2025-08-22T16:03:02.731Z,1755878582.731 [CommandExec](IMPORTANT): got command restart logs
2025-08-22T16:03:03.187Z,1755878583.187 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T16:03:03.188Z,1755878583.188 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T16:03:10.250Z,1755878590.250 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:03:11.512Z,1755878591.512 [NAL9602](INFO): SBD MO Status=0, MOMSN=973, MT Status=0, MTMSN=0
2025-08-22T16:03:11.512Z,1755878591.512 [NAL9602](INFO): No messages in MT queue
2025-08-22T16:03:13.188Z,1755878593.188 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 750.34, 750.34, 697.03
2025-08-22T16:03:16.056Z,1755878596.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:03:16.127Z,1755878596.127 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:03:16.127Z,1755878596.127 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:03:16.378Z,1755878596.378 [DAT](INFO): DAT read: user:8>

2025-08-22T16:03:16.379Z,1755878596.379 [DAT](INFO): DAT read: Tx time:16:03:17.4015

2025-08-22T16:03:16.379Z,1755878596.379 [DAT](INFO): Ping request sent.
2025-08-22T16:03:16.379Z,1755878596.379 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:03:16.380Z,1755878596.380 [DAT](INFO): publishing transmit ping time
2025-08-22T16:03:16.380Z,1755878596.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-22T16:03:16.631Z,1755878596.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251081
2025-08-22T16:03:16.883Z,1755878596.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503001
2025-08-22T16:03:17.135Z,1755878597.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755040
2025-08-22T16:03:17.387Z,1755878597.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007679
2025-08-22T16:03:17.638Z,1755878597.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827
2025-08-22T16:03:17.891Z,1755878597.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511306
2025-08-22T16:03:18.143Z,1755878598.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763076
2025-08-22T16:03:18.395Z,1755878598.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015027
2025-08-22T16:03:18.647Z,1755878598.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267027
2025-08-22T16:03:18.899Z,1755878598.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519088
2025-08-22T16:03:19.151Z,1755878599.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771023
2025-08-22T16:03:19.407Z,1755878599.407 [DAT](INFO): DAT read: Rx Time:16:03:19.9141

2025-08-22T16:03:19.408Z,1755878599.408 [DAT](INFO): Rx dataTimestamp_ set to:1755878599.407229
2025-08-22T16:03:19.408Z,1755878599.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028852
2025-08-22T16:03:19.658Z,1755878599.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278889
2025-08-22T16:03:19.911Z,1755878599.911 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m  (Round-trip  108.4 ms) speed  0.0 m/s

2025-08-22T16:03:19.912Z,1755878599.912 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:03:23.594Z,1755878603.594 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:03:32.959Z,1755878612.959 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:03:41.915Z,1755878621.915 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:03:42.754Z,1755878622.754 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:03:52.602Z,1755878632.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:04:16.265Z,1755878656.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:04:16.407Z,1755878656.407 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:04:16.407Z,1755878656.407 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:04:16.658Z,1755878656.658 [DAT](INFO): DAT read: user:9>

2025-08-22T16:04:16.659Z,1755878656.659 [DAT](INFO): DAT read: Tx time:16:04:17.6516

2025-08-22T16:04:16.659Z,1755878656.659 [DAT](INFO): Ping request sent.
2025-08-22T16:04:16.660Z,1755878656.660 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:04:16.660Z,1755878656.660 [DAT](INFO): publishing transmit ping time
2025-08-22T16:04:16.660Z,1755878656.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T16:04:16.910Z,1755878656.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866
2025-08-22T16:04:17.163Z,1755878657.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503520
2025-08-22T16:04:17.415Z,1755878657.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754933
2025-08-22T16:04:17.666Z,1755878657.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-08-22T16:04:17.920Z,1755878657.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259659
2025-08-22T16:04:18.171Z,1755878658.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511569
2025-08-22T16:04:18.423Z,1755878658.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762911
2025-08-22T16:04:18.679Z,1755878658.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019183
2025-08-22T16:04:18.927Z,1755878658.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266916
2025-08-22T16:04:19.179Z,1755878659.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519208
2025-08-22T16:04:19.431Z,1755878659.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770887
2025-08-22T16:04:19.683Z,1755878659.683 [DAT](INFO): DAT read: Rx Time:16:04:20.1908

2025-08-22T16:04:19.683Z,1755878659.683 [DAT](INFO): Rx dataTimestamp_ set to:1755878659.682773
2025-08-22T16:04:19.684Z,1755878659.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024014
2025-08-22T16:04:19.935Z,1755878659.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275116
2025-08-22T16:04:20.198Z,1755878660.198 [DAT](INFO): DAT read: 16:04:20.1908 LVL= 32752, 20945, 32754, 32755, AGC= 71, IDX= 195, 0.26,-2.497,-0.597,-1.720,-1.727, PHS=-0.667, 1.175,-0.037, RAW= 310.3,  -5.9, CAL= 309.7,  -9.4, ROT= 200.3,   9.4

2025-08-22T16:04:20.199Z,1755878660.199 [DAT](INFO): got valid direction response:
 16:04:20.1908 LVL= 32752, 20945, 32754, 32755, AGC= 71, IDX= 195, 0.26,-2.497,-0.597,-1.720,-1.727, PHS=-0.667, 1.175,-0.037, RAW= 310.3,  -5.9, CAL= 309.7,  -9.4, ROT= 200.3,   9.4

2025-08-22T16:04:20.200Z,1755878660.200 [DAT](INFO): DAT read: Bearing  82.8, -59.0 (Local)

2025-08-22T16:04:20.200Z,1755878660.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing  82.8, -59.0 (Local)

2025-08-22T16:04:20.202Z,1755878660.202 [DAT](INFO): DAT read: Range 11 to 50 : 101.2 m  (Round-trip  135.0 ms) speed -0.6 m/s

2025-08-22T16:04:20.202Z,1755878660.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:04:20.204Z,1755878660.204 [DAT](INFO): direction in FSK: [-0.925295,-0.342277,-0.163326]
2025-08-22T16:04:20.204Z,1755878660.204 [DAT](INFO): publishing direction and range info
2025-08-22T16:04:22.726Z,1755878662.726 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:04:23.730Z,1755878663.730 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:04:37.297Z,1755878677.297 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,  +130,  +60,A
2025-08-22T16:04:51.850Z,1755878691.850 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251228
2025-08-22T16:04:52.246Z,1755878692.246 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:04:52.246Z,1755878692.246 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:04:52.247Z,1755878692.247 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:04:52.247Z,1755878692.247 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:04:52.247Z,1755878692.247 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:04:52.854Z,1755878692.854 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:04:54.418Z,1755878694.418 [Radio_Surface](INFO): Powering down
2025-08-22T16:05:16.524Z,1755878716.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:05:16.663Z,1755878716.663 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:05:16.664Z,1755878716.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:05:16.914Z,1755878716.914 [DAT](INFO): DAT read: user:10>

