840387.162 [DAT](INFO): DAT read: Rx Time:05:26:25.9228 

2025-08-22T05:26:27.162Z,1755840387.162 [DAT](INFO): Rx dataTimestamp_ set to:1755840387.161794
2025-08-22T05:26:27.164Z,1755840387.164 [DAT](INFO): DAT read: Bearing 314.4,  44.0 (Local)

2025-08-22T05:26:27.164Z,1755840387.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.4,  44.0 (Local)

2025-08-22T05:26:27.167Z,1755840387.167 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:27.173Z,1755840387.173 [DAT](INFO): DAT read: 05:26:25.9228 LVL= 29504, 10993, 24306, 30675, AGC= 44, IDX= 513,-0.25, 2.390, 2.728, 0.800, 2.923, PHS=-0.431,-0.150,-2.167, RAW=  22.6,  27.2, CAL=  20.8,  32.2, ROT= 129.2, -32.2

2025-08-22T05:26:27.174Z,1755840387.174 [DAT](INFO): got valid direction response:
 05:26:25.9228 LVL= 29504, 10993, 24306, 30675, AGC= 44, IDX= 513,-0.25, 2.390, 2.728, 0.800, 2.923, PHS=-0.431,-0.150,-2.167, RAW=  22.6,  27.2, CAL=  20.8,  32.2, ROT= 129.2, -32.2

2025-08-22T05:26:27.175Z,1755840387.175 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T05:26:27.177Z,1755840387.177 [DAT](INFO): direction in FSK: [-0.534819,0.655753,0.532876]
2025-08-22T05:26:27.177Z,1755840387.177 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:27.182Z,1755840387.182 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.481075
2025-08-22T05:26:27.412Z,1755840387.412 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.711536
2025-08-22T05:26:27.665Z,1755840387.665 [DAT](INFO): DAT read: Rx Time:05:26:26.4228 

2025-08-22T05:26:27.665Z,1755840387.665 [DAT](INFO): Rx dataTimestamp_ set to:1755840387.665030
2025-08-22T05:26:27.667Z,1755840387.667 [DAT](INFO): DAT read: Bearing 305.0,  46.5 (Local)

2025-08-22T05:26:27.667Z,1755840387.667 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.0,  46.5 (Local)

2025-08-22T05:26:27.669Z,1755840387.669 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:27.674Z,1755840387.674 [DAT](INFO): DAT read: 05:26:26.4228 LVL= 29776, 10865, 24562, 30835, AGC= 43, IDX= 512,-0.11, 0.876, 0.935,-0.730, 1.392, PHS=-0.414,-0.412,-2.166, RAW=  29.9,  31.1, CAL=  27.7,  36.8, ROT= 122.3, -36.8

2025-08-22T05:26:27.675Z,1755840387.675 [DAT](INFO): got valid direction response:
 05:26:26.4228 LVL= 29776, 10865, 24562, 30835, AGC= 43, IDX= 512,-0.11, 0.876, 0.935,-0.730, 1.392, PHS=-0.414,-0.412,-2.166, RAW=  29.9,  31.1, CAL=  27.7,  36.8, ROT= 122.3, -36.8

2025-08-22T05:26:27.676Z,1755840387.676 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T05:26:27.677Z,1755840387.677 [DAT](INFO): direction in FSK: [-0.427873,0.676828,0.599024]
2025-08-22T05:26:27.677Z,1755840387.677 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:27.681Z,1755840387.681 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.980000
2025-08-22T05:26:27.917Z,1755840387.917 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.216022
2025-08-22T05:26:28.169Z,1755840388.169 [DAT](INFO): DAT read: Rx Time:05:26:26.9229 

2025-08-22T05:26:28.170Z,1755840388.170 [DAT](INFO): Rx dataTimestamp_ set to:1755840388.169445
2025-08-22T05:26:28.172Z,1755840388.172 [DAT](INFO): DAT read: Bearing 306.8,  48.4 (Local)

2025-08-22T05:26:28.172Z,1755840388.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.8,  48.4 (Local)

2025-08-22T05:26:28.175Z,1755840388.175 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:28.181Z,1755840388.181 [DAT](INFO): DAT read: 05:26:26.9229 LVL= 28272,  9825, 22002, 27811, AGC= 43, IDX= 513, 0.01,-3.050,-3.035, 1.633,-2.624, PHS=-0.324,-0.365,-2.070, RAW=  31.2,  29.5, CAL=  28.8,  34.8, ROT= 121.2, -34.8

2025-08-22T05:26:28.182Z,1755840388.182 [DAT](INFO): got valid direction response:
 05:26:26.9229 LVL= 28272,  9825, 22002, 27811, AGC= 43, IDX= 513, 0.01,-3.050,-3.035, 1.633,-2.624, PHS=-0.324,-0.365,-2.070, RAW=  31.2,  29.5, CAL=  28.8,  34.8, ROT= 121.2, -34.8

2025-08-22T05:26:28.182Z,1755840388.182 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T05:26:28.183Z,1755840388.183 [DAT](INFO): direction in FSK: [-0.425377,0.702382,0.570714]
2025-08-22T05:26:28.183Z,1755840388.183 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:28.187Z,1755840388.187 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.486214
2025-08-22T05:26:28.421Z,1755840388.421 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.720165
2025-08-22T05:26:28.673Z,1755840388.673 [DAT](INFO): DAT read: Rx Time:05:26:27.4228 

2025-08-22T05:26:28.673Z,1755840388.673 [DAT](INFO): Rx dataTimestamp_ set to:1755840388.673080
2025-08-22T05:26:28.675Z,1755840388.675 [DAT](INFO): DAT read: Bearing 289.2,  48.1 (Local)

2025-08-22T05:26:28.675Z,1755840388.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 289.2,  48.1 (Local)

2025-08-22T05:26:28.677Z,1755840388.677 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:28.682Z,1755840388.682 [DAT](INFO): DAT read: 05:26:27.4228 LVL= 27984, 10865, 24258, 27427, AGC= 43, IDX= 512, 0.13, 2.437, 2.155, 1.014, 2.927, PHS=-0.388,-0.727,-1.957, RAW=  41.9,  37.2, CAL=  39.4,  43.4, ROT= 110.6, -43.4

2025-08-22T05:26:28.683Z,1755840388.683 [DAT](INFO): got valid direction response:
 05:26:27.4228 LVL= 27984, 10865, 24258, 27427, AGC= 43, IDX= 512, 0.13, 2.437, 2.155, 1.014, 2.927, PHS=-0.388,-0.727,-1.957, RAW=  41.9,  37.2, CAL=  39.4,  43.4, ROT= 110.6, -43.4

2025-08-22T05:26:28.683Z,1755840388.683 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T05:26:28.684Z,1755840388.684 [DAT](INFO): direction in FSK: [-0.255639,0.680117,0.687088]
2025-08-22T05:26:28.684Z,1755840388.684 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:28.688Z,1755840388.688 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.987549
2025-08-22T05:26:28.925Z,1755840388.925 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.223900
2025-08-22T05:26:29.177Z,1755840389.177 [DAT](INFO): DAT read: Rx Time:05:26:27.9229 

2025-08-22T05:26:29.178Z,1755840389.178 [DAT](INFO): Rx dataTimestamp_ set to:1755840389.177668
2025-08-22T05:26:29.180Z,1755840389.180 [DAT](INFO): DAT read: Bearing 294.3,  50.2 (Local)

2025-08-22T05:26:29.180Z,1755840389.180 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.3,  50.2 (Local)

2025-08-22T05:26:29.182Z,1755840389.182 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:29.187Z,1755840389.187 [DAT](INFO): DAT read: 05:26:27.9229 LVL= 27632,  9505, 22386, 27091, AGC= 44, IDX= 513, 0.28,-2.347,-2.604, 2.436,-1.961, PHS=-0.285,-0.599,-1.930, RAW=  40.3,  33.3, CAL=  37.7,  39.9, ROT= 112.3, -39.9

2025-08-22T05:26:29.188Z,1755840389.188 [DAT](INFO): got valid direction response:
 05:26:27.9229 LVL= 27632,  9505, 22386, 27091, AGC= 44, IDX= 513, 0.28,-2.347,-2.604, 2.436,-1.961, PHS=-0.285,-0.599,-1.930, RAW=  40.3,  33.3, CAL=  37.7,  39.9, ROT= 112.3, -39.9

2025-08-22T05:26:29.189Z,1755840389.189 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T05:26:29.190Z,1755840389.190 [DAT](INFO): direction in FSK: [-0.291106,0.709789,0.641450]
2025-08-22T05:26:29.190Z,1755840389.190 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:29.194Z,1755840389.194 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.492886
2025-08-22T05:26:29.428Z,1755840389.428 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.727573
2025-08-22T05:26:29.681Z,1755840389.681 [DAT](INFO): DAT read: Rx Time:05:26:28.4228 

2025-08-22T05:26:29.682Z,1755840389.682 [DAT](INFO): Rx dataTimestamp_ set to:1755840389.681259
2025-08-22T05:26:29.683Z,1755840389.683 [DAT](INFO): DAT read: Bearing 288.5,  49.3 (Local)

2025-08-22T05:26:29.683Z,1755840389.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.5,  49.3 (Local)

2025-08-22T05:26:29.685Z,1755840389.685 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:29.690Z,1755840389.690 [DAT](INFO): DAT read: 05:26:28.4228 LVL= 27808, 10449, 24562, 28019, AGC= 43, IDX= 512, 0.50, 2.333, 1.999, 0.916, 2.775, PHS=-0.340,-0.731,-1.903, RAW=  43.9,  36.7, CAL=  41.2,  43.0, ROT= 108.8, -43.0

2025-08-22T05:26:29.691Z,1755840389.691 [DAT](INFO): got valid direction response:
 05:26:28.4228 LVL= 27808, 10449, 24562, 28019, AGC= 43, IDX= 512, 0.50, 2.333, 1.999, 0.916, 2.775, PHS=-0.340,-0.731,-1.903, RAW=  43.9,  36.7, CAL=  41.2,  43.0, ROT= 108.8, -43.0

2025-08-22T05:26:29.691Z,1755840389.691 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T05:26:29.692Z,1755840389.692 [DAT](INFO): direction in FSK: [-0.235690,0.692335,0.681998]
2025-08-22T05:26:29.693Z,1755840389.693 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:29.710Z,1755840389.710 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.009785
2025-08-22T05:26:29.934Z,1755840389.934 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.232533
2025-08-22T05:26:30.185Z,1755840390.185 [DAT](INFO): DAT read: Rx Time:05:26:28.9229 

2025-08-22T05:26:30.185Z,1755840390.185 [DAT](INFO): Rx dataTimestamp_ set to:1755840390.184925
2025-08-22T05:26:30.186Z,1755840390.186 [DAT](INFO): DAT read: Bearing 288.0,  49.8 (Local)

2025-08-22T05:26:30.187Z,1755840390.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.0,  49.8 (Local)

2025-08-22T05:26:30.189Z,1755840390.189 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:30.193Z,1755840390.193 [DAT](INFO): DAT read: 05:26:28.9229 LVL= 29600, 10529, 24658, 30643, AGC= 43, IDX= 514,-0.29, 1.731, 1.331, 0.170, 2.185, PHS=-0.351,-0.809,-2.058, RAW=  45.0,  36.6, CAL=  42.3,  42.9, ROT= 107.7, -42.9

2025-08-22T05:26:30.194Z,1755840390.194 [DAT](INFO): got valid direction response:
 05:26:28.9229 LVL= 29600, 10529, 24658, 30643, AGC= 43, IDX= 514,-0.29, 1.731, 1.331, 0.170, 2.185, PHS=-0.351,-0.809,-2.058, RAW=  45.0,  36.6, CAL=  42.3,  42.9, ROT= 107.7, -42.9

2025-08-22T05:26:30.195Z,1755840390.195 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T05:26:30.196Z,1755840390.196 [DAT](INFO): direction in FSK: [-0.222717,0.697865,0.680721]
2025-08-22T05:26:30.196Z,1755840390.196 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:30.200Z,1755840390.200 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.499084
2025-08-22T05:26:30.437Z,1755840390.437 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.736244
2025-08-22T05:26:30.689Z,1755840390.689 [DAT](INFO): DAT read: Rx Time:05:26:29.4228 

2025-08-22T05:26:30.689Z,1755840390.689 [DAT](INFO): Rx dataTimestamp_ set to:1755840390.689150
2025-08-22T05:26:30.691Z,1755840390.691 [DAT](INFO): DAT read: Bearing 285.8,  50.3 (Local)

2025-08-22T05:26:30.691Z,1755840390.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.8,  50.3 (Local)

2025-08-22T05:26:30.693Z,1755840390.693 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:30.698Z,1755840390.698 [DAT](INFO): DAT read: 05:26:29.4228 LVL= 28016, 10849, 25394, 27187, AGC= 44, IDX= 513,-0.13, 1.068, 0.622,-0.423, 1.498, PHS=-0.328,-0.832,-1.965, RAW=  47.5,  37.3, CAL=  44.5,  43.4, ROT= 105.5, -43.4

2025-08-22T05:26:30.699Z,1755840390.699 [DAT](INFO): got valid direction response:
 05:26:29.4228 LVL= 28016, 10849, 25394, 27187, AGC= 44, IDX= 513,-0.13, 1.068, 0.622,-0.423, 1.498, PHS=-0.328,-0.832,-1.965, RAW=  47.5,  37.3, CAL=  44.5,  43.4, ROT= 105.5, -43.4

2025-08-22T05:26:30.699Z,1755840390.699 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T05:26:30.700Z,1755840390.700 [DAT](INFO): direction in FSK: [-0.194169,0.700149,0.687088]
2025-08-22T05:26:30.701Z,1755840390.701 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:30.705Z,1755840390.705 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.004196
2025-08-22T05:26:30.940Z,1755840390.940 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.239521
2025-08-22T05:26:31.193Z,1755840391.193 [DAT](INFO): DAT read: Rx Time:05:26:29.9228 

2025-08-22T05:26:31.193Z,1755840391.193 [DAT](INFO): Rx dataTimestamp_ set to:1755840391.192997
2025-08-22T05:26:31.195Z,1755840391.195 [DAT](INFO): DAT read: Bearing 293.9,  51.2 (Local)

2025-08-22T05:26:31.195Z,1755840391.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.9,  51.2 (Local)

2025-08-22T05:26:31.197Z,1755840391.197 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:31.202Z,1755840391.202 [DAT](INFO): DAT read: 05:26:29.9228 LVL= 28208, 10881, 25586, 26819, AGC= 44, IDX= 513,-0.03, 1.317, 1.021,-0.128, 1.669, PHS=-0.250,-0.603,-1.841, RAW=  42.2,  33.4, CAL=  39.5,  40.0, ROT= 110.5, -40.0

2025-08-22T05:26:31.203Z,1755840391.203 [DAT](INFO): got valid direction response:
 05:26:29.9228 LVL= 28208, 10881, 25586, 26819, AGC= 44, IDX= 513,-0.03, 1.317, 1.021,-0.128, 1.669, PHS=-0.250,-0.603,-1.841, RAW=  42.2,  33.4, CAL=  39.5,  40.0, ROT= 110.5, -40.0

2025-08-22T05:26:31.203Z,1755840391.203 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T05:26:31.204Z,1755840391.204 [DAT](INFO): direction in FSK: [-0.268274,0.717533,0.642788]
2025-08-22T05:26:31.205Z,1755840391.205 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:31.208Z,1755840391.208 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.507607
2025-08-22T05:26:31.444Z,1755840391.444 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.743679
2025-08-22T05:26:31.697Z,1755840391.697 [DAT](INFO): DAT read: Rx Time:05:26:30.4227 

2025-08-22T05:26:31.697Z,1755840391.697 [DAT](INFO): Rx dataTimestamp_ set to:1755840391.696977
2025-08-22T05:26:31.699Z,1755840391.699 [DAT](INFO): DAT read: Bearing 295.5,  49.9 (Local)

2025-08-22T05:26:31.699Z,1755840391.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5,  49.9 (Local)

2025-08-22T05:26:31.701Z,1755840391.701 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:31.706Z,1755840391.706 [DAT](INFO): DAT read: 05:26:30.4227 LVL= 27856, 10641, 24306, 25827, AGC= 43, IDX= 512, 0.09, 1.137, 0.885,-0.351, 1.547, PHS=-0.308,-0.617,-1.942, RAW=  40.2,  34.0, CAL=  37.7,  40.5, ROT= 112.3, -40.5

2025-08-22T05:26:31.707Z,1755840391.707 [DAT](INFO): got valid direction response:
 05:26:30.4227 LVL= 27856, 10641, 24306, 25827, AGC= 43, IDX= 512, 0.09, 1.137, 0.885,-0.351, 1.547, PHS=-0.308,-0.617,-1.942, RAW=  40.2,  34.0, CAL=  37.7,  40.5, ROT= 112.3, -40.5

2025-08-22T05:26:31.707Z,1755840391.707 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T05:26:31.708Z,1755840391.708 [DAT](INFO): direction in FSK: [-0.288541,0.703535,0.649448]
2025-08-22T05:26:31.708Z,1755840391.708 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:31.712Z,1755840391.712 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.011341
2025-08-22T05:26:31.952Z,1755840391.952 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.249958
2025-08-22T05:26:32.201Z,1755840392.201 [DAT](INFO): DAT read: Rx Time:05:26:30.9228 

2025-08-22T05:26:32.201Z,1755840392.201 [DAT](INFO): Rx dataTimestamp_ set to:1755840392.201002
2025-08-22T05:26:32.203Z,1755840392.203 [DAT](INFO): DAT read: Bearing 306.0,  46.0 (Local)

2025-08-22T05:26:32.203Z,1755840392.203 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.0,  46.0 (Local)

2025-08-22T05:26:32.205Z,1755840392.205 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:32.210Z,1755840392.210 [DAT](INFO): DAT read: 05:26:30.9228 LVL= 27888, 11089, 23938, 27699, AGC= 43, IDX= 513, 0.21, 2.559, 2.609, 1.083, 3.084, PHS=-0.423,-0.430,-2.045, RAW=  30.2,  32.3, CAL=  28.0,  38.2, ROT= 122.0, -38.2

2025-08-22T05:26:32.211Z,1755840392.211 [DAT](INFO): got valid direction response:
 05:26:30.9228 LVL= 27888, 11089, 23938, 27699, AGC= 43, IDX= 513, 0.21, 2.559, 2.609, 1.083, 3.084, PHS=-0.423,-0.430,-2.045, RAW=  30.2,  32.3, CAL=  28.0,  38.2, ROT= 122.0, -38.2

2025-08-22T05:26:32.211Z,1755840392.211 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T05:26:32.212Z,1755840392.212 [DAT](INFO): direction in FSK: [-0.416441,0.666444,0.618408]
2025-08-22T05:26:32.212Z,1755840392.212 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:32.216Z,1755840392.216 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.515110
2025-08-22T05:26:32.455Z,1755840392.455 [DAT](INFO): DAT read: Rx Time:05:26:31.4227 

2025-08-22T05:26:32.457Z,1755840392.457 [DAT](INFO): Rx dataTimestamp_ set to:1755840392.455721
2025-08-22T05:26:32.459Z,1755840392.459 [DAT](INFO): DAT read: Bearing 293.0,  49.0 (Local)

2025-08-22T05:26:32.464Z,1755840392.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.0,  49.0 (Local)

2025-08-22T05:26:32.466Z,1755840392.466 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.764946
2025-08-22T05:26:32.706Z,1755840392.706 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:32.711Z,1755840392.711 [DAT](INFO): DAT read: 05:26:31.4227 LVL= 27744, 10737, 25154, 26947, AGC= 43, IDX= 512, 0.38, 1.040, 0.749,-0.462, 1.513, PHS=-0.371,-0.719,-2.020, RAW=  41.6,  36.2, CAL=  39.0,  42.5, ROT= 111.0, -42.5

2025-08-22T05:26:32.712Z,1755840392.712 [DAT](INFO): got valid direction response:
 05:26:31.4227 LVL= 27744, 10737, 25154, 26947, AGC= 43, IDX= 512, 0.38, 1.040, 0.749,-0.462, 1.513, PHS=-0.371,-0.719,-2.020, RAW=  41.6,  36.2, CAL=  39.0,  42.5, ROT= 111.0, -42.5

2025-08-22T05:26:32.712Z,1755840392.712 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T05:26:32.713Z,1755840392.713 [DAT](INFO): direction in FSK: [-0.264217,0.688308,0.675590]
2025-08-22T05:26:32.713Z,1755840392.713 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:32.717Z,1755840392.717 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.016300
2025-08-22T05:26:32.959Z,1755840392.959 [DAT](INFO): DAT read: Rx Time:05:26:31.9228 

2025-08-22T05:26:32.960Z,1755840392.960 [DAT](INFO): Rx dataTimestamp_ set to:1755840392.959465
2025-08-22T05:26:32.962Z,1755840392.962 [DAT](INFO): DAT read: Bearing 291.0,  48.6 (Local)

2025-08-22T05:26:32.964Z,1755840392.964 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,  48.6 (Local)

2025-08-22T05:26:32.966Z,1755840392.966 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.264431
2025-08-22T05:26:33.210Z,1755840393.210 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:33.214Z,1755840393.214 [DAT](INFO): DAT read: 05:26:31.9228 LVL= 27600, 11201, 24994, 27411, AGC= 43, IDX= 514,-0.38, 0.957, 0.604,-0.663, 1.491, PHS=-0.431,-0.842,-2.198, RAW=  42.8,  37.5, CAL=  40.3,  43.7, ROT= 109.7, -43.7

2025-08-22T05:26:33.216Z,1755840393.216 [DAT](INFO): got valid direction response:
 05:26:31.9228 LVL= 27600, 11201, 24994, 27411, AGC= 43, IDX= 514,-0.38, 0.957, 0.604,-0.663, 1.491, PHS=-0.431,-0.842,-2.198, RAW=  42.8,  37.5, CAL=  40.3,  43.7, ROT= 109.7, -43.7

2025-08-22T05:26:33.216Z,1755840393.216 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T05:26:33.217Z,1755840393.217 [DAT](INFO): direction in FSK: [-0.243709,0.680652,0.690882]
2025-08-22T05:26:33.217Z,1755840393.217 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:33.221Z,1755840393.221 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.520020
2025-08-22T05:26:33.464Z,1755840393.464 [DAT](INFO): DAT read: Rx Time:05:26:32.4227 

2025-08-22T05:26:33.466Z,1755840393.466 [DAT](INFO): Rx dataTimestamp_ set to:1755840393.464697
2025-08-22T05:26:33.469Z,1755840393.469 [DAT](INFO): DAT read: Bearing 280.8,  48.2 (Local)

2025-08-22T05:26:33.470Z,1755840393.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.8,  48.2 (Local)

2025-08-22T05:26:33.511Z,1755840393.511 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:33.536Z,1755840393.536 [DAT](INFO): DAT read: 05:26:32.4227 LVL= 27296, 10305, 23922, 26771, AGC= 44, IDX= 513,-0.21,-0.563,-1.112,-2.034,-0.009, PHS=-0.452,-1.058,-2.069, RAW=  51.8,  41.8, CAL=  48.7,  47.3, ROT= 101.3, -47.3

2025-08-22T05:26:33.537Z,1755840393.537 [DAT](INFO): got valid direction response:
 05:26:32.4227 LVL= 27296, 10305, 23922, 26771, AGC= 44, IDX= 513,-0.21,-0.563,-1.112,-2.034,-0.009, PHS=-0.452,-1.058,-2.069, RAW=  51.8,  41.8, CAL=  48.7,  47.3, ROT= 101.3, -47.3

2025-08-22T05:26:33.537Z,1755840393.537 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T05:26:33.538Z,1755840393.538 [DAT](INFO): direction in FSK: [-0.132883,0.665013,0.734915]
2025-08-22T05:26:33.539Z,1755840393.539 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:33.550Z,1755840393.550 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.849792
2025-08-22T05:26:33.712Z,1755840393.712 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.011730
2025-08-22T05:26:33.968Z,1755840393.968 [DAT](INFO): DAT read: Rx Time:05:26:32.9229 

2025-08-22T05:26:33.969Z,1755840393.969 [DAT](INFO): Rx dataTimestamp_ set to:1755840393.968355
2025-08-22T05:26:33.972Z,1755840393.972 [DAT](INFO): DAT read: Bearing 288.6,  46.6 (Local)

2025-08-22T05:26:33.973Z,1755840393.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.6,  46.6 (Local)

2025-08-22T05:26:33.977Z,1755840393.977 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:33.979Z,1755840393.979 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-22T05:26:33.990Z,1755840393.990 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.289330
2025-08-22T05:26:34.220Z,1755840394.220 [DAT](INFO): DAT read: 05:26:32.9229 LVL= 27088,  6929, 21394, 26403, AGC= 47, IDX=   2,-0.09, 2.394, 2.077, 0.977, 2.997, PHS=-0.500,-0.875,-2.064, RAW=  43.3,  40.7, CAL=  40.8,  46.5, ROT= 109.2, -46.5

2025-08-22T05:26:34.221Z,1755840394.221 [DAT](INFO): got valid direction response:
 05:26:32.9229 LVL= 27088,  6929, 21394, 26403, AGC= 47, IDX=   2,-0.09, 2.394, 2.077, 0.977, 2.997, PHS=-0.500,-0.875,-2.064, RAW=  43.3,  40.7, CAL=  40.8,  46.5, ROT= 109.2, -46.5

2025-08-22T05:26:34.221Z,1755840394.221 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-08-22T05:26:34.222Z,1755840394.222 [DAT](INFO): direction in FSK: [-0.226377,0.650066,0.725374]
2025-08-22T05:26:34.226Z,1755840394.226 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.524860
2025-08-22T05:26:34.471Z,1755840394.471 [DAT](INFO): DAT read: Rx Time:05:26:33.4228 

2025-08-22T05:26:34.473Z,1755840394.473 [DAT](INFO): Rx dataTimestamp_ set to:1755840394.471891
2025-08-22T05:26:34.475Z,1755840394.475 [DAT](INFO): DAT read: Bearing 282.4,  47.5 (Local)

2025-08-22T05:26:34.477Z,1755840394.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.4,  47.5 (Local)