2025-08-22T16:05:16.915Z,1755878716.915 [DAT](INFO): DAT read: Tx time:16:05:17.9017

2025-08-22T16:05:16.916Z,1755878716.916 [DAT](INFO): Ping request sent.
2025-08-22T16:05:16.916Z,1755878716.916 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:05:16.916Z,1755878716.916 [DAT](INFO): publishing transmit ping time
2025-08-22T16:05:16.916Z,1755878716.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:05:17.167Z,1755878717.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251608
2025-08-22T16:05:17.419Z,1755878717.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502923
2025-08-22T16:05:17.671Z,1755878717.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755231
2025-08-22T16:05:17.922Z,1755878717.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761
2025-08-22T16:05:18.175Z,1755878718.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259665
2025-08-22T16:05:18.427Z,1755878718.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912
2025-08-22T16:05:18.679Z,1755878718.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763176
2025-08-22T16:05:18.931Z,1755878718.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952
2025-08-22T16:05:19.183Z,1755878719.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267509
2025-08-22T16:05:19.435Z,1755878719.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519296
2025-08-22T16:05:19.687Z,1755878719.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896
2025-08-22T16:05:19.939Z,1755878719.939 [DAT](INFO): DAT read: Rx Time:16:05:20.4432

2025-08-22T16:05:19.939Z,1755878719.939 [DAT](INFO): Rx dataTimestamp_ set to:1755878719.939111
2025-08-22T16:05:19.940Z,1755878719.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024299
2025-08-22T16:05:20.191Z,1755878720.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275435
2025-08-22T16:05:20.448Z,1755878720.448 [DAT](INFO): DAT read: 16:05:20.4432 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 443, 0.44,-0.428, 0.250,-1.281, 0.209, PHS=-0.534, 0.086,-1.534, RAW=   7.7,  26.3, CAL=   6.7,  31.4, ROT= 143.3, -31.4

2025-08-22T16:05:20.449Z,1755878720.449 [DAT](INFO): got valid direction response:
 16:05:20.4432 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 443, 0.44,-0.428, 0.250,-1.281, 0.209, PHS=-0.534, 0.086,-1.534, RAW=   7.7,  26.3, CAL=   6.7,  31.4, ROT= 143.3, -31.4

2025-08-22T16:05:20.450Z,1755878720.450 [DAT](INFO): DAT read: Bearing  56.0,   7.0 (Local)

2025-08-22T16:05:20.450Z,1755878720.450 [DAT](INFO): Local bearing/azimuth received:
 Bearing  56.0,   7.0 (Local)

2025-08-22T16:05:20.451Z,1755878720.451 [DAT](INFO): DAT read: Range 11 to 50 : 103.0 m  (Round-trip  137.4 ms) speed -0.5 m/s

2025-08-22T16:05:20.452Z,1755878720.452 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:05:20.453Z,1755878720.453 [DAT](INFO): direction in FSK: [-0.684356,0.510103,0.521010]
2025-08-22T16:05:20.453Z,1755878720.453 [DAT](INFO): publishing direction and range info
2025-08-22T16:05:22.975Z,1755878722.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:05:23.767Z,1755878723.767 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:05:23.978Z,1755878723.978 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-22T16:05:23.978Z,1755878723.978 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:05:54.110Z,1755878754.110 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:05:55.114Z,1755878755.114 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:06:07.063Z,1755878767.063 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-22T16:06:07.064Z,1755878767.064 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-22T16:06:07.064Z,1755878767.064 [lineCaptureHoming:InitialDive] Stopped
2025-08-22T16:06:07.064Z,1755878767.064 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-22T16:06:07.064Z,1755878767.064 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-22T16:06:07.065Z,1755878767.065 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:RepeatHack] Stopped
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:Lap] Running Loop=1
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-22T16:06:07.531Z,1755878767.531 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-22T16:06:07.887Z,1755878767.887 [lineCaptureHoming:Lap:A] Stopped
2025-08-22T16:06:07.887Z,1755878767.887 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-22T16:06:07.887Z,1755878767.887 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-22T16:06:08.275Z,1755878768.275 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-22T16:06:08.275Z,1755878768.275 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-22T16:06:08.275Z,1755878768.275 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T16:06:08.275Z,1755878768.275 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T16:06:08.276Z,1755878768.276 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-22T16:06:08.277Z,1755878768.277 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-22T16:06:08.294Z,1755878768.294 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-22T16:06:08.294Z,1755878768.294 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-22T16:06:08.294Z,1755878768.294 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-22T16:06:08.294Z,1755878768.294 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-22T16:06:08.294Z,1755878768.294 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-22T16:06:08.295Z,1755878768.295 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-22T16:06:08.295Z,1755878768.295 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-22T16:06:08.295Z,1755878768.295 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-22T16:06:08.295Z,1755878768.295 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:06:08.296Z,1755878768.296 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:06:08.296Z,1755878768.296 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:06:08.297Z,1755878768.297 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-22T16:06:08.297Z,1755878768.297 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-22T16:06:08.722Z,1755878768.722 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-22T16:06:08.722Z,1755878768.722 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:06:08.722Z,1755878768.722 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-22T16:06:08.723Z,1755878768.723 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 103.000000 m (mode  0.000000 count ).
2025-08-22T16:06:08.724Z,1755878768.724 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-22T16:06:08.724Z,1755878768.724 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-22T16:06:08.731Z,1755878768.731 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-22T16:06:08.731Z,1755878768.731 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-22T16:06:09.096Z,1755878769.096 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-22T16:06:09.096Z,1755878769.096 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-22T16:06:09.097Z,1755878769.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:09.099Z,1755878769.099 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-22T16:06:09.099Z,1755878769.099 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-22T16:06:09.122Z,1755878769.122 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:06:09.123Z,1755878769.123 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:09.374Z,1755878769.374 [DAT](INFO): DAT read: user:11>

2025-08-22T16:06:09.375Z,1755878769.375 [DAT](INFO): DAT read: Tx time:16:06:10.4017