2025-08-22T05:26:34.481Z,1755840394.481 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:34.483Z,1755840394.483 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-08-22T05:26:34.524Z,1755840394.524 [DAT](INFO): ****** received valid address query ******
2025-08-22T05:26:34.524Z,1755840394.524 [DAT](INFO): ****** received valid ping request ******
2025-08-22T05:26:34.524Z,1755840394.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:34.724Z,1755840394.724 [DAT](INFO): DAT read: 05:26:33.4228 LVL= 26944, 10353, 23282, 25555, AGC= 44, IDX= 497, 0.03, 2.402, 1.909, 0.961, 2.988, PHS=-0.484,-1.034,-2.071, RAW=  50.0,  42.3, CAL=  47.1,  47.7, ROT= 102.9, -47.7

2025-08-22T05:26:34.725Z,1755840394.725 [DAT](INFO): got valid direction response:
 05:26:33.4228 LVL= 26944, 10353, 23282, 25555, AGC= 44, IDX= 497, 0.03, 2.402, 1.909, 0.961, 2.988, PHS=-0.484,-1.034,-2.071, RAW=  50.0,  42.3, CAL=  47.1,  47.7, ROT= 102.9, -47.7

2025-08-22T05:26:34.725Z,1755840394.725 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:26:34.726Z,1755840394.726 [DAT](INFO): direction in FSK: [-0.150250,0.656026,0.739631]
2025-08-22T05:26:34.730Z,1755840394.730 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:34.730Z,1755840394.730 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:34.730Z,1755840394.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:34.976Z,1755840394.976 [DAT](INFO): DAT read: Rx Time:05:26:33.9228 

2025-08-22T05:26:34.977Z,1755840394.977 [DAT](INFO): Rx dataTimestamp_ set to:1755840394.976118
2025-08-22T05:26:34.980Z,1755840394.980 [DAT](INFO): DAT read: Bearing 299.3,  50.0 (Local)

2025-08-22T05:26:34.981Z,1755840394.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.3,  50.0 (Local)

2025-08-22T05:26:34.985Z,1755840394.985 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:34.989Z,1755840394.989 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:26:34.998Z,1755840394.998 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:34.999Z,1755840394.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:35.228Z,1755840395.228 [DAT](INFO): DAT read: 05:26:33.9228 LVL= 28096, 11633, 24914, 27059, AGC= 44, IDX= 513, 0.15, 1.211, 1.015,-0.228, 1.610, PHS=-0.297,-0.550,-1.882, RAW=  38.5,  33.2, CAL= 3,  39.7, ROT= 114.0, -39.7

2025-08-22T05:26:35.229Z,1755840395.229 [DAT](INFO): got valid direction response:
 05:26:33.9228 LVL= 28096, 11633, 24914, 27059, AGC= 44, IDX= 513, 0.15, 1.211, 1.015,-0.228, 1.610, PHS=-0.297,-0.550,-1.882, RAW=  38.5,  33.2, CAL= 3,  39.7, ROT= 114.0, -39.7

2025-08-22T05:26:35.229Z,1755840395.229 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:26:35.230Z,1755840395.230 [DAT](INFO): direction in FSK: [-0.312943,0.702881,0.638768]
2025-08-22T05:26:35.233Z,1755840395.233 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:35.233Z,1755840395.233 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:35.234Z,1755840395.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:35.480Z,1755840395.480 [DAT](INFO): DAT read: Rx Time:05:26:34.4227 

2025-08-22T05:26:35.481Z,1755840395.481 [DAT](INFO): Rx dataTimestamp_ set to:1755840395.480270
2025-08-22T05:26:35.484Z,1755840395.484 [DAT](INFO): DAT read: Bearing 282.9,  50.4 (Local)

2025-08-22T05:26:35.485Z,1755840395.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.9,  50.4 (Local)

2025-08-22T05:26:35.490Z,1755840395.490 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:35.525Z,1755840395.525 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:26:35.526Z,1755840395.526 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:35.526Z,1755840395.526 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:35.732Z,1755840395.732 [DAT](INFO): DAT read: 05:26:34.4227 LVL= 28400, 10641, 25042, 27459, AGC= 44, IDX= 512, 0.32,-0.242,-0.776,-1.688, 0.201, PHS=-0.341,-0.932,-1.933, RAW=  51.5,  39.1, CAL=  48.3,  44.9, ROT= 101.7, -44.9

2025-08-22T05:26:35.734Z,1755840395.734 [DAT](INFO): got valid direction response:
 05:26:34.4227 LVL= 28400, 10641, 25042, 27459, AGC= 44, IDX= 512, 0.32,-0.242,-0.776,-1.688, 0.201, PHS=-0.341,-0.932,-1.933, RAW=  51.5,  39.1, CAL=  48.3,  44.9, ROT= 101.7, -44.9

2025-08-22T05:26:35.734Z,1755840395.734 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:26:35.735Z,1755840395.735 [DAT](INFO): direction in FSK: [-0.143642,0.693623,0.705872]
2025-08-22T05:26:35.738Z,1755840395.738 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:35.738Z,1755840395.738 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:35.738Z,1755840395.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:35.992Z,1755840395.992 [DAT](INFO): DAT read: Rx Time:05:26:34.9228 

2025-08-22T05:26:35.993Z,1755840395.993 [DAT](INFO): Rx dataTimestamp_ set to:1755840395.992609
2025-08-22T05:26:35.997Z,1755840395.997 [DAT](INFO): DAT read: Bearing 311.8,  47.4 (Local)

2025-08-22T05:26:35.998Z,1755840395.998 [DAT](INFO): Local bearing/azimuth received:
 Bearing 311.8,  47.4 (Local)

2025-08-22T05:26:36.004Z,1755840396.004 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:36.006Z,1755840396.006 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:26:36.008Z,1755840396.008 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:36.008Z,1755840396.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:36.236Z,1755840396.236 [DAT](INFO): DAT read: 05:26:34.9228 LVL= 28464, 11649, 24498, 27347, AGC= 44, IDX= 514,-0.45,-0.209,-0.124,-1.637, 0.224, PHS=-0.331,-0.303,-1.905, RAW=  29.1,  29.5, CAL=  26.9,  34.8, ROT= 123.1, -34.8

2025-08-22T05:26:36.237Z,1755840396.237 [DAT](INFO): got valid direction response:
 05:26:34.9228 LVL= 28464, 11649, 24498, 27347, AGC= 44, IDX= 514,-0.45,-0.209,-0.124,-1.637, 0.224, PHS=-0.331,-0.303,-1.905, RAW=  29.1,  29.5, CAL=  26.9,  34.8, ROT= 123.1, -34.8

2025-08-22T05:26:36.237Z,1755840396.237 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:26:36.238Z,1755840396.238 [DAT](INFO): direction in FSK: [-0.448431,0.687892,0.570714]
2025-08-22T05:26:36.243Z,1755840396.243 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:36.243Z,1755840396.243 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:36.243Z,1755840396.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:36.489Z,1755840396.489 [DAT](INFO): DAT read: Rx Time:05:26:35.4227 

2025-08-22T05:26:36.491Z,1755840396.491 [DAT](INFO): Rx dataTimestamp_ set to:1755840396.489703
2025-08-22T05:26:36.494Z,1755840396.494 [DAT](INFO): DAT read: Bearing 302.7,  49.5 (Local)

2025-08-22T05:26:36.495Z,1755840396.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.7,  49.5 (Local)

2025-08-22T05:26:36.504Z,1755840396.504 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T05:26:36.506Z,1755840396.506 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T05:26:36.508Z,1755840396.508 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:36.508Z,1755840396.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:36.740Z,1755840396.740 [DAT](INFO): DAT read: 05:26:35.4227 LVL= 28816, 11201, 24002, 27379, AGC= 44, IDX= 513,-0.25,-2.371,-2.498, 2.489,-1.973, PHS=-0.296,-0.480,-1.865, RAW=  36.1,  32.2, CAL=  33.6,  38.2, ROT= 116.4, -38.2

2025-08-22T05:26:36.741Z,1755840396.741 [DAT](INFO): got valid direction response:
 05:26:35.4227 LVL= 28816, 11201, 24002, 27379, AGC= 44, IDX= 513,-0.25,-2.371,-2.498, 2.489,-1.973, PHS=-0.296,-0.480,-1.865, RAW=  36.1,  32.2, CAL=  33.6,  38.2, ROT= 116.4, -38.2

2025-08-22T05:26:36.741Z,1755840396.741 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T05:26:36.742Z,1755840396.742 [DAT](INFO): direction in FSK: [-0.349420,0.703901,0.618408]
2025-08-22T05:26:36.746Z,1755840396.746 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:36.746Z,1755840396.746 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:36.746Z,1755840396.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:36.992Z,1755840396.992 [DAT](INFO): DAT read: Rx Time:05:26:35.9229 

2025-08-22T05:26:36.993Z,1755840396.993 [DAT](INFO): Rx dataTimestamp_ set to:1755840396.992282
2025-08-22T05:26:36.996Z,1755840396.996 [DAT](INFO): DAT read: Bearing 290.8,  46.0 (Local)

2025-08-22T05:26:36.997Z,1755840396.997 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.8,  46.0 (Local)

2025-08-22T05:26:37.002Z,1755840397.002 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T05:26:37.053Z,1755840397.053 [DAT](INFO): DAT read: 05:26:35.9229 LVL= 28848,  8369, 20690, 26611, AGC= 46, IDX=   2,-0.11, 0.699, 0.437,-0.720, 1.304, PHS=-0.503,-0.822,-2.068, RAW=  41.1,  40.0, CAL=  38.8,  45.8, ROT= 111.2, -45.8

2025-08-22T05:26:37.054Z,1755840397.054 [DAT](INFO): got valid direction response:
 05:26:35.9229 LVL= 28848,  8369, 20690, 26611, AGC= 46, IDX=   2,-0.11, 0.699, 0.437,-0.720, 1.304, PHS=-0.503,-0.822,-2.068, RAW=  41.1,  40.0, CAL=  38.8,  45.8, ROT= 111.2, -45.8

2025-08-22T05:26:37.054Z,1755840397.054 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:26:37.059Z,1755840397.059 [DAT](INFO): direction in FSK: [-0.252112,0.649984,0.716911]
2025-08-22T05:26:37.060Z,1755840397.060 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:37.063Z,1755840397.063 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:37.068Z,1755840397.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:37.240Z,1755840397.240 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:37.241Z,1755840397.241 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:37.241Z,1755840397.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:37.496Z,1755840397.496 [DAT](INFO): DAT read: Rx Time:05:26:36.4228 

2025-08-22T05:26:37.498Z,1755840397.498 [DAT](INFO): Rx dataTimestamp_ set to:1755840397.496882
2025-08-22T05:26:37.501Z,1755840397.501 [DAT](INFO): DAT read: Bearing 285.4,  46.3 (Local)

2025-08-22T05:26:37.502Z,1755840397.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.4,  46.3 (Local)

2025-08-22T05:26:37.507Z,1755840397.507 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T05:26:37.528Z,1755840397.528 [DAT](INFO): DAT read: 05:26:36.4228 LVL= 27984, 10017, 23538, 25843, AGC= 43, IDX= 497, 0.01, 0.550, 0.153,-0.885, 1.159, PHS=-0.507,-0.962,-2.088, RAW=  46.2,  41.7, CAL=  43.6,  47.4, ROT= 106.4, -47.4

2025-08-22T05:26:37.529Z,1755840397.529 [DAT](INFO): got valid direction response:
 05:26:36.4228 LVL= 27984, 10017, 23538, 25843, AGC= 43, IDX= 497, 0.01, 0.550, 0.153,-0.885, 1.159, PHS=-0.507,-0.962,-2.088, RAW=  46.2,  41.7, CAL=  43.6,  47.4, ROT= 106.4, -47.4

2025-08-22T05:26:37.530Z,1755840397.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:26:37.531Z,1755840397.531 [DAT](INFO): direction in FSK: [-0.191110,0.649337,0.736097]
2025-08-22T05:26:37.531Z,1755840397.531 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:37.550Z,1755840397.550 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:37.551Z,1755840397.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:37.744Z,1755840397.744 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:37.744Z,1755840397.744 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:37.745Z,1755840397.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:37.997Z,1755840397.997 [DAT](INFO): DAT read: user:7499>

2025-08-22T05:26:37.997Z,1755840397.997 [DAT](INFO): Reached modem response timeout
2025-08-22T05:26:37.998Z,1755840397.998 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:26:37.998Z,1755840397.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:26:38.248Z,1755840398.248 [DAT](INFO): DAT read: 0

2025-08-22T05:26:38.248Z,1755840398.248 [DAT](INFO): unknown deviceResponse_: 0

2025-08-22T05:26:38.249Z,1755840398.249 [DAT](INFO): DAT read: Ok

2025-08-22T05:26:38.249Z,1755840398.249 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-22T05:26:38.249Z,1755840398.249 [DAT](INFO): DAT read: user:7500>

2025-08-22T05:26:38.250Z,1755840398.250 [DAT](INFO): DAT read: Tx time:05:26:37.4385

2025-08-22T05:26:38.250Z,1755840398.250 [DAT](INFO): Ping request sent.
2025-08-22T05:26:38.250Z,1755840398.250 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:38.251Z,1755840398.251 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:38.251Z,1755840398.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000868
2025-08-22T05:26:38.500Z,1755840398.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249640
2025-08-22T05:26:38.753Z,1755840398.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502004
2025-08-22T05:26:39.004Z,1755840399.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753749
2025-08-22T05:26:39.256Z,1755840399.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005754
2025-08-22T05:26:39.509Z,1755840399.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257939
2025-08-22T05:26:39.760Z,1755840399.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509855
2025-08-22T05:26:40.012Z,1755840400.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761692
2025-08-22T05:26:40.264Z,1755840400.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013691
2025-08-22T05:26:40.516Z,1755840400.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265678
2025-08-22T05:26:40.768Z,1755840400.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517592
2025-08-22T05:26:41.021Z,1755840401.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769926
2025-08-22T05:26:41.272Z,1755840401.272 [DAT](INFO): DAT read: Rx Time:05:26:39.8459

2025-08-22T05:26:41.273Z,1755840401.273 [DAT](INFO): Rx dataTimestamp_ set to:1755840401.272548
2025-08-22T05:26:41.273Z,1755840401.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022849
2025-08-22T05:26:41.527Z,1755840401.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275787
2025-08-22T05:26:41.782Z,1755840401.782 [DAT](INFO): DAT read: 05:26:39.8459 LVL= 28112,  9681, 23026, 27811, AGC= 45, IDX= 222, 0.13, 2.895, 2.555, 1.477,-2.739, PHS=-0.548,-0.944,-2.111, RAW=  44.1,  42.1, CAL=  41.7,  47.8, ROT= 108.3, -47.8

2025-08-22T05:26:41.783Z,1755840401.783 [DAT](INFO): got valid direction response:
 05:26:39.8459 LVL= 28112,  9681, 23026, 27811, AGC= 45, IDX= 222, 0.13, 2.895, 2.555, 1.477,-2.739, PHS=-0.548,-0.944,-2.111, RAW=  44.1,  42.1, CAL=  41.7,  47.8, ROT= 108.3, -47.8

2025-08-22T05:26:41.784Z,1755840401.784 [DAT](INFO): DAT read: Bearing 284.8,  45.2 (Local)

2025-08-22T05:26:41.784Z,1755840401.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.8,  45.2 (Local)

2025-08-22T05:26:41.786Z,1755840401.786 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed  0.0 m/s

2025-08-22T05:26:41.786Z,1755840401.786 [DAT](INFO): DAT read: user:7501>

2025-08-22T05:26:41.787Z,1755840401.787 [DAT](INFO): DAT read: Tx time:05:26:40.9385

2025-08-22T05:26:41.788Z,1755840401.788 [DAT](INFO): Ping request sent.
2025-08-22T05:26:41.788Z,1755840401.788 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:41.788Z,1755840401.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:26:41.789Z,1755840401.789 [DAT](INFO): direction in FSK: [-0.210915,0.637749,0.740805]
2025-08-22T05:26:41.789Z,1755840401.789 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:41.790Z,1755840401.790 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:41.793Z,1755840401.793 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:41.793Z,1755840401.793 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:44.551Z,1755840404.551 [DAT](INFO): DAT read: Rx Time:05:26:43.3458

2025-08-22T05:26:44.552Z,1755840404.552 [DAT](INFO): Rx dataTimestamp_ set to:1755840404.551288
2025-08-22T05:26:45.313Z,1755840405.313 [DAT](INFO): DAT read: 05:26:43.3458 LVL= 26224, 10977, 24706, 27827, AGC= 44, IDX= 445, 0.26, 0.843, 0.455,-0.580, 1.481, PHS=-0.536,-0.981,-2.105, RAW=  46.0,  42.5, CAL=  43.4,  48.0, ROT= 106.6, -48.0

2025-08-22T05:26:45.327Z,1755840405.327 [DAT](INFO): got valid direction response:
 05:26:43.3458 LVL= 26224, 10977, 24706, 27827, AGC= 44, IDX= 445, 0.26, 0.843, 0.455,-0.580, 1.481, PHS=-0.536,-0.981,-2.105, RAW=  46.0,  42.5, CAL=  43.4,  48.0, ROT= 106.6, -48.0

2025-08-22T05:26:45.339Z,1755840405.339 [DAT](INFO): DAT read: Bearing 280.9,  45.9 (Local)

2025-08-22T05:26:45.340Z,1755840405.340 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.9,  45.9 (Local)

2025-08-22T05:26:45.341Z,1755840405.341 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:26:45.342Z,1755840405.342 [DAT](INFO): DAT read: user:7502>

2025-08-22T05:26:45.343Z,1755840405.343 [DAT](INFO): DAT read: Tx time:05:26:44.4385

2025-08-22T05:26:45.355Z,1755840405.355 [DAT](INFO): Ping request sent.
2025-08-22T05:26:45.355Z,1755840405.355 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:45.356Z,1755840405.356 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T05:26:45.357Z,1755840405.357 [DAT](INFO): direction in FSK: [-0.191163,0.641243,0.743145]
2025-08-22T05:26:45.357Z,1755840405.357 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:45.357Z,1755840405.357 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:45.369Z,1755840405.369 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:45.369Z,1755840405.369 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:48.084Z,1755840408.084 [DAT](INFO): DAT read: Rx Time:05:26:46.8458

2025-08-22T05:26:48.084Z,1755840408.084 [DAT](INFO): Rx dataTimestamp_ set to:1755840408.083918
2025-08-22T05:26:48.846Z,1755840408.846 [DAT](INFO): DAT read: 05:26:46.8458 LVL= 28304, 10337, 23906, 27731, AGC= 45, IDX= 445, 0.46,-0.922,-1.385,-2.353,-0.317, PHS=-0.503,-1.024,-2.080, RAW=  48.9,  42.5, CAL=  46.1,  48.0, ROT= 103.9, -48.0

2025-08-22T05:26:48.847Z,1755840408.847 [DAT](INFO): got valid direction response:
 05:26:46.8458 LVL= 28304, 10337, 23906, 27731, AGC= 45, IDX= 445, 0.46,-0.922,-1.385,-2.353,-0.317, PHS=-0.503,-1.024,-2.080, RAW=  48.9,  42.5, CAL=  46.1,  48.0, ROT= 103.9, -48.0

2025-08-22T05:26:48.848Z,1755840408.848 [DAT](INFO): DAT read: Bearing 277.3,  45.6 (Local)

2025-08-22T05:26:48.848Z,1755840408.848 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.3,  45.6 (Local)

2025-08-22T05:26:48.850Z,1755840408.850 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:26:48.851Z,1755840408.851 [DAT](INFO): DAT read: user:7503>

2025-08-22T05:26:48.851Z,1755840408.851 [DAT](INFO): DAT read: Tx time:05:26:47.9384

2025-08-22T05:26:48.852Z,1755840408.852 [DAT](INFO): Ping request sent.
2025-08-22T05:26:48.852Z,1755840408.852 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:48.852Z,1755840408.852 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T05:26:48.853Z,1755840408.853 [DAT](INFO): direction in FSK: [-0.160744,0.649536,0.743145]
2025-08-22T05:26:48.853Z,1755840408.853 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:48.854Z,1755840408.854 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:48.861Z,1755840408.861 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:48.861Z,1755840408.861 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:51.615Z,1755840411.615 [DAT](INFO): DAT read: Rx Time:05:26:50.3458

2025-08-22T05:26:51.617Z,1755840411.617 [DAT](INFO): Rx dataTimestamp_ set to:1755840411.615890
2025-08-22T05:26:52.130Z,1755840412.130 [DAT](INFO): DAT read: 05:26:50.3458 LVL= 27040, 10865, 26354, 26803, AGC= 44, IDX= 446,-0.36, 2.825, 2.530, 1.401,-2.848, PHS=-0.508,-0.860,-2.078, RAW=  42.3,  40.5, CAL=  40.0,  46.4, ROT= 110.0, -46.4

2025-08-22T05:26:52.131Z,1755840412.131 [DAT](INFO): got valid direction response:
 05:26:50.3458 LVL= 27040, 10865, 26354, 26803, AGC= 44, IDX= 446,-0.36, 2.825, 2.530, 1.401,-2.848, PHS=-0.508,-0.860,-2.078, RAW=  42.3,  40.5, CAL=  40.0,  46.4, ROT= 110.0, -46.4

2025-08-22T05:26:52.132Z,1755840412.132 [DAT](INFO): DAT read: Bearing 282.6,  45.0 (Local)

2025-08-22T05:26:52.133Z,1755840412.133 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.6,  45.0 (Local)

2025-08-22T05:26:52.134Z,1755840412.134 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:26:52.137Z,1755840412.137 [DAT](INFO): DAT read: user:7504>

2025-08-22T05:26:52.140Z,1755840412.140 [DAT](INFO): DAT read: Tx time:05:26:51.4384

2025-08-22T05:26:52.141Z,1755840412.141 [DAT](INFO): Ping request sent.
2025-08-22T05:26:52.141Z,1755840412.141 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:52.141Z,1755840412.141 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T05:26:52.142Z,1755840412.142 [DAT](INFO): direction in FSK: [-0.235864,0.648030,0.724172]
2025-08-22T05:26:52.142Z,1755840412.142 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:52.143Z,1755840412.143 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:52.185Z,1755840412.185 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:52.185Z,1755840412.185 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:55.140Z,1755840415.140 [DAT](INFO): DAT read: Rx Time:05:26:53.8458

2025-08-22T05:26:55.141Z,1755840415.141 [DAT](INFO): Rx dataTimestamp_ set to:1755840415.140429
2025-08-22T05:26:55.650Z,1755840415.650 [DAT](INFO): DAT read: 05:26:53.8458 LVL= 31408,  9137, 24978, 30707, AGC= 45, IDX= 446,-0.24, 1.504, 1.366, 0.073, 2.146, PHS=-0.540,-0.734,-2.117, RAW=  36.5,  38.8, CAL=  34.3,  44.7, ROT= 115.7, -44.7

2025-08-22T05:26:55.651Z,1755840415.651 [DAT](INFO): got valid direction response:
 05:26:53.8458 LVL= 31408,  9137, 24978, 30707, AGC= 45, IDX= 446,-0.24, 1.504, 1.366, 0.073, 2.146, PHS=-0.540,-0.734,-2.117, RAW=  36.5,  38.8, CAL=  34.3,  44.7, ROT= 115.7, -44.7

2025-08-22T05:26:55.652Z,1755840415.652 [DAT](INFO): DAT read: Bearing 290.4,  43.8 (Local)

2025-08-22T05:26:55.652Z,1755840415.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.4,  43.8 (Local)

2025-08-22T05:26:55.654Z,1755840415.654 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:26:55.654Z,1755840415.654 [DAT](INFO): DAT read: user:7505>

2025-08-22T05:26:55.655Z,1755840415.655 [DAT](INFO): DAT read: Tx time:05:26:54.9384

2025-08-22T05:26:55.655Z,1755840415.655 [DAT](INFO): Ping request sent.
2025-08-22T05:26:55.656Z,1755840415.656 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:55.657Z,1755840415.657 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T05:26:55.660Z,1755840415.660 [DAT](INFO): direction in FSK: [-0.308245,0.640485,0.703395]
2025-08-22T05:26:55.661Z,1755840415.661 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:55.661Z,1755840415.661 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:55.664Z,1755840415.664 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:55.665Z,1755840415.665 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:58.676Z,1755840418.676 [DAT](INFO): DAT read: Rx Time:05:26:57.3458

2025-08-22T05:26:58.677Z,1755840418.677 [DAT](INFO): Rx dataTimestamp_ set to:1755840418.676426
2025-08-22T05:26:59.186Z,1755840419.186 [DAT](INFO): DAT read: 05:26:57.3458 LVL= 28848, 10513, 22610, 30243, AGC= 43, IDX= 446,-0.13, 0.828, 0.763,-0.557, 1.544, PHS=-0.614,-0.736,-2.145, RAW=  34.1,  40.0, CAL=  32.0,  45.6, ROT= 118.0, -45.6

2025-08-22T05:26:59.187Z,1755840419.187 [DAT](INFO): got valid direction response:
 05:26:57.3458 LVL= 28848, 10513, 22610, 30243, AGC= 43, IDX= 446,-0.13, 0.828, 0.763,-0.557, 1.544, PHS=-0.614,-0.736,-2.145, RAW=  34.1,  40.0, CAL=  32.0,  45.6, ROT= 118.0, -45.6

2025-08-22T05:26:59.188Z,1755840419.188 [DAT](INFO): DAT read: Bearing 292.1,  41.9 (Local)

2025-08-22T05:26:59.189Z,1755840419.189 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.1,  41.9 (Local)

2025-08-22T05:26:59.190Z,1755840419.190 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:26:59.191Z,1755840419.191 [DAT](INFO): DAT read: user:7506>

2025-08-22T05:26:59.192Z,1755840419.192 [DAT](INFO): DAT read: Tx time:05:26:58.4384

2025-08-22T05:26:59.192Z,1755840419.192 [DAT](INFO): Ping request sent.
2025-08-22T05:26:59.192Z,1755840419.192 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:26:59.192Z,1755840419.192 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T05:26:59.193Z,1755840419.193 [DAT](INFO): direction in FSK: [-0.328472,0.617766,0.714473]
2025-08-22T05:26:59.194Z,1755840419.194 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:59.194Z,1755840419.194 [DAT](INFO): publishing direction and range info
2025-08-22T05:26:59.197Z,1755840419.197 [DAT](INFO): publishing transmit ping time
2025-08-22T05:26:59.197Z,1755840419.197 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:02.204Z,1755840422.204 [DAT](INFO): DAT read: Rx Time:05:27:00.8458