2025-08-22T16:06:09.375Z,1755878769.375 [DAT](INFO): Ping request sent.
2025-08-22T16:06:09.375Z,1755878769.375 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:09.376Z,1755878769.376 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:09.376Z,1755878769.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-22T16:06:09.563Z,1755878769.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-22T16:06:09.563Z,1755878769.563 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-22T16:06:09.568Z,1755878769.568 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-22T16:06:09.569Z,1755878769.569 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-22T16:06:09.627Z,1755878769.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251144
2025-08-22T16:06:09.879Z,1755878769.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503096
2025-08-22T16:06:09.936Z,1755878769.936 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-22T16:06:09.936Z,1755878769.936 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:06:09.936Z,1755878769.936 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-22T16:06:09.936Z,1755878769.936 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:06:09.947Z,1755878769.947 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:06:09.948Z,1755878769.948 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:06:09.949Z,1755878769.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T16:06:09.958Z,1755878769.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T16:06:09.959Z,1755878769.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:06:09.959Z,1755878769.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:06:09.959Z,1755878769.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T16:06:10.130Z,1755878770.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755022
2025-08-22T16:06:10.301Z,1755878770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T16:06:10.301Z,1755878770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T16:06:10.302Z,1755878770.302 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-22T16:06:10.303Z,1755878770.303 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:06:10.308Z,1755878770.308 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.553062 m.
2025-08-22T16:06:10.383Z,1755878770.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007174
2025-08-22T16:06:10.635Z,1755878770.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259086
2025-08-22T16:06:10.886Z,1755878770.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511026
2025-08-22T16:06:11.142Z,1755878771.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766505
2025-08-22T16:06:11.158Z,1755878771.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:11.223Z,1755878771.223 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:06:11.343Z,1755878771.343 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:06:11.395Z,1755878771.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019226
2025-08-22T16:06:11.646Z,1755878771.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270916
2025-08-22T16:06:11.899Z,1755878771.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523051
2025-08-22T16:06:12.151Z,1755878772.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775102
2025-08-22T16:06:12.403Z,1755878772.403 [DAT](INFO): DAT read: Rx Time:16:06:12.9874

2025-08-22T16:06:12.404Z,1755878772.404 [DAT](INFO): Rx dataTimestamp_ set to:1755878772.403291
2025-08-22T16:06:12.404Z,1755878772.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028964
2025-08-22T16:06:12.655Z,1755878772.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279323
2025-08-22T16:06:12.912Z,1755878772.912 [DAT](INFO): DAT read: 16:06:12.9874 LVL= 32752, 31473, 32754, 32755, AGC= 68, IDX= 367,-0.12, 1.510, 3.106, 0.950, 2.180, PHS=-0.568, 0.971,-1.274, RAW= 347.9,   8.8, CAL= 347.9,   9.2, ROT= 162.1,  -9.2

2025-08-22T16:06:12.913Z,1755878772.913 [DAT](INFO): got valid direction response:
 16:06:12.9874 LVL= 32752, 31473, 32754, 32755, AGC= 68, IDX= 367,-0.12, 1.510, 3.106, 0.950, 2.180, PHS=-0.568, 0.971,-1.274, RAW= 347.9,   8.8, CAL= 347.9,   9.2, ROT= 162.1,  -9.2

2025-08-22T16:06:12.914Z,1755878772.914 [DAT](INFO): DAT read: Bearing 110.2,  12.4 (Local)

2025-08-22T16:06:12.915Z,1755878772.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.2,  12.4 (Local)

2025-08-22T16:06:12.916Z,1755878772.916 [DAT](INFO): DAT read: Range 11 to 50 : 136.1 m  (Round-trip  181.5 ms) speed -0.4 m/s

2025-08-22T16:06:12.917Z,1755878772.917 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:12.918Z,1755878772.918 [DAT](INFO): direction in FSK: [-0.939353,0.303403,0.159881]
2025-08-22T16:06:12.918Z,1755878772.918 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:12.921Z,1755878772.921 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:12.921Z,1755878772.921 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:12.922Z,1755878772.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:13.158Z,1755878773.158 [DAT](INFO): DAT read: user:12>

2025-08-22T16:06:13.159Z,1755878773.159 [DAT](INFO): DAT read: Tx time:16:06:14.2017

2025-08-22T16:06:13.159Z,1755878773.159 [DAT](INFO): Ping request sent.
2025-08-22T16:06:13.160Z,1755878773.160 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:13.160Z,1755878773.160 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:13.160Z,1755878773.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-08-22T16:06:13.411Z,1755878773.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935
2025-08-22T16:06:13.594Z,1755878773.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:13.663Z,1755878773.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503060
2025-08-22T16:06:13.915Z,1755878773.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755083
2025-08-22T16:06:13.936Z,1755878773.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022719533341,35.0, +12.5,   07,  0
2025-08-22T16:06:14.167Z,1755878774.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007510
2025-08-22T16:06:14.419Z,1755878774.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258964
2025-08-22T16:06:14.670Z,1755878774.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510882
2025-08-22T16:06:14.847Z,1755878774.847 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T16:06:14.923Z,1755878774.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763347
2025-08-22T16:06:15.175Z,1755878775.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015821
2025-08-22T16:06:15.426Z,1755878775.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266882
2025-08-22T16:06:15.610Z,1755878775.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:15.679Z,1755878775.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519484
2025-08-22T16:06:15.930Z,1755878775.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865
2025-08-22T16:06:16.183Z,1755878776.183 [DAT](INFO): DAT read: Rx Time:16:06:16.7904

2025-08-22T16:06:16.184Z,1755878776.184 [DAT](INFO): Rx dataTimestamp_ set to:1755878776.183141
2025-08-22T16:06:16.184Z,1755878776.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024583
2025-08-22T16:06:16.435Z,1755878776.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275381
2025-08-22T16:06:16.700Z,1755878776.700 [DAT](INFO): DAT read: 16:06:16.7904 LVL= 28512, 32753, 32754, 32755, AGC= 64, IDX= 462, 0.19, 2.604,-2.298, 1.909, 3.078, PHS=-0.372, 0.952,-1.213, RAW= 352.6,   6.7, CAL= 352.5,   5.9, ROT= 157.5,  -5.9

2025-08-22T16:06:16.704Z,1755878776.704 [DAT](INFO): got valid direction response:
 16:06:16.7904 LVL= 28512, 32753, 32754, 32755, AGC= 64, IDX= 462, 0.19, 2.604,-2.298, 1.909, 3.078, PHS=-0.372, 0.952,-1.213, RAW= 352.6,   6.7, CAL= 352.5,   5.9, ROT= 157.5,  -5.9

2025-08-22T16:06:16.706Z,1755878776.706 [DAT](INFO): DAT read: Bearing 116.9,  21.2 (Local)

2025-08-22T16:06:16.706Z,1755878776.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.9,  21.2 (Local)

2025-08-22T16:06:16.707Z,1755878776.707 [DAT](INFO): DAT read: Range 11 to 50 : 138.3 m  (Round-trip  184.5 ms) speed -0.8 m/s

2025-08-22T16:06:16.708Z,1755878776.708 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:16.709Z,1755878776.709 [DAT](INFO): direction in FSK: [-0.918986,0.380656,0.102793]
2025-08-22T16:06:16.709Z,1755878776.709 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:16.719Z,1755878776.719 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:16.719Z,1755878776.719 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:16.719Z,1755878776.719 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:16.938Z,1755878776.938 [DAT](INFO): DAT read: user:13>

2025-08-22T16:06:16.939Z,1755878776.939 [DAT](INFO): DAT read: Tx time:16:06:18.0017

2025-08-22T16:06:16.939Z,1755878776.939 [DAT](INFO): Ping request sent.
2025-08-22T16:06:16.940Z,1755878776.940 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:16.940Z,1755878776.940 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:16.940Z,1755878776.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-22T16:06:17.191Z,1755878777.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251584
2025-08-22T16:06:17.443Z,1755878777.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502945
2025-08-22T16:06:17.642Z,1755878777.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:17.700Z,1755878777.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760178
2025-08-22T16:06:17.950Z,1755878777.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010892
2025-08-22T16:06:18.203Z,1755878778.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263011
2025-08-22T16:06:18.455Z,1755878778.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515836
2025-08-22T16:06:18.711Z,1755878778.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771315
2025-08-22T16:06:18.959Z,1755878778.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018952
2025-08-22T16:06:19.211Z,1755878779.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271000
2025-08-22T16:06:19.462Z,1755878779.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522893
2025-08-22T16:06:19.653Z,1755878779.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:19.715Z,1755878779.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775028
2025-08-22T16:06:19.967Z,1755878779.967 [DAT](INFO): DAT read: Rx Time:16:06:20.5932

2025-08-22T16:06:19.967Z,1755878779.967 [DAT](INFO): Rx dataTimestamp_ set to:1755878779.966789
2025-08-22T16:06:19.968Z,1755878779.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028037
2025-08-22T16:06:20.218Z,1755878780.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278865
2025-08-22T16:06:20.473Z,1755878780.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533258
2025-08-22T16:06:20.728Z,1755878780.728 [DAT](INFO): DAT read: 16:06:20.5932 LVL= 30960, 26673, 32754, 32755, AGC= 62, IDX= 459,-0.09,-0.834, 0.681,-1.445,-0.348, PHS=-0.385, 1.073,-1.141, RAW= 349.6,   4.7, CAL= 349.3,   2.6, ROT= 160.7,  -2.6

2025-08-22T16:06:20.729Z,1755878780.729 [DAT](INFO): got valid direction response:
 16:06:20.5932 LVL= 30960, 26673, 32754, 32755, AGC= 62, IDX= 459,-0.09,-0.834, 0.681,-1.445,-0.348, PHS=-0.385, 1.073,-1.141, RAW= 349.6,   4.7, CAL= 349.3,   2.6, ROT= 160.7,  -2.6

2025-08-22T16:06:20.730Z,1755878780.730 [DAT](INFO): DAT read: Bearing 122.2,  21.5 (Local)

2025-08-22T16:06:20.730Z,1755878780.730 [DAT](INFO): Local bearing/azimuth received:
 Bearing 122.2,  21.5 (Local)

2025-08-22T16:06:20.731Z,1755878780.731 [DAT](INFO): DAT read: Range 11 to 50 : 140.5 m  (Round-trip  187.4 ms) speed -0.6 m/s

2025-08-22T16:06:20.732Z,1755878780.732 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:20.733Z,1755878780.733 [DAT](INFO): direction in FSK: [-0.942829,0.330174,0.045363]
2025-08-22T16:06:20.733Z,1755878780.733 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:20.736Z,1755878780.736 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:20.737Z,1755878780.737 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:20.737Z,1755878780.737 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:20.887Z,1755878780.887 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T16:06:20.975Z,1755878780.975 [DAT](INFO): DAT read: user:14>

2025-08-22T16:06:20.976Z,1755878780.976 [DAT](INFO): DAT read: Tx time:16:06:22.0017

2025-08-22T16:06:20.977Z,1755878780.977 [DAT](INFO): Ping request sent.
2025-08-22T16:06:20.977Z,1755878780.977 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:20.977Z,1755878780.977 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:20.978Z,1755878780.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001176
2025-08-22T16:06:21.227Z,1755878781.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249474
2025-08-22T16:06:21.478Z,1755878781.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501370
2025-08-22T16:06:21.731Z,1755878781.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754056
2025-08-22T16:06:21.983Z,1755878781.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005513
2025-08-22T16:06:22.051Z,1755878782.051 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:22.234Z,1755878782.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257378
2025-08-22T16:06:22.486Z,1755878782.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509398
2025-08-22T16:06:22.740Z,1755878782.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762573
2025-08-22T16:06:22.990Z,1755878782.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013362
2025-08-22T16:06:23.243Z,1755878783.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265525
2025-08-22T16:06:23.495Z,1755878783.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517436
2025-08-22T16:06:23.752Z,1755878783.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774649
2025-08-22T16:06:24.003Z,1755878784.003 [DAT](INFO): DAT read: Rx Time:16:06:24.5958

2025-08-22T16:06:24.003Z,1755878784.003 [DAT](INFO): Rx dataTimestamp_ set to:1755878784.002700
2025-08-22T16:06:24.003Z,1755878784.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026443
2025-08-22T16:06:24.093Z,1755878784.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:24.254Z,1755878784.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277344
2025-08-22T16:06:24.513Z,1755878784.513 [DAT](INFO): DAT read: 16:06:24.5958 LVL= 29744, 24433, 32754, 32755, AGC= 67, IDX= 454, 0.05,-2.652,-1.209, 3.033,-2.210, PHS=-0.340, 1.046,-1.084, RAW= 350.1,   4.1, CAL= 349.8,   1.7, ROT= 160.2,  -1.7

2025-08-22T16:06:24.514Z,1755878784.514 [DAT](INFO): got valid direction response:
 16:06:24.5958 LVL= 29744, 24433, 32754, 32755, AGC= 67, IDX= 454, 0.05,-2.652,-1.209, 3.033,-2.210, PHS=-0.340, 1.046,-1.084, RAW= 350.1,   4.1, CAL= 349.8,   1.7, ROT= 160.2,  -1.7

2025-08-22T16:06:24.515Z,1755878784.515 [DAT](INFO): DAT read: Bearing 124.6,  24.5 (Local)

2025-08-22T16:06:24.516Z,1755878784.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 124.6,  24.5 (Local)

2025-08-22T16:06:24.517Z,1755878784.517 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m  (Round-trip  190.0 ms) speed -0.4 m/s

2025-08-22T16:06:24.518Z,1755878784.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:24.519Z,1755878784.519 [DAT](INFO): direction in FSK: [-0.940467,0.338589,0.029666]
2025-08-22T16:06:24.520Z,1755878784.520 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:24.535Z,1755878784.535 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:24.535Z,1755878784.535 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:24.535Z,1755878784.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:24.759Z,1755878784.759 [DAT](INFO): DAT read: user:15>

2025-08-22T16:06:24.759Z,1755878784.759 [DAT](INFO): DAT read: Tx time:16:06:25.8017