2025-08-22T05:27:02.205Z,1755840422.205 [DAT](INFO): Rx dataTimestamp_ set to:1755840422.204589
2025-08-22T05:27:02.714Z,1755840422.714 [DAT](INFO): DAT read: 05:27:00.8458 LVL= 27248, 10929, 24946, 29987, AGC= 45, IDX= 446,-0.04,-0.011,-0.310,-1.430, 0.635, PHS=-0.544,-0.900,-2.109, RAW=  42.5,  41.5, CAL=  40.2,  47.2, ROT= 109.8, -47.2

2025-08-22T05:27:02.715Z,1755840422.715 [DAT](INFO): got valid direction response:
 05:27:00.8458 LVL= 27248, 10929, 24946, 29987, AGC= 45, IDX= 446,-0.04,-0.011,-0.310,-1.430, 0.635, PHS=-0.544,-0.900,-2.109, RAW=  42.5,  41.5, CAL=  40.2,  47.2, ROT= 109.8, -47.2

2025-08-22T05:27:02.716Z,1755840422.716 [DAT](INFO): DAT read: Bearing 282.6,  45.0 (Local)

2025-08-22T05:27:02.716Z,1755840422.716 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.6,  45.0 (Local)

2025-08-22T05:27:02.718Z,1755840422.718 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed  0.0 m/s

2025-08-22T05:27:02.719Z,1755840422.719 [DAT](INFO): DAT read: user:7507>

2025-08-22T05:27:02.720Z,1755840422.720 [DAT](INFO): DAT read: Tx time:05:27:01.9384

2025-08-22T05:27:02.720Z,1755840422.720 [DAT](INFO): Ping request sent.
2025-08-22T05:27:02.720Z,1755840422.720 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:27:02.721Z,1755840422.721 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T05:27:02.722Z,1755840422.722 [DAT](INFO): direction in FSK: [-0.230153,0.639273,0.733730]
2025-08-22T05:27:02.722Z,1755840422.722 [DAT](INFO): publishing transmit ping time
2025-08-22T05:27:02.722Z,1755840422.722 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:02.726Z,1755840422.726 [DAT](INFO): publishing transmit ping time
2025-08-22T05:27:02.726Z,1755840422.726 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:05.733Z,1755840425.733 [DAT](INFO): DAT read: Rx Time:05:27:04.3458

2025-08-22T05:27:05.733Z,1755840425.733 [DAT](INFO): Rx dataTimestamp_ set to:1755840425.732701
2025-08-22T05:27:06.242Z,1755840426.242 [DAT](INFO): DAT read: 05:27:04.3458 LVL= 28256, 11105, 23442, 28083, AGC= 45, IDX= 446, 0.12, 0.247,-0.243,-1.189, 0.884, PHS=-0.535,-1.082,-2.117, RAW=  49.9,  43.5, CAL=  47.1,  48.8, ROT= 102.9, -48.8

2025-08-22T05:27:06.243Z,1755840426.243 [DAT](INFO): got valid direction response:
 05:27:04.3458 LVL= 28256, 11105, 23442, 28083, AGC= 45, IDX= 446, 0.12, 0.247,-0.243,-1.189, 0.884, PHS=-0.535,-1.082,-2.117, RAW=  49.9,  43.5, CAL=  47.1,  48.8, ROT= 102.9, -48.8

2025-08-22T05:27:06.244Z,1755840426.244 [DAT](INFO): DAT read: Bearing 274.8,  44.8 (Local)

2025-08-22T05:27:06.245Z,1755840426.245 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.8,  44.8 (Local)

2025-08-22T05:27:06.246Z,1755840426.246 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed  0.0 m/s

2025-08-22T05:27:06.247Z,1755840426.247 [DAT](INFO): DAT read: user:7508>

2025-08-22T05:27:06.248Z,1755840426.248 [DAT](INFO): DAT read: Tx time:05:27:05.4383

2025-08-22T05:27:06.248Z,1755840426.248 [DAT](INFO): Ping request sent.
2025-08-22T05:27:06.248Z,1755840426.248 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:27:06.248Z,1755840426.248 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T05:27:06.249Z,1755840426.249 [DAT](INFO): direction in FSK: [-0.147053,0.642065,0.752415]
2025-08-22T05:27:06.250Z,1755840426.250 [DAT](INFO): publishing transmit ping time
2025-08-22T05:27:06.250Z,1755840426.250 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:06.254Z,1755840426.254 [DAT](INFO): publishing transmit ping time
2025-08-22T05:27:06.255Z,1755840426.255 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:09.261Z,1755840429.261 [DAT](INFO): DAT read: Rx Time:05:27:07.8457

2025-08-22T05:27:09.262Z,1755840429.262 [DAT](INFO): Rx dataTimestamp_ set to:1755840429.261171
2025-08-22T05:27:09.772Z,1755840429.772 [DAT](INFO): DAT read: 05:27:07.8457 LVL= 29280, 11585, 26226, 29411, AGC= 44, IDX= 445, 0.22,-2.108,-2.526, 2.755,-1.474, PHS=-0.533,-1.008,-2.098, RAW=  47.2,  42.8, CAL=  44.6,  48.2, ROT= 105.4, -48.2

2025-08-22T05:27:09.774Z,1755840429.774 [DAT](INFO): got valid direction response:
 05:27:07.8457 LVL= 29280, 11585, 26226, 29411, AGC= 44, IDX= 445, 0.22,-2.108,-2.526, 2.755,-1.474, PHS=-0.533,-1.008,-2.098, RAW=  47.2,  42.8, CAL=  44.6,  48.2, ROT= 105.4, -48.2

2025-08-22T05:27:09.776Z,1755840429.776 [DAT](INFO): DAT read: Bearing 279.7,  46.2 (Local)

2025-08-22T05:27:09.776Z,1755840429.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.7,  46.2 (Local)

2025-08-22T05:27:09.778Z,1755840429.778 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:27:09.779Z,1755840429.779 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T05:27:09.780Z,1755840429.780 [DAT](INFO): direction in FSK: [-0.177002,0.642601,0.745476]
2025-08-22T05:27:09.781Z,1755840429.781 [DAT](INFO): publishing direction and range info
2025-08-22T05:27:27.269Z,1755840447.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,       9.27,    ,   8.85,  0.00
2025-08-22T05:28:05.631Z,1755840485.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:28:05.768Z,1755840485.768 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:28:05.769Z,1755840485.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:28:06.020Z,1755840486.020 [DAT](INFO): DAT read: user:7509>

2025-08-22T05:28:06.021Z,1755840486.021 [DAT](INFO): DAT read: Tx time:05:28:05.1880

2025-08-22T05:28:06.021Z,1755840486.021 [DAT](INFO): Ping request sent.
2025-08-22T05:28:06.021Z,1755840486.021 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:28:06.021Z,1755840486.021 [DAT](INFO): publishing transmit ping time
2025-08-22T05:28:06.022Z,1755840486.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000817
2025-08-22T05:28:06.272Z,1755840486.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923
2025-08-22T05:28:06.524Z,1755840486.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502926
2025-08-22T05:28:06.784Z,1755840486.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762216
2025-08-22T05:28:07.032Z,1755840487.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010915
2025-08-22T05:28:07.284Z,1755840487.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262833
2025-08-22T05:28:07.536Z,1755840487.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514953
2025-08-22T05:28:07.788Z,1755840487.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766997
2025-08-22T05:28:08.041Z,1755840488.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019242
2025-08-22T05:28:08.292Z,1755840488.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270985
2025-08-22T05:28:08.544Z,1755840488.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522896
2025-08-22T05:28:08.800Z,1755840488.800 [DAT](INFO): DAT read: Rx Time:05:28:07.5955

2025-08-22T05:28:08.801Z,1755840488.801 [DAT](INFO): Rx dataTimestamp_ set to:1755840488.800642
2025-08-22T05:28:08.808Z,1755840488.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781616
2025-08-22T05:28:09.048Z,1755840489.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026977
2025-08-22T05:28:09.300Z,1755840489.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279006
2025-08-22T05:28:09.558Z,1755840489.558 [DAT](INFO): DAT read: 05:28:07.5955 LVL= 27008, 11105, 24050, 27363, AGC= 43, IDX= 446, 0.09,-0.864,-1.322,-2.294,-0.240, PHS=-0.522,-1.038,-2.099, RAW=  48.7,  42.9, CAL=  46.0,  48.3, ROT= 104.0, -48.3

2025-08-22T05:28:09.559Z,1755840489.559 [DAT](INFO): got valid direction response:
 05:28:07.5955 LVL= 27008, 11105, 24050, 27363, AGC= 43, IDX= 446, 0.09,-0.864,-1.322,-2.294,-0.240, PHS=-0.522,-1.038,-2.099, RAW=  48.7,  42.9, CAL=  46.0,  48.3, ROT= 104.0, -48.3

2025-08-22T05:28:09.560Z,1755840489.560 [DAT](INFO): DAT read: Bearing 278.0,  46.4 (Local)

2025-08-22T05:28:09.560Z,1755840489.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.0,  46.4 (Local)

2025-08-22T05:28:09.562Z,1755840489.562 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed  0.0 m/s

2025-08-22T05:28:09.562Z,1755840489.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:28:09.564Z,1755840489.564 [DAT](INFO): direction in FSK: [-0.160934,0.645470,0.746638]
2025-08-22T05:28:09.564Z,1755840489.564 [DAT](INFO): publishing direction and range info
2025-08-22T05:29:11.909Z,1755840551.909 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   +14,   
2025-08-22T05:30:05.640Z,1755840605.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:30:05.864Z,1755840605.864 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:30:05.864Z,1755840605.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:30:06.116Z,1755840606.116 [DAT](INFO): DAT read: user:7510>

2025-08-22T05:30:06.117Z,1755840606.117 [DAT](INFO): DAT read: Tx time:05:30:05.2874

2025-08-22T05:30:06.117Z,1755840606.117 [DAT](INFO): Ping request sent.
2025-08-22T05:30:06.117Z,1755840606.117 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:30:06.118Z,1755840606.118 [DAT](INFO): publishing transmit ping time
2025-08-22T05:30:06.118Z,1755840606.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-22T05:30:06.369Z,1755840606.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251144
2025-08-22T05:30:06.620Z,1755840606.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923
2025-08-22T05:30:06.872Z,1755840606.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825
2025-08-22T05:30:07.125Z,1755840607.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007131
2025-08-22T05:30:07.376Z,1755840607.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004
2025-08-22T05:30:07.628Z,1755840607.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510829
2025-08-22T05:30:07.880Z,1755840607.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763103
2025-08-22T05:30:08.133Z,1755840608.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015314
2025-08-22T05:30:08.384Z,1755840608.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266806
2025-08-22T05:30:08.637Z,1755840608.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519686
2025-08-22T05:30:08.888Z,1755840608.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969
2025-08-22T05:30:09.143Z,1755840609.143 [DAT](INFO): DAT read: Rx Time:05:30:07.6947

2025-08-22T05:30:09.144Z,1755840609.144 [DAT](INFO): Rx dataTimestamp_ set to:1755840609.143580
2025-08-22T05:30:09.145Z,1755840609.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027059
2025-08-22T05:30:09.392Z,1755840609.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274830
2025-08-22T05:30:09.649Z,1755840609.649 [DAT](INFO): DAT read: 05:30:07.6947 LVL= 28464, 10225, 25378, 28147, AGC= 45, IDX= 446,-0.24,-2.128,-2.317, 2.751,-1.472, PHS=-0.554,-0.800,-2.104, RAW=  38.5,  40.3, CAL=  36.3,  46.0, ROT= 113.7, -46.0

2025-08-22T05:30:09.651Z,1755840609.651 [DAT](INFO): got valid direction response:
 05:30:07.6947 LVL= 28464, 10225, 25378, 28147, AGC= 45, IDX= 446,-0.24,-2.128,-2.317, 2.751,-1.472, PHS=-0.554,-0.800,-2.104, RAW=  38.5,  40.3, CAL=  36.3,  46.0, ROT= 113.7, -46.0

2025-08-22T05:30:09.652Z,1755840609.652 [DAT](INFO): DAT read: Bearing 297.0,  45.2 (Local)

2025-08-22T05:30:09.652Z,1755840609.652 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.0,  45.2 (Local)

2025-08-22T05:30:09.653Z,1755840609.653 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:30:09.654Z,1755840609.654 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:30:09.655Z,1755840609.655 [DAT](INFO): direction in FSK: [-0.279216,0.636073,0.719340]
2025-08-22T05:30:09.655Z,1755840609.655 [DAT](INFO): publishing direction and range info
2025-08-22T05:32:06.039Z,1755840726.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:32:06.209Z,1755840726.209 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:32:06.209Z,1755840726.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:32:06.462Z,1755840726.462 [DAT](INFO): DAT read: user:7511>

2025-08-22T05:32:06.463Z,1755840726.463 [DAT](INFO): DAT read: Tx time:05:32:05.6368

2025-08-22T05:32:06.463Z,1755840726.463 [DAT](INFO): Ping request sent.
2025-08-22T05:32:06.464Z,1755840726.464 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:32:06.464Z,1755840726.464 [DAT](INFO): publishing transmit ping time
2025-08-22T05:32:06.464Z,1755840726.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000853
2025-08-22T05:32:06.713Z,1755840726.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249087
2025-08-22T05:32:06.965Z,1755840726.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500938
2025-08-22T05:32:07.218Z,1755840727.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754122
2025-08-22T05:32:07.468Z,1755840727.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004610
2025-08-22T05:32:07.721Z,1755840727.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257342
2025-08-22T05:32:07.972Z,1755840727.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508754
2025-08-22T05:32:08.224Z,1755840728.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760640
2025-08-22T05:32:08.477Z,1755840728.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013049
2025-08-22T05:32:08.728Z,1755840728.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264671
2025-08-22T05:32:08.980Z,1755840728.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516616
2025-08-22T05:32:09.233Z,1755840729.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769020
2025-08-22T05:32:09.484Z,1755840729.484 [DAT](INFO): DAT read: Rx Time:05:32:08.0441