2025-08-22T16:06:24.760Z,1755878784.760 [DAT](INFO): Ping request sent.
2025-08-22T16:06:24.760Z,1755878784.760 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:24.760Z,1755878784.760 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:24.760Z,1755878784.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-08-22T16:06:25.011Z,1755878785.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251688
2025-08-22T16:06:25.234Z,1755878785.234 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:06:25.263Z,1755878785.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502769
2025-08-22T16:06:25.514Z,1755878785.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754658
2025-08-22T16:06:25.767Z,1755878785.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854
2025-08-22T16:06:26.018Z,1755878786.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258656
2025-08-22T16:06:26.119Z,1755878786.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:26.238Z,1755878786.238 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:06:26.271Z,1755878786.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745
2025-08-22T16:06:26.523Z,1755878786.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777
2025-08-22T16:06:26.777Z,1755878786.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016578
2025-08-22T16:06:27.026Z,1755878787.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266702
2025-08-22T16:06:27.279Z,1755878787.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518876
2025-08-22T16:06:27.532Z,1755878787.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771510
2025-08-22T16:06:27.783Z,1755878787.783 [DAT](INFO): DAT read: Rx Time:16:06:28.3979

2025-08-22T16:06:27.784Z,1755878787.784 [DAT](INFO): Rx dataTimestamp_ set to:1755878787.783350
2025-08-22T16:06:27.784Z,1755878787.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024689
2025-08-22T16:06:28.036Z,1755878788.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275702
2025-08-22T16:06:28.299Z,1755878788.299 [DAT](INFO): DAT read: 16:06:28.3979 LVL= 29872, 24897, 32754, 32755, AGC= 68, IDX= 460,-0.45, 2.906,-1.997, 2.260,-2.983, PHS=-0.293, 1.031,-1.084, RAW= 351.7,   3.8, CAL= 351.4,   1.2, ROT= 158.6,  -1.2

2025-08-22T16:06:28.303Z,1755878788.303 [DAT](INFO): got valid direction response:
 16:06:28.3979 LVL= 29872, 24897, 32754, 32755, AGC= 68, IDX= 460,-0.45, 2.906,-1.997, 2.260,-2.983, PHS=-0.293, 1.031,-1.084, RAW= 351.7,   3.8, CAL= 351.4,   1.2, ROT= 158.6,  -1.2

2025-08-22T16:06:28.307Z,1755878788.307 [DAT](INFO): DAT read: Bearing 126.4,  27.9 (Local)

2025-08-22T16:06:28.308Z,1755878788.308 [DAT](INFO): Local bearing/azimuth received:
 Bearing 126.4,  27.9 (Local)

2025-08-22T16:06:28.309Z,1755878788.309 [DAT](INFO): DAT read: Range 11 to 50 : 144.0 m  (Round-trip  192.0 ms) speed -0.4 m/s

2025-08-22T16:06:28.319Z,1755878788.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:28.320Z,1755878788.320 [DAT](INFO): direction in FSK: [-0.930852,0.364797,0.020942]
2025-08-22T16:06:28.320Z,1755878788.320 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:28.336Z,1755878788.336 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:28.336Z,1755878788.336 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:28.336Z,1755878788.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:28.539Z,1755878788.539 [DAT](INFO): DAT read: user:16>

2025-08-22T16:06:28.540Z,1755878788.540 [DAT](INFO): DAT read: Tx time:16:06:29.6017

2025-08-22T16:06:28.540Z,1755878788.540 [DAT](INFO): Ping request sent.
2025-08-22T16:06:28.541Z,1755878788.541 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:28.541Z,1755878788.541 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:28.542Z,1755878788.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001630
2025-08-22T16:06:28.807Z,1755878788.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.265978
2025-08-22T16:06:28.903Z,1755878788.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:29.043Z,1755878789.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502271
2025-08-22T16:06:29.295Z,1755878789.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754253
2025-08-22T16:06:29.548Z,1755878789.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007070
2025-08-22T16:06:29.801Z,1755878789.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259955
2025-08-22T16:06:30.051Z,1755878790.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510572
2025-08-22T16:06:30.303Z,1755878790.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762190
2025-08-22T16:06:30.555Z,1755878790.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840
2025-08-22T16:06:30.810Z,1755878790.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269527
2025-08-22T16:06:30.937Z,1755878790.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:31.059Z,1755878791.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518294
2025-08-22T16:06:31.311Z,1755878791.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770295
2025-08-22T16:06:31.562Z,1755878791.562 [DAT](INFO): DAT read: Rx Time:16:06:32.2000

2025-08-22T16:06:31.563Z,1755878791.563 [DAT](INFO): Rx dataTimestamp_ set to:1755878791.562654
2025-08-22T16:06:31.563Z,1755878791.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152
2025-08-22T16:06:31.834Z,1755878791.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.293267
2025-08-22T16:06:32.085Z,1755878792.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.544224
2025-08-22T16:06:32.340Z,1755878792.340 [DAT](INFO): DAT read: 16:06:32.2000 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 449,-0.10, 2.317,-2.600, 1.588, 2.647, PHS=-0.229, 1.081,-1.104, RAW= 353.5,   2.7, CAL= 353.1,  -0.3, ROT= 156.9,   0.3

2025-08-22T16:06:32.341Z,1755878792.341 [DAT](INFO): got valid direction response:
 16:06:32.2000 LVL= 32752, 25585, 32754, 32755, AGC= 65, IDX= 449,-0.10, 2.317,-2.600, 1.588, 2.647, PHS=-0.229, 1.081,-1.104, RAW= 353.5,   2.7, CAL= 353.1,  -0.3, ROT= 156.9,   0.3

2025-08-22T16:06:32.342Z,1755878792.342 [DAT](INFO): DAT read: Bearing 129.3,  30.6 (Local)

2025-08-22T16:06:32.342Z,1755878792.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 129.3,  30.6 (Local)

2025-08-22T16:06:32.343Z,1755878792.343 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m  (Round-trip  194.2 ms) speed -0.4 m/s

2025-08-22T16:06:32.344Z,1755878792.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:32.345Z,1755878792.345 [DAT](INFO): direction in FSK: [-0.919809,0.392332,-0.005236]
2025-08-22T16:06:32.345Z,1755878792.345 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:32.348Z,1755878792.348 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:32.349Z,1755878792.349 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:32.349Z,1755878792.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:32.587Z,1755878792.587 [DAT](INFO): DAT read: user:17>

2025-08-22T16:06:32.587Z,1755878792.587 [DAT](INFO): DAT read: Tx time:16:06:33.6017

2025-08-22T16:06:32.588Z,1755878792.588 [DAT](INFO): Ping request sent.
2025-08-22T16:06:32.588Z,1755878792.588 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:32.588Z,1755878792.588 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:32.588Z,1755878792.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T16:06:32.841Z,1755878792.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252876
2025-08-22T16:06:32.942Z,1755878792.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:33.090Z,1755878793.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502789
2025-08-22T16:06:33.343Z,1755878793.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754961
2025-08-22T16:06:33.594Z,1755878793.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-08-22T16:06:33.850Z,1755878793.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261295
2025-08-22T16:06:34.098Z,1755878794.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510777
2025-08-22T16:06:34.350Z,1755878794.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774
2025-08-22T16:06:34.604Z,1755878794.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016369
2025-08-22T16:06:34.857Z,1755878794.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269031
2025-08-22T16:06:34.959Z,1755878794.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:35.106Z,1755878795.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518767
2025-08-22T16:06:35.359Z,1755878795.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770909
2025-08-22T16:06:35.611Z,1755878795.611 [DAT](INFO): DAT read: Rx Time:16:06:36.2021

2025-08-22T16:06:35.611Z,1755878795.611 [DAT](INFO): Rx dataTimestamp_ set to:1755878795.610740
2025-08-22T16:06:35.612Z,1755878795.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023873
2025-08-22T16:06:35.866Z,1755878795.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277498
2025-08-22T16:06:36.134Z,1755878796.134 [DAT](INFO): DAT read: 16:06:36.2021 LVL= 32752, 29393, 32754, 32755, AGC= 64, IDX= 470, 0.05, 2.981,-2.022, 2.268,-3.047, PHS=-0.154, 1.070,-1.012, RAW= 354.2,   1.1, CAL= 353.9,  -1.9, ROT= 156.1,   1.9

2025-08-22T16:06:36.135Z,1755878796.135 [DAT](INFO): got valid direction response:
 16:06:36.2021 LVL= 32752, 29393, 32754, 32755, AGC= 64, IDX= 470, 0.05, 2.981,-2.022, 2.268,-3.047, PHS=-0.154, 1.070,-1.012, RAW= 354.2,   1.1, CAL= 353.9,  -1.9, ROT= 156.1,   1.9

2025-08-22T16:06:36.136Z,1755878796.136 [DAT](INFO): DAT read: Bearing 133.3,  31.6 (Local)

2025-08-22T16:06:36.136Z,1755878796.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.3,  31.6 (Local)

2025-08-22T16:06:36.166Z,1755878796.166 [DAT](INFO): DAT read: Range 11 to 50 : 147.1 m  (Round-trip  196.2 ms) speed -0.4 m/s

2025-08-22T16:06:36.167Z,1755878796.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:36.169Z,1755878796.169 [DAT](INFO): direction in FSK: [-0.913751,0.404919,-0.033155]
2025-08-22T16:06:36.169Z,1755878796.169 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:36.194Z,1755878796.194 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:36.194Z,1755878796.194 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:36.194Z,1755878796.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:36.367Z,1755878796.367 [DAT](INFO): DAT read: user:18>

2025-08-22T16:06:36.367Z,1755878796.367 [DAT](INFO): DAT read: Tx time:16:06:37.4517

2025-08-22T16:06:36.368Z,1755878796.368 [DAT](INFO): Ping request sent.
2025-08-22T16:06:36.368Z,1755878796.368 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:36.368Z,1755878796.368 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:36.369Z,1755878796.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-22T16:06:36.619Z,1755878796.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251226
2025-08-22T16:06:36.874Z,1755878796.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505985
2025-08-22T16:06:36.979Z,1755878796.979 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:37.123Z,1755878797.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755
2025-08-22T16:06:37.375Z,1755878797.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006760
2025-08-22T16:06:37.626Z,1755878797.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258687
2025-08-22T16:06:37.882Z,1755878797.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513078
2025-08-22T16:06:38.130Z,1755878798.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762667
2025-08-22T16:06:38.383Z,1755878798.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015389
2025-08-22T16:06:38.636Z,1755878798.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268449
2025-08-22T16:06:38.887Z,1755878798.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518752
2025-08-22T16:06:39.016Z,1755878799.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:39.141Z,1755878799.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773149
2025-08-22T16:06:39.391Z,1755878799.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022883
2025-08-22T16:06:39.642Z,1755878799.642 [DAT](INFO): DAT read: Rx Time:16:06:40.0538

2025-08-22T16:06:39.643Z,1755878799.643 [DAT](INFO): Rx dataTimestamp_ set to:1755878799.642674
2025-08-22T16:06:39.643Z,1755878799.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275730
2025-08-22T16:06:39.898Z,1755878799.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529154
2025-08-22T16:06:40.151Z,1755878800.151 [DAT](INFO): DAT read: 16:06:40.0538 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 456,-0.29,-2.938,-1.646, 2.715,-2.626, PHS=-0.210, 1.025,-0.986, RAW= 3520, CAL= 352.1,  -1.0, ROT= 157.9,   1.0

2025-08-22T16:06:40.152Z,1755878800.152 [DAT](INFO): unknown deviceResponse_: 16:06:40.0538 LVL= 32752, 30129, 32754, 32755, AGC= 66, IDX= 456,-0.29,-2.938,-1.646, 2.715,-2.626, PHS=-0.210, 1.025,-0.986, RAW= 3520, CAL= 352.1,  -1.0, ROT= 157.9,   1.0

2025-08-22T16:06:40.153Z,1755878800.153 [DAT](INFO): DAT read: Bearing 134.3,  30.5 (Local)

2025-08-22T16:06:40.154Z,1755878800.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.3,  30.5 (Local)

2025-08-22T16:06:40.155Z,1755878800.155 [DAT](INFO): DAT read: Range 11 to 50 : 148.4 m  (Round-trip  197.9 ms) speed -0.3 m/s

2025-08-22T16:06:40.156Z,1755878800.156 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:06:40.156Z,1755878800.156 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:40.156Z,1755878800.156 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:40.157Z,1755878800.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:40.399Z,1755878800.399 [DAT](INFO): DAT read: user:19>

2025-08-22T16:06:40.400Z,1755878800.400 [DAT](INFO): DAT read: Tx time:16:06:41.4017

2025-08-22T16:06:40.400Z,1755878800.400 [DAT](INFO): Ping request sent.
2025-08-22T16:06:40.400Z,1755878800.400 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:40.400Z,1755878800.400 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:40.401Z,1755878800.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:06:40.651Z,1755878800.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250546
2025-08-22T16:06:40.903Z,1755878800.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502437
2025-08-22T16:06:41.056Z,1755878801.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:41.058Z,1755878801.058 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 148.40 m. Transitioning docking module to standby.
2025-08-22T16:06:41.155Z,1755878801.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754792
2025-08-22T16:06:41.407Z,1755878801.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006468
2025-08-22T16:06:41.491Z,1755878801.491 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:06:41.659Z,1755878801.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258507
2025-08-22T16:06:41.913Z,1755878801.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512732
2025-08-22T16:06:42.163Z,1755878802.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763005
2025-08-22T16:06:42.415Z,1755878802.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014464
2025-08-22T16:06:42.667Z,1755878802.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266472
2025-08-22T16:06:42.919Z,1755878802.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518683
2025-08-22T16:06:43.080Z,1755878803.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:43.172Z,1755878803.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772418
2025-08-22T16:06:43.423Z,1755878803.423 [DAT](INFO): DAT read: Rx Time:16:06:44.0054