2025-08-22T05:32:09.485Z,1755840729.485 [DAT](INFO): Rx dataTimestamp_ set to:1755840729.484530
2025-08-22T05:32:09.485Z,1755840729.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021815
2025-08-22T05:32:09.737Z,1755840729.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272984
2025-08-22T05:32:09.994Z,1755840729.994 [DAT](INFO): DAT read: 05:32:08.0441 LVL= 30240,  9921, 27970, 31731, AGC= 45, IDX= 445, 0.15, 1.969, 1.500, 0.522, 2.589, PHS=-0.518,-1.043,-2.110, RAW=  48.9,  42.7, CAL=  46.1,  48.2, ROT= 103.9, -48.2

2025-08-22T05:32:09.995Z,1755840729.995 [DAT](INFO): got valid direction response:
 05:32:08.0441 LVL= 30240,  9921, 27970, 31731, AGC= 45, IDX= 445, 0.15, 1.969, 1.500, 0.522, 2.589, PHS=-0.518,-1.043,-2.110, RAW=  48.9,  42.7, CAL=  46.1,  48.2, ROT= 103.9, -48.2

2025-08-22T05:32:09.996Z,1755840729.996 [DAT](INFO): DAT read: Bearing 283.5,  46.2 (Local)

2025-08-22T05:32:09.996Z,1755840729.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.5,  46.2 (Local)

2025-08-22T05:32:09.997Z,1755840729.997 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:32:09.998Z,1755840729.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:32:09.999Z,1755840729.999 [DAT](INFO): direction in FSK: [-0.160120,0.647014,0.745476]
2025-08-22T05:32:09.999Z,1755840729.999 [DAT](INFO): publishing direction and range info
2025-08-22T05:34:06.443Z,1755840846.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:34:06.504Z,1755840846.504 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:34:06.505Z,1755840846.505 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:34:06.756Z,1755840846.756 [DAT](INFO): DAT read: user:7512>

2025-08-22T05:34:06.757Z,1755840846.757 [DAT](INFO): DAT read: Tx time:05:34:05.8864

2025-08-22T05:34:06.757Z,1755840846.757 [DAT](INFO): Ping request sent.
2025-08-22T05:34:06.757Z,1755840846.757 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:34:06.758Z,1755840846.758 [DAT](INFO): publishing transmit ping time
2025-08-22T05:34:06.758Z,1755840846.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000835
2025-08-22T05:34:07.008Z,1755840847.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250879
2025-08-22T05:34:07.260Z,1755840847.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502937
2025-08-22T05:34:07.513Z,1755840847.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755748
2025-08-22T05:34:07.764Z,1755840847.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846
2025-08-22T05:34:08.016Z,1755840848.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258786
2025-08-22T05:34:08.268Z,1755840848.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510897
2025-08-22T05:34:08.521Z,1755840848.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763269
2025-08-22T05:34:08.772Z,1755840848.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015075
2025-08-22T05:34:09.025Z,1755840849.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267249
2025-08-22T05:34:09.278Z,1755840849.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520619
2025-08-22T05:34:09.528Z,1755840849.528 [DAT](INFO): DAT read: Rx Time:05:34:08.2938

2025-08-22T05:34:09.529Z,1755840849.529 [DAT](INFO): Rx dataTimestamp_ set to:1755840849.528683
2025-08-22T05:34:09.529Z,1755840849.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772176
2025-08-22T05:34:09.784Z,1755840849.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025967
2025-08-22T05:34:10.034Z,1755840850.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276559
2025-08-22T05:34:10.293Z,1755840850.293 [DAT](INFO): DAT read: 05:34:08.2938 LVL= 28784, 11041, 25058, 28723, AGC= 45, IDX= 446, 0.04, 0.753, 0.185,-0.684, 1.354, PHS=-0.499,-1.123,-2.081, RAW=  53.1,  43.5, CAL=  50.0,  48.7, ROT= 100.0, -48.7

2025-08-22T05:34:10.294Z,1755840850.294 [DAT](INFO): got valid direction response:
 05:34:08.2938 LVL= 28784, 11041, 25058, 28723, AGC= 45, IDX= 446, 0.04, 0.753, 0.185,-0.684, 1.354, PHS=-0.499,-1.123,-2.081, RAW=  53.1,  43.5, CAL=  50.0,  48.7, ROT= 100.0, -48.7

2025-08-22T05:34:10.295Z,1755840850.295 [DAT](INFO): DAT read: Bearing 280.0,  46.4 (Local)

2025-08-22T05:34:10.296Z,1755840850.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.0,  46.4 (Local)

2025-08-22T05:34:10.297Z,1755840850.297 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.3 ms) speed  0.0 m/s

2025-08-22T05:34:10.298Z,1755840850.298 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:34:10.299Z,1755840850.299 [DAT](INFO): direction in FSK: [-0.114608,0.649975,0.751264]
2025-08-22T05:34:10.299Z,1755840850.299 [DAT](INFO): publishing direction and range info
2025-08-22T05:34:14.536Z,1755840854.536 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T05:24:14.1Z
2025-08-22T05:34:14.536Z,1755840854.536 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T05:34:14.536Z,1755840854.536 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:34:14.536Z,1755840854.536 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T05:34:14.536Z,1755840854.536 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:34:14.537Z,1755840854.537 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T05:34:14.904Z,1755840854.904 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T05:34:14.904Z,1755840854.904 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T05:34:14.904Z,1755840854.904 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T05:34:14.904Z,1755840854.904 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:34:14.905Z,1755840854.905 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T05:36:06.907Z,1755840966.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:36:07.102Z,1755840967.102 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:36:07.102Z,1755840967.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:36:07.352Z,1755840967.352 [DAT](INFO): DAT read: user:7513>

2025-08-22T05:36:07.353Z,1755840967.353 [DAT](INFO): DAT read: Tx time:05:36:06.4860

2025-08-22T05:36:07.353Z,1755840967.353 [DAT](INFO): Ping request sent.
2025-08-22T05:36:07.353Z,1755840967.353 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:36:07.354Z,1755840967.354 [DAT](INFO): publishing transmit ping time
2025-08-22T05:36:07.354Z,1755840967.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-22T05:36:07.604Z,1755840967.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250728
2025-08-22T05:36:07.859Z,1755840967.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505007
2025-08-22T05:36:08.108Z,1755840968.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754919
2025-08-22T05:36:08.360Z,1755840968.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006718
2025-08-22T05:36:08.612Z,1755840968.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258787
2025-08-22T05:36:08.879Z,1755840968.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513122
2025-08-22T05:36:09.116Z,1755840969.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777
2025-08-22T05:36:09.368Z,1755840969.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015052
2025-08-22T05:36:09.620Z,1755840969.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266865
2025-08-22T05:36:09.874Z,1755840969.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520448
2025-08-22T05:36:10.125Z,1755840970.125 [DAT](INFO): DAT read: Rx Time:05:36:08.8933

2025-08-22T05:36:10.126Z,1755840970.126 [DAT](INFO): Rx dataTimestamp_ set to:1755840970.125355
2025-08-22T05:36:10.127Z,1755840970.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773052
2025-08-22T05:36:10.376Z,1755840970.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022865
2025-08-22T05:36:10.631Z,1755840970.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276768
2025-08-22T05:36:10.925Z,1755840970.925 [DAT](INFO): DAT read: 05:36:08.8933 LVL= 29776, 10801, 23858, 28787, AGC= 44, IDX= 445, 0.17,-0.686,-1.123,-2.096,-0.024, PHS=-0.560,-1.054,-2.116, RAW=  48.1,  43.8, CAL=  45.4,  49.1, ROT= 104.6, -49.1

2025-08-22T05:36:10.926Z,1755840970.926 [DAT](INFO): got valid direction response:
 05:36:08.8933 LVL= 29776, 10801, 23858, 28787, AGC= 44, IDX= 445, 0.17,-0.686,-1.123,-2.096,-0.024, PHS=-0.560,-1.054,-2.116, RAW=  48.1,  43.8, CAL=  45.4,  49.1, ROT= 104.6, -49.1

2025-08-22T05:36:10.927Z,1755840970.927 [DAT](INFO): DAT read: Bearing 284.0,  44.5 (Local)

2025-08-22T05:36:10.927Z,1755840970.927 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.0,  44.5 (Local)

2025-08-22T05:36:10.949Z,1755840970.949 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:36:10.950Z,1755840970.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:36:10.951Z,1755840970.951 [DAT](INFO): direction in FSK: [-0.165040,0.633599,0.755853]
2025-08-22T05:36:10.951Z,1755840970.951 [DAT](INFO): publishing direction and range info
2025-08-22T05:38:07.206Z,1755841087.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:38:07.392Z,1755841087.392 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:38:07.392Z,1755841087.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:38:07.646Z,1755841087.646 [DAT](INFO): DAT read: user:7514>

2025-08-22T05:38:07.648Z,1755841087.648 [DAT](INFO): DAT read: Tx time:05:38:06.7858

2025-08-22T05:38:07.649Z,1755841087.649 [DAT](INFO): Ping request sent.
2025-08-22T05:38:07.649Z,1755841087.649 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:38:07.650Z,1755841087.650 [DAT](INFO): publishing transmit ping time
2025-08-22T05:38:07.652Z,1755841087.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002146
2025-08-22T05:38:07.896Z,1755841087.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247528
2025-08-22T05:38:08.149Z,1755841088.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499706
2025-08-22T05:38:08.400Z,1755841088.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751299
2025-08-22T05:38:08.656Z,1755841088.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006623
2025-08-22T05:38:08.905Z,1755841088.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256173
2025-08-22T05:38:09.157Z,1755841089.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507627
2025-08-22T05:38:09.408Z,1755841089.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759241
2025-08-22T05:38:09.663Z,1755841089.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013389
2025-08-22T05:38:09.912Z,1755841089.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263225
2025-08-22T05:38:10.169Z,1755841090.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520172
2025-08-22T05:38:10.424Z,1755841090.424 [DAT](INFO): DAT read: Rx Time:05:38:09.1931

2025-08-22T05:38:10.424Z,1755841090.424 [DAT](INFO): Rx dataTimestamp_ set to:1755841090.423942
2025-08-22T05:38:10.425Z,1755841090.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775823
2025-08-22T05:38:10.674Z,1755841090.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025131
2025-08-22T05:38:10.927Z,1755841090.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277626
2025-08-22T05:38:11.183Z,1755841091.183 [DAT](INFO): DAT read: 05:38:09.1931 LVL= 27840, 10033, 23234, 26691, AGC= 44, IDX= 445, 0.09,-0.410,-0.896,-1.840, 0.216, PHS=-0.524,-1.067,-2.100, RAW=  49.8,  43.3, CAL=  47.0,  48.6, ROT= 103.0, -48.6

2025-08-22T05:38:11.184Z,1755841091.184 [DAT](INFO): got valid direction response:
 05:38:09.1931 LVL= 27840, 10033, 23234, 26691, AGC= 44, IDX= 445, 0.09,-0.410,-0.896,-1.840, 0.216, PHS=-0.524,-1.067,-2.100, RAW=  49.8,  43.3, CAL=  47.0,  48.6, ROT= 103.0, -48.6

2025-08-22T05:38:11.185Z,1755841091.185 [DAT](INFO): DAT read: Bearing 278.8,  45.7 (Local)

2025-08-22T05:38:11.185Z,1755841091.185 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.8,  45.7 (Local)

2025-08-22T05:38:11.186Z,1755841091.186 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T05:38:11.187Z,1755841091.187 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:38:11.188Z,1755841091.188 [DAT](INFO): direction in FSK: [-0.148763,0.644363,0.750111]
2025-08-22T05:38:11.188Z,1755841091.188 [DAT](INFO): publishing direction and range info
2025-08-22T05:39:43.370Z,1755841183.370 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file).
2025-08-22T05:39:48.250Z,1755841188.250 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-22T05:39:48.250Z,1755841188.250 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-22T05:39:48.250Z,1755841188.250 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-22T05:39:48.336Z,1755841188.336 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-22T05:39:48.614Z,1755841188.614 [RDI_Pathfinder](INFO): Powering down
2025-08-22T05:39:49.524Z,1755841189.524 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-22T05:39:49.524Z,1755841189.524 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-22T05:39:49.830Z,1755841189.830 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-22T05:40:07.225Z,1755841207.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T05:40:07.448Z,1755841207.448 [DAT](DEBUG): Acoustic response timeout
2025-08-22T05:40:07.448Z,1755841207.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T05:40:07.700Z,1755841207.700 [DAT](INFO): DAT read: user:7515>

2025-08-22T05:40:07.701Z,1755841207.701 [DAT](INFO): DAT read: Tx time:05:40:06.8357