2025-08-22T16:06:43.423Z,1755878803.423 [DAT](INFO): Rx dataTimestamp_ set to:1755878803.422825
2025-08-22T16:06:43.424Z,1755878803.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023592
2025-08-22T16:06:43.674Z,1755878803.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274394
2025-08-22T16:06:43.932Z,1755878803.932 [DAT](INFO): DAT read: 16:06:44.0054 LVL= 32752, 26225, 32754, 32755, AGC= 66, IDX= 440,-0.10, 1.455, 2.756, 0.796, 1.801, PHS=-0.244, 1.000,-1.049, RAW= 352.9,   3.3, CAL= 352.6,   0.5, ROT= 157.4,  -0.5

2025-08-22T16:06:43.934Z,1755878803.934 [DAT](INFO): got valid direction response:
 16:06:44.0054 LVL= 32752, 26225, 32754, 32755, AGC= 66, IDX= 440,-0.10, 1.455, 2.756, 0.796, 1.801, PHS=-0.244, 1.000,-1.049, RAW= 352.9,   3.3, CAL= 352.6,   0.5, ROT= 157.4,  -0.5

2025-08-22T16:06:43.934Z,1755878803.934 [DAT](INFO): DAT read: Bearing 134.7,  31.1 (Local)

2025-08-22T16:06:43.935Z,1755878803.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.7,  31.1 (Local)

2025-08-22T16:06:43.936Z,1755878803.936 [DAT](INFO): DAT read: Range 11 to 50 : 149.7 m  (Round-trip  199.6 ms) speed -0.3 m/s

2025-08-22T16:06:43.937Z,1755878803.937 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:43.941Z,1755878803.941 [DAT](INFO): direction in FSK: [-0.923175,0.384281,0.008727]
2025-08-22T16:06:43.942Z,1755878803.942 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:43.973Z,1755878803.973 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:43.973Z,1755878803.973 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:43.983Z,1755878803.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:44.179Z,1755878804.179 [DAT](INFO): DAT read: user:20>

2025-08-22T16:06:44.180Z,1755878804.180 [DAT](INFO): DAT read: Tx time:16:06:45.2517

2025-08-22T16:06:44.180Z,1755878804.180 [DAT](INFO): Ping request sent.
2025-08-22T16:06:44.180Z,1755878804.180 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:44.181Z,1755878804.181 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:44.182Z,1755878804.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000880
2025-08-22T16:06:44.431Z,1755878804.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250103
2025-08-22T16:06:44.683Z,1755878804.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502684
2025-08-22T16:06:44.934Z,1755878804.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754062
2025-08-22T16:06:45.088Z,1755878805.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:45.188Z,1755878805.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006868
2025-08-22T16:06:45.439Z,1755878805.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258256
2025-08-22T16:06:45.691Z,1755878805.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510100
2025-08-22T16:06:45.947Z,1755878805.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765755
2025-08-22T16:06:46.195Z,1755878806.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014736
2025-08-22T16:06:46.447Z,1755878806.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266093
2025-08-22T16:06:46.699Z,1755878806.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518185
2025-08-22T16:06:46.951Z,1755878806.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770166
2025-08-22T16:06:47.120Z,1755878807.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:47.204Z,1755878807.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023402
2025-08-22T16:06:47.455Z,1755878807.455 [DAT](INFO): DAT read: Rx Time:16:06:47.8569

2025-08-22T16:06:47.455Z,1755878807.455 [DAT](INFO): Rx dataTimestamp_ set to:1755878807.454837
2025-08-22T16:06:47.456Z,1755878807.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275264
2025-08-22T16:06:47.469Z,1755878807.469 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-22T16:06:47.707Z,1755878807.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526105
2025-08-22T16:06:47.865Z,1755878807.865 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T16:06:47.865Z,1755878807.865 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-22T16:06:47.865Z,1755878807.865 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-22T16:06:47.969Z,1755878807.969 [DAT](INFO): DAT read: 16:06:47.8569 LVL= 21968, 32545, 30242, 32755, AGC= 61, IDX= 439, 0.37,-0.974, 0.178,-1.652,-0.643, PHS=-0.229, 0.866,-1.053, RAW= 355.3,   5.1, CAL= 355.1,   3.3, ROT= 154.9,  -3.3

2025-08-22T16:06:47.983Z,1755878807.983 [DAT](INFO): got valid direction response:
 16:06:47.8569 LVL= 21968, 32545, 30242, 32755, AGC= 61, IDX= 439, 0.37,-0.974, 0.178,-1.652,-0.643, PHS=-0.229, 0.866,-1.053, RAW= 355.3,   5.1, CAL= 355.1,   3.3, ROT= 154.9,  -3.3

2025-08-22T16:06:47.984Z,1755878807.984 [DAT](INFO): DAT read: Bearing 134.0,  33.5 (Local)

2025-08-22T16:06:47.984Z,1755878807.984 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.0,  33.5 (Local)

2025-08-22T16:06:47.985Z,1755878807.985 [DAT](INFO): DAT read: Range 11 to 50 : 150.7 m  (Round-trip  201.0 ms) speed -0.2 m/s

2025-08-22T16:06:47.986Z,1755878807.986 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:47.987Z,1755878807.987 [DAT](INFO): direction in FSK: [-0.904067,0.423496,0.057564]
2025-08-22T16:06:47.987Z,1755878807.987 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:48.038Z,1755878808.038 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:48.038Z,1755878808.038 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:48.039Z,1755878808.039 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:48.210Z,1755878808.210 [DAT](INFO): DAT read: user:21>

2025-08-22T16:06:48.211Z,1755878808.211 [DAT](INFO): DAT read: Tx time:16:06:49.3017