2025-08-22T05:40:07.702Z,1755841207.702 [DAT](INFO): Ping request sent.
2025-08-22T05:40:07.702Z,1755841207.702 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:40:07.702Z,1755841207.702 [DAT](INFO): publishing transmit ping time
2025-08-22T05:40:07.702Z,1755841207.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756
2025-08-22T05:40:07.952Z,1755841207.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250571
2025-08-22T05:40:08.204Z,1755841208.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502522
2025-08-22T05:40:08.457Z,1755841208.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921
2025-08-22T05:40:08.708Z,1755841208.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006588
2025-08-22T05:40:08.960Z,1755841208.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258567
2025-08-22T05:40:09.213Z,1755841209.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510989
2025-08-22T05:40:09.464Z,1755841209.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762583
2025-08-22T05:40:09.725Z,1755841209.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023580
2025-08-22T05:40:09.976Z,1755841209.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274757
2025-08-22T05:40:10.228Z,1755841210.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526631
2025-08-22T05:40:10.480Z,1755841210.480 [DAT](INFO): DAT read: Rx Time:05:40:09.2429

2025-08-22T05:40:10.481Z,1755841210.481 [DAT](INFO): Rx dataTimestamp_ set to:1755841210.480512
2025-08-22T05:40:10.481Z,1755841210.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779670
2025-08-22T05:40:10.733Z,1755841210.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030852
2025-08-22T05:40:10.987Z,1755841210.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284685
2025-08-22T05:40:11.241Z,1755841211.241 [DAT](INFO): DAT read: 05:40:09.2429 LVL= 28368, 10561, 26482, 29587, AGC= 44, IDX= 445,-0.45,-0.243,-0.564,-1.634, 0.417, PHS=-0.558,-0.936,-2.096, RAW=  43.6,  42.4, CAL=  41.3,  48.0, ROT= 108.7, -48.0

2025-08-22T05:40:11.243Z,1755841211.243 [DAT](INFO): got valid direction response:
 05:40:09.2429 LVL= 28368, 10561, 26482, 29587, AGC= 44, IDX= 445,-0.45,-0.243,-0.564,-1.634, 0.417, PHS=-0.558,-0.936,-2.096, RAW=  43.6,  42.4, CAL=  41.3,  48.0, ROT= 108.7, -48.0

2025-08-22T05:40:11.243Z,1755841211.243 [DAT](INFO): DAT read: Bearing 286.5,  44.6 (Local)

2025-08-22T05:40:11.244Z,1755841211.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.5,  44.6 (Local)

2025-08-22T05:40:11.245Z,1755841211.245 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m  (Round-trip  3.1 ms) speed  0.0 m/s

2025-08-22T05:40:11.246Z,1755841211.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T05:40:11.247Z,1755841211.247 [DAT](INFO): direction in FSK: [-0.214532,0.633807,0.743145]
2025-08-22T05:40:11.247Z,1755841211.247 [DAT](INFO): publishing direction and range info
2025-08-22T05:40:48.020Z,1755841248.020 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022709280738,35.0, +10.5,491.8,  0
2025-08-22T05:41:07.447Z,1755841267.447 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-08-22T05:26:07.3Z
2025-08-22T05:41:07.447Z,1755841267.447 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-22T05:41:07.448Z,1755841267.448 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-22T05:41:07.448Z,1755841267.448 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T05:41:07.449Z,1755841267.449 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T05:41:07.826Z,1755841267.826 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-22T05:41:08.267Z,1755841268.267 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-22T05:41:08.267Z,1755841268.267 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-22T05:41:08.267Z,1755841268.267 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-22T05:41:08.267Z,1755841268.267 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-22T05:41:08.268Z,1755841268.268 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-22T05:41:08.627Z,1755841268.627 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-22T05:41:08.628Z,1755841268.628 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-22T05:41:08.629Z,1755841268.629 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-22T05:41:08.629Z,1755841268.629 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-22T05:41:08.629Z,1755841268.629 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-22T05:41:08.629Z,1755841268.629 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-22T05:41:08.629Z,1755841268.629 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-22T05:41:09.034Z,1755841269.034 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-22T05:41:09.035Z,1755841269.035 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-22T05:41:09.035Z,1755841269.035 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-22T05:41:09.035Z,1755841269.035 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-22T05:41:09.035Z,1755841269.035 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-22T05:41:09.055Z,1755841269.055 [lineCaptureHoming:Lap] Stopped
2025-08-22T05:41:09.056Z,1755841269.056 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-22T05:41:09.065Z,1755841269.065 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-22T05:41:09.065Z,1755841269.065 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-22T05:41:09.065Z,1755841269.065 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-22T05:41:09.065Z,1755841269.065 [lineCaptureHoming] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:B] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:C] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:E] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-22T05:41:09.066Z,1755841269.066 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T05:41:09.067Z,1755841269.067 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T05:41:09.067Z,1755841269.067 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T05:41:09.067Z,1755841269.067 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T05:41:09.067Z,1755841269.067 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T05:41:09.067Z,1755841269.067 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T05:41:09.071Z,1755841269.071 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T05:41:09.071Z,1755841269.071 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T05:41:09.071Z,1755841269.071 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T05:41:09.072Z,1755841269.072 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T05:41:09.072Z,1755841269.072 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T05:41:09.072Z,1755841269.072 [lineCaptureHoming:TrackAC.] Stopped
2025-08-22T05:41:09.072Z,1755841269.072 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T05:41:09.114Z,1755841269.114 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-08-22T05:41:09.403Z,1755841269.403 [WetLabsBB2FL](INFO): Powering down
2025-08-22T05:41:09.419Z,1755841269.419 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-22T05:41:09.420Z,1755841269.420 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-22T05:41:09.427Z,1755841269.427 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-22T05:41:09.512Z,1755841269.512 [DAT](INFO): DAT read: user:7516>

2025-08-22T05:41:09.513Z,1755841269.513 [DAT](INFO): DAT read: Tx time:05:41:08.6846

2025-08-22T05:41:09.513Z,1755841269.513 [DAT](INFO): Ping request sent.
2025-08-22T05:41:09.513Z,1755841269.513 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:41:09.513Z,1755841269.513 [DAT](INFO): publishing transmit ping time
2025-08-22T05:41:11.780Z,1755841271.780 [DAT](INFO): DAT read: Rx Time:05:41:10.5732

2025-08-22T05:41:11.781Z,1755841271.781 [DAT](INFO): Rx dataTimestamp_ set to:1755841271.780569
2025-08-22T05:41:12.543Z,1755841272.543 [DAT](INFO): DAT read: 05:41:10.5732 LVL= 25824, 12273, 25922, 29587, AGC= 45, IDX= 260,-0.43,-0.852,-1.181,-2.249,-0.211, PHS=-0.539,-0.925,-2.082, RAW=  43.9,  42.0, CAL=  41.5,  47.7, ROT= 108.5, -47.7

2025-08-22T05:41:12.544Z,1755841272.544 [DAT](INFO): got valid direction response:
 05:41:10.5732 LVL= 25824, 12273, 25922, 29587, AGC= 45, IDX= 260,-0.43,-0.852,-1.181,-2.249,-0.211, PHS=-0.539,-0.925,-2.082, RAW=  43.9,  42.0, CAL=  41.5,  47.7, ROT= 108.5, -47.7

2025-08-22T05:41:12.544Z,1755841272.544 [DAT](INFO): DAT read: OK

2025-08-22T05:41:12.545Z,1755841272.545 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T05:41:12.545Z,1755841272.545 [DAT](INFO): DAT read: user:7517>

2025-08-22T05:41:12.546Z,1755841272.546 [DAT](INFO): DAT read: Tx time:05:41:11.6860

2025-08-22T05:41:12.546Z,1755841272.546 [DAT](INFO): Ping request sent.
2025-08-22T05:41:12.546Z,1755841272.546 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:41:12.546Z,1755841272.546 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T05:41:12.548Z,1755841272.548 [DAT](INFO): direction in FSK: [-0.213550,0.638234,0.739631]
2025-08-22T05:41:12.548Z,1755841272.548 [DAT](INFO): publishing transmit ping time
2025-08-22T05:41:12.551Z,1755841272.551 [DAT](INFO): publishing transmit ping time
2025-08-22T05:41:14.534Z,1755841274.534 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-22T05:41:14.540Z,1755841274.540 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-22T05:41:14.543Z,1755841274.543 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-22T05:41:14.570Z,1755841274.570 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-22T05:41:14.583Z,1755841274.583 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-22T05:41:14.585Z,1755841274.585 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-22T05:41:14.587Z,1755841274.587 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-22T05:41:14.590Z,1755841274.590 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-22T05:41:14.592Z,1755841274.592 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-22T05:41:14.594Z,1755841274.594 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-22T05:41:14.630Z,1755841274.630 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-22T05:41:14.638Z,1755841274.638 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-22T05:41:14.640Z,1755841274.640 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-22T05:41:14.642Z,1755841274.642 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-22T05:41:14.643Z,1755841274.643 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:41:14.643Z,1755841274.643 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:41:14.644Z,1755841274.644 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T05:41:14.737Z,1755841274.737 [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>

2025-08-22T05:41:14.742Z,1755841274.742 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T05:41:14.746Z,1755841274.746 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T05:41:14.748Z,1755841274.748 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T05:41:14.751Z,1755841274.751 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T05:41:14.752Z,1755841274.752 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T05:41:14.804Z,1755841274.804 [DAT](INFO): DAT read: Rx Time:05:41:13.5733

2025-08-22T05:41:14.805Z,1755841274.805 [DAT](INFO): Rx dataTimestamp_ set to:1755841274.804367
2025-08-22T05:41:14.828Z,1755841274.828 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T05:41:14.842Z,1755841274.842 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T05:41:14.866Z,1755841274.866 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-22T05:41:14.866Z,1755841274.866 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-22T05:41:14.876Z,1755841274.876 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-22T05:41:14.918Z,1755841274.918 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-22T05:41:14.921Z,1755841274.921 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-22T05:41:14.924Z,1755841274.924 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-22T05:41:14.926Z,1755841274.926 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-22T05:41:14.926Z,1755841274.926 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-22T05:41:14.927Z,1755841274.927 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-22T05:41:15.065Z,1755841275.065 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-22T05:41:15.072Z,1755841275.072 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-22T05:41:15.074Z,1755841275.074 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-22T05:41:15.077Z,1755841275.077 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-22T05:41:15.079Z,1755841275.079 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-22T05:41:15.081Z,1755841275.081 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-22T05:41:15.089Z,1755841275.089 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-22T05:41:15.093Z,1755841275.093 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-22T05:41:15.095Z,1755841275.095 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T05:41:15.095Z,1755841275.095 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T05:41:15.100Z,1755841275.100 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T05:41:15.565Z,1755841275.565 [DAT](INFO): DAT read: 05:41:13.5733 LVL= 28736, 11025, 25522, 30163, AGC= 43, IDX= 420, 0.35, 0.828, 0.360,-0.586, 1.488, PHS=-0.558,-1.083,-2.119, RAW=  49.3,  44.0, CAL=  46.6,  49.3, ROT= 103.4, -49.3

2025-08-22T05:41:15.566Z,1755841275.566 [DAT](INFO): got valid direction response:
 05:41:13.5733 LVL= 28736, 11025, 25522, 30163, AGC= 43, IDX= 420, 0.35, 0.828, 0.360,-0.586, 1.488, PHS=-0.558,-1.083,-2.119, RAW=  49.3,  44.0, CAL=  46.6,  49.3, ROT= 103.4, -49.3

2025-08-22T05:41:15.566Z,1755841275.566 [DAT](INFO): DAT read: OK

2025-08-22T05:41:15.566Z,1755841275.566 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T05:41:15.567Z,1755841275.567 [DAT](INFO): DAT read: user:7518>

2025-08-22T05:41:15.568Z,1755841275.568 [DAT](INFO): DAT read: Tx time:05:41:14.6860

2025-08-22T05:41:15.568Z,1755841275.568 [DAT](INFO): Ping request sent.
2025-08-22T05:41:15.568Z,1755841275.568 [DAT](INFO): transmitted an acoustic signal
2025-08-22T05:41:15.568Z,1755841275.568 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-22T05:41:15.569Z,1755841275.569 [DAT](INFO): direction in FSK: [-0.151122,0.634346,0.758134]
2025-08-22T05:41:15.570Z,1755841275.570 [DAT](INFO): publishing transmit ping time
2025-08-22T05:41:15.573Z,1755841275.573 [DAT](INFO): publishing transmit ping time
2025-08-22T05:41:17.828Z,1755841277.828 [DAT](INFO): DAT read: Rx Time:05:41:16.5734

2025-08-22T05:41:17.829Z,1755841277.829 [DAT](INFO): Rx dataTimestamp_ set to:1755841277.828567
2025-08-22T05:41:18.350Z,1755841278.350 [DAT](INFO): DAT read: 05:41:16.5734 LVL= 23920, 10801, 24306, 23635, AGC= 43, IDX= 437, 0.14, 0.569, 0.209,-0.809, 1.231, PHS=-0.559,-0.976,-2.084, RAW=  45.3,  43.2, CAL=  42.9,  48.6, ROT= 107.1, -48.6

2025-08-22T05:41:18.351Z,1755841278.351 [DAT](INFO): got valid direction response:
 05:41:16.5734 LVL= 23920, 10801, 24306, 23635, AGC= 43, IDX= 437, 0.14, 0.569, 0.209,-0.809, 1.231, PHS=-0.559,-0.976,-2.084, RAW=  45.3,  43.2, CAL=  42.9,  48.6, ROT= 107.1, -48.6

2025-08-22T05:41:18.351Z,1755841278.351 [DAT](INFO): DAT read: OK

2025-08-22T05:41:18.352Z,1755841278.352 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T05:41:18.352Z,1755841278.352 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-22T05:41:18.353Z,1755841278.353 [DAT](INFO): direction in FSK: [-0.194452,0.632077,0.750111]
2025-08-22T05:41:19.518Z,1755841279.518 [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>

2025-08-22T05:41:19.545Z,1755841279.545 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-22T05:41:19.547Z,1755841279.547 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-22T05:41:19.549Z,1755841279.549 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-22T05:41:19.551Z,1755841279.551 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T05:41:19.553Z,1755841279.553 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T05:41:19.555Z,1755841279.555 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T05:41:19.557Z,1755841279.557 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-22T05:41:19.559Z,1755841279.559 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T05:41:19.561Z,1755841279.561 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T05:41:19.593Z,1755841279.593 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T05:41:19.596Z,1755841279.596 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-22T05:41:19.615Z,1755841279.615 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-22T05:41:19.623Z,1755841279.623 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T05:41:19.625Z,1755841279.625 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T05:41:19.627Z,1755841279.627 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T05:41:19.653Z,1755841279.653 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T05:41:19.655Z,1755841279.655 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T05:41:19.673Z,1755841279.673 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T05:41:19.691Z,1755841279.691 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T05:41:19.693Z,1755841279.693 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T05:41:19.704Z,1755841279.704 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T05:41:19.706Z,1755841279.706 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T05:41:19.720Z,1755841279.720 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T05:41:19.722Z,1755841279.722 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T05:41:19.737Z,1755841279.737 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-22T05:41:19.768Z,1755841279.768 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-22T05:41:19.771Z,1755841279.771 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-22T05:41:19.796Z,1755841279.796 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T05:41:19.817Z,1755841279.817 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T05:41:19.824Z,1755841279.824 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T05:41:19.827Z,1755841279.827 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-22T05:41:19.843Z,1755841279.843 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-22T05:41:19.853Z,1755841279.853 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-22T05:41:19.868Z,1755841279.868 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-22T05:41:19.870Z,1755841279.870 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T05:41:19.877Z,1755841279.877 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T05:41:19.879Z,1755841279.879 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T05:41:19.890Z,1755841279.890 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T05:41:19.904Z,1755841279.904 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-22T05:41:19.906Z,1755841279.906 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T05:41:19.913Z,1755841279.913 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-22T05:41:19.919Z,1755841279.919 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-22T05:41:19.922Z,1755841279.922 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-22T05:41:19.928Z,1755841279.928 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T05:41:19.930Z,1755841279.930 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T05:41:19.937Z,1755841279.937 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T05:41:19.939Z,1755841279.939 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T05:41:19.945Z,1755841279.945 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-22T05:41:19.952Z,1755841279.952 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-22T05:41:19.954Z,1755841279.954 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-22T05:41:19.961Z,1755841279.961 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-22T05:41:19.967Z,1755841279.967 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-22T05:41:19.970Z,1755841279.970 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-22T05:41:19.973Z,1755841279.973 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-22T05:41:19.975Z,1755841279.975 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-22T05:41:19.990Z,1755841279.990 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-22T05:41:19.997Z,1755841279.997 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T05:41:20.003Z,1755841280.003 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T05:41:20.006Z,1755841280.006 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-22T05:41:20.016Z,1755841280.016 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-22T05:41:20.019Z,1755841280.019 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T05:41:20.025Z,1755841280.025 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T05:41:20.060Z,1755841280.060 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-22T05:41:20.062Z,1755841280.062 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-22T05:41:20.073Z,1755841280.073 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-22T05:41:20.088Z,1755841280.088 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-22T05:41:20.090Z,1755841280.090 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-22T05:41:20.113Z,1755841280.113 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-22T05:41:20.124Z,1755841280.124 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-22T05:41:20.127Z,1755841280.127 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T05:41:20.137Z,1755841280.137 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T05:41:20.144Z,1755841280.144 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-22T05:41:20.146Z,1755841280.146 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-22T05:41:20.153Z,1755841280.153 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-22T05:41:20.164Z,1755841280.164 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T05:41:20.166Z,1755841280.166 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T05:41:20.173Z,1755841280.173 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T05:41:20.180Z,1755841280.180 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T05:41:20.182Z,1755841280.182 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T05:41:20.189Z,1755841280.189 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T05:41:20.199Z,1755841280.199 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T05:41:20.202Z,1755841280.202 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T05:41:20.220Z,1755841280.220 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T05:41:20.223Z,1755841280.223 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T05:41:20.241Z,1755841280.241 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T05:41:20.248Z,1755841280.248 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T05:41:20.250Z,1755841280.250 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T05:41:20.257Z,1755841280.257 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T05:41:20.272Z,1755841280.272 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T05:41:20.274Z,1755841280.274 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T05:41:20.281Z,1755841280.281 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T05:41:20.287Z,1755841280.287 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T05:41:20.306Z,1755841280.306 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T05:41:20.315Z,1755841280.315 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T05:41:20.340Z,1755841280.340 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T05:41:20.376Z,1755841280.376 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T05:41:20.384Z,1755841280.384 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T05:41:20.387Z,1755841280.387 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T05:41:20.404Z,1755841280.404 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T05:41:20.406Z,1755841280.406 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T05:41:20.413Z,1755841280.413 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T05:41:20.420Z,1755841280.420 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T05:41:20.422Z,1755841280.422 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T05:41:20.429Z,1755841280.429 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T05:41:20.467Z,1755841280.467 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T05:41:20.470Z,1755841280.470 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T05:41:20.477Z,1755841280.477 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T05:41:20.479Z,1755841280.479 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T05:41:20.501Z,1755841280.501 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T05:41:20.503Z,1755841280.503 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T05:41:20.506Z,1755841280.506 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T05:41:20.521Z,1755841280.521 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T05:41:20.523Z,1755841280.523 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T05:41:20.526Z,1755841280.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T05:41:20.545Z,1755841280.545 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T05:41:20.547Z,1755841280.547 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T05:41:20.549Z,1755841280.549 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-22T05:41:20.560Z,1755841280.560 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-22T05:41:20.562Z,1755841280.562 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-22T05:41:20.565Z,1755841280.565 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-22T05:41:20.576Z,1755841280.576 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-22T05:41:20.579Z,1755841280.579 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-22T05:41:20.589Z,1755841280.589 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-22T05:41:20.601Z,1755841280.601 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T05:41:20.621Z,1755841280.621 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T05:41:20.624Z,1755841280.624 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-22T05:41:20.626Z,1755841280.626 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-22T05:41:20.637Z,1755841280.637 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-22T05:41:20.639Z,1755841280.639 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-22T05:41:20.642Z,1755841280.642 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-22T05:41:20.644Z,1755841280.644 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-22T05:41:20.646Z,1755841280.646 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-22T05:41:20.668Z,1755841280.668 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-22T05:41:20.698Z,1755841280.698 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:20.743Z,1755841280.743 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:41:20.794Z,1755841280.794 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:41:20.832Z,1755841280.832 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:20.895Z,1755841280.895 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:20.956Z,1755841280.956 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:41:20.985Z,1755841280.985 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.014Z,1755841281.014 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.043Z,1755841281.043 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T05:41:21.072Z,1755841281.072 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.097Z,1755841281.097 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:41:21.145Z,1755841281.145 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.188Z,1755841281.188 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:41:21.287Z,1755841281.287 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.374Z,1755841281.374 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:41:21.433Z,1755841281.433 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T05:41:21.464Z,1755841281.464 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T05:41:21.506Z,1755841281.506 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T05:41:21.537Z,1755841281.537 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-22T05:41:21.540Z,1755841281.540 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-22T05:41:21.541Z,1755841281.541 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-22T05:41:21.543Z,1755841281.543 [OnDock:N.Docked](DEBUG): Construct.
2025-08-22T05:41:21.543Z,1755841281.543 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T05:41:21.556Z,1755841281.556 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-22T05:41:21.556Z,1755841281.556 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T05:41:21.623Z,1755841281.623 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-08-22T05:41:21.624Z,1755841281.624 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-08-22T05:41:21.733Z,1755841281.733 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T05:41:21.733Z,1755841281.733 [DefaultWithUndock] Running Loop=1
2025-08-22T05:41:21.733Z,1755841281.733 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T05:41:21.733Z,1755841281.733 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T05:41:21.733Z,1755841281.733 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:41:23.279Z,1755841283.279 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-08-22T05:41:25.557Z,1755841285.557 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 12 hour
2025-08-22T05:41:25.557Z,1755841285.557 [CommandExec](IMPORTANT): got command run
2025-08-22T05:41:25.560Z,1755841285.560 [CommandExec](IMPORTANT): Running 
2025-08-22T05:41:25.743Z,1755841285.743 [DefaultWithUndock] Stopped
2025-08-22T05:41:25.743Z,1755841285.743 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-22T05:41:25.743Z,1755841285.743 [DefaultWithUndock:A.Wait] Stopped
2025-08-22T05:41:25.743Z,1755841285.743 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T05:41:25.743Z,1755841285.743 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-22T05:41:25.743Z,1755841285.743 [OnDock] Running Loop=1
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:41:25.744Z,1755841285.744 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:BackseatDriver] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:A] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:B] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:C] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:D] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-22T05:41:25.745Z,1755841285.745 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:dataRead] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:dataRead:A] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science:A] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science:B] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science:C] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science:D] Running Loop=1
2025-08-22T05:41:25.746Z,1755841285.746 [OnDock:science:Science:E] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:F] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-22T05:41:25.747Z,1755841285.747 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-22T05:41:25.748Z,1755841285.748 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:41:25.749Z,1755841285.749 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T05:41:25.750Z,1755841285.750 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T05:41:25.751Z,1755841285.751 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T05:41:25.751Z,1755841285.751 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T05:41:25.751Z,1755841285.751 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T05:41:25.751Z,1755841285.751 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T05:41:25.751Z,1755841285.751 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T05:41:25.752Z,1755841285.752 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T05:41:25.753Z,1755841285.753 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-22T05:41:25.754Z,1755841285.754 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:J.] Running Loop=1
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-22T05:41:25.755Z,1755841285.755 [OnDock:PeriodicCheck] Running Loop=1
2025-08-22T05:41:25.756Z,1755841285.756 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-22T05:41:25.756Z,1755841285.756 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-22T05:41:25.756Z,1755841285.756 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-22T05:41:25.756Z,1755841285.756 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-22T05:41:25.756Z,1755841285.756 [OnDock:B] Running Loop=1
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:PeriodicCheck] Running Loop=1
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-22T05:41:25.757Z,1755841285.757 [OnDock:J.] Running Loop=1
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:A] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:B] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:C] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:D] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:E] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:F] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:Read_Oil] Stopped
2025-08-22T05:41:25.758Z,1755841285.758 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-22T05:41:25.759Z,1755841285.759 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:41:25.760Z,1755841285.760 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T05:41:25.761Z,1755841285.761 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T05:41:25.762Z,1755841285.762 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-22T05:41:25.763Z,1755841285.763 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-22T05:41:25.764Z,1755841285.764 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-22T05:41:25.764Z,1755841285.764 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-22T05:41:25.764Z,1755841285.764 [OnDock:dataRead] Running Loop=1
2025-08-22T05:41:25.764Z,1755841285.764 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T05:41:25.764Z,1755841285.764 [OnDock:PowerOnly] Running Loop=1
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:PowerOnly:D] Stopped
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:PowerOnly:C] Stopped
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:PowerOnly:B] Stopped
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:PowerOnly:A] Stopped
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:BackseatDriver] Running Loop=1
2025-08-22T05:41:25.765Z,1755841285.765 [OnDock:B] Stopped
2025-08-22T05:41:25.766Z,1755841285.766 [OnDock:C] Running Loop=1
2025-08-22T05:41:25.766Z,1755841285.766 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-22T05:41:25.766Z,1755841285.766 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T05:41:25.766Z,1755841285.766 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T05:41:25.766Z,1755841285.766 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T05:41:25.768Z,1755841285.768 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-22T05:41:25.982Z,1755841285.982 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:69248 errors:0 dropped:0 overruns:0 frame:0
            TX packets:105890 errors:0 dropped:0 overruns:0 carrier:0
            collisions:298 txqueuelen:1000 
            RX bytes:16147133 (15.3 Mb)  TX bytes:90226128 (86.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:3906 errors:0 dropped:0 overruns:0 frame:0
            TX packets:3906 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:355506 (347.1 Kb)  TX bytes:355506 (347.1 Kb)
  
  
2025-08-22T05:41:26.358Z,1755841286.358 [OnDock:C] Stopped
2025-08-22T05:41:26.359Z,1755841286.359 [OnDock:D] Running Loop=1
2025-08-22T05:41:26.785Z,1755841286.785 [OnDock:D] Stopped
2025-08-22T05:41:26.785Z,1755841286.785 [OnDock:E] Running Loop=1
2025-08-22T05:41:27.117Z,1755841287.117 [OnDock:E] Stopped
2025-08-22T05:41:27.118Z,1755841287.118 [OnDock:K] Running Loop=1
2025-08-22T05:41:27.566Z,1755841287.566 [OnDock:K](IMPORTANT): Restarting logs
2025-08-22T05:41:27.566Z,1755841287.566 [OnDock:K] Stopped
2025-08-22T05:41:27.567Z,1755841287.567 [OnDock:L.Execute] Running Loop=1