2025-08-22T16:06:48.211Z,1755878808.211 [DAT](INFO): Ping request sent.
2025-08-22T16:06:48.211Z,1755878808.211 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:48.212Z,1755878808.212 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:48.212Z,1755878808.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-22T16:06:48.314Z,1755878808.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-22T16:06:48.314Z,1755878808.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-22T16:06:48.314Z,1755878808.314 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-22T16:06:48.463Z,1755878808.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251060
2025-08-22T16:06:48.672Z,1755878808.672 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-22T16:06:48.673Z,1755878808.673 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:06:48.673Z,1755878808.673 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-22T16:06:48.673Z,1755878808.673 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-22T16:06:48.673Z,1755878808.673 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T16:06:48.715Z,1755878808.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116
2025-08-22T16:06:48.967Z,1755878808.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755244
2025-08-22T16:06:49.152Z,1755878809.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:49.153Z,1755878809.153 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:06:49.153Z,1755878809.153 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-22T16:06:49.154Z,1755878809.154 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-22T16:06:49.155Z,1755878809.155 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-22T16:06:49.155Z,1755878809.155 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-22T16:06:49.155Z,1755878809.155 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-22T16:06:49.155Z,1755878809.155 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:06:49.156Z,1755878809.156 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-22T16:06:49.156Z,1755878809.156 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 150.699997 m 
2025-08-22T16:06:49.156Z,1755878809.156 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-22T16:06:49.156Z,1755878809.156 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-22T16:06:49.157Z,1755878809.157 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-22T16:06:49.157Z,1755878809.157 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-22T16:06:49.176Z,1755878809.176 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-22T16:06:49.176Z,1755878809.176 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-22T16:06:49.183Z,1755878809.183 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T16:06:49.219Z,1755878809.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007204
2025-08-22T16:06:49.470Z,1755878809.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258825
2025-08-22T16:06:49.520Z,1755878809.520 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-22T16:06:49.535Z,1755878809.535 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-22T16:06:49.535Z,1755878809.535 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:06:49.535Z,1755878809.535 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-22T16:06:49.535Z,1755878809.535 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-22T16:06:49.561Z,1755878809.561 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-22T16:06:49.561Z,1755878809.561 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T16:06:49.566Z,1755878809.566 [HorizontalControl](DEBUG): kdHeading = 0.050000
2025-08-22T16:06:49.723Z,1755878809.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511415
2025-08-22T16:06:49.883Z,1755878809.883 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T16:06:49.883Z,1755878809.883 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T16:06:49.884Z,1755878809.884 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T16:06:49.885Z,1755878809.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:06:49.885Z,1755878809.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-22T16:06:49.902Z,1755878809.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-22T16:06:49.903Z,1755878809.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:06:49.903Z,1755878809.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:06:49.903Z,1755878809.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-22T16:06:49.903Z,1755878809.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-22T16:06:49.903Z,1755878809.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-22T16:06:49.904Z,1755878809.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T16:06:49.912Z,1755878809.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T16:06:49.915Z,1755878809.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-22T16:06:49.916Z,1755878809.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-22T16:06:49.916Z,1755878809.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-22T16:06:49.916Z,1755878809.916 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-22T16:06:49.916Z,1755878809.916 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-22T16:06:49.916Z,1755878809.916 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-22T16:06:49.917Z,1755878809.917 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-22T16:06:49.975Z,1755878809.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763127
2025-08-22T16:06:50.226Z,1755878810.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952
2025-08-22T16:06:50.319Z,1755878810.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.699997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-22T16:06:50.323Z,1755878810.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.814468 m,
      bearing: 323.391373 deg,
      lat: 36.779555 deg,
      lon: -121.859438 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-22T16:06:50.324Z,1755878810.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.81 m.
2025-08-22T16:06:50.339Z,1755878810.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 149.814468 m,
      nav range: 148.712830 m,
      bearing: 319.928167 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 169.103504 deg,
      new cmd heading: 319.928167 deg.

2025-08-22T16:06:50.340Z,1755878810.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.583800 target range: 149.814468 and range: 150.70 m.
2025-08-22T16:06:50.371Z,1755878810.371 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-22T16:06:50.371Z,1755878810.371 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-22T16:06:50.479Z,1755878810.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102
2025-08-22T16:06:50.701Z,1755878810.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.81 m.
2025-08-22T16:06:50.704Z,1755878810.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 149.814468 m,
      nav range: 148.830750 m,
      bearing: 319.967804 deg,
      approach rate: 0.307987 m/s,
      LOS rate: nan deg/s,
      cmd heading: 319.928164 deg,
      new cmd heading: 319.967804 deg.

2025-08-22T16:06:50.704Z,1755878810.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584492 target range: 149.814468 and range: 150.70 m.
2025-08-22T16:06:50.731Z,1755878810.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519498
2025-08-22T16:06:50.983Z,1755878810.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771129
2025-08-22T16:06:51.168Z,1755878811.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:51.175Z,1755878811.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.81 m.
2025-08-22T16:06:51.184Z,1755878811.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 149.814468 m,
      nav range: 148.969528 m,
      bearing: 320.014600 deg,
      approach rate: 0.292660 m/s,
      LOS rate: nan deg/s,
      cmd heading: 319.967807 deg,
      new cmd heading: 320.014600 deg.

2025-08-22T16:06:51.185Z,1755878811.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585309 target range: 149.814468 and range: 150.70 m.
2025-08-22T16:06:51.235Z,1755878811.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023515
2025-08-22T16:06:51.279Z,1755878811.279 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:06:51.398Z,1755878811.398 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:06:51.489Z,1755878811.489 [DAT](INFO): DAT read: Rx Time:16:06:51.9084

2025-08-22T16:06:51.490Z,1755878811.490 [DAT](INFO): Rx dataTimestamp_ set to:1755878811.488945
2025-08-22T16:06:51.491Z,1755878811.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279640
2025-08-22T16:06:51.578Z,1755878811.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.81 m.
2025-08-22T16:06:51.581Z,1755878811.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 149.814468 m,
      nav range: 149.095703 m,
      bearing: 320.056813 deg,
      approach rate: 0.312897 m/s,
      LOS rate: nan deg/s,
      cmd heading: 320.014607 deg,
      new cmd heading: 320.056813 deg.

2025-08-22T16:06:51.586Z,1755878811.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.586045 target range: 149.814468 and range: 150.70 m.
2025-08-22T16:06:51.738Z,1755878811.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526959
2025-08-22T16:06:52.001Z,1755878812.001 [DAT](INFO): DAT read: 16:06:51.9085 LVL= 29872, 23585, 32754, 32755, AGC= 67, IDX= 439, 0.22, 1.142, 2.335, 0.436, 1.474, PHS=-0.230, 0.906,-1.082, RAW= 355.3,   4.8, CAL= 355.1,   2.8, ROT= 154.9,  -2.8

2025-08-22T16:06:52.007Z,1755878812.007 [DAT](INFO): got valid direction response:
 16:06:51.9085 LVL= 29872, 23585, 32754, 32755, AGC= 67, IDX= 439, 0.22, 1.142, 2.335, 0.436, 1.474, PHS=-0.230, 0.906,-1.082, RAW= 355.3,   4.8, CAL= 355.1,   2.8, ROT= 154.9,  -2.8

2025-08-22T16:06:52.008Z,1755878812.008 [DAT](INFO): DAT read: Bearing 136.1,  32.5 (Local)

2025-08-22T16:06:52.008Z,1755878812.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.1,  32.5 (Local)

2025-08-22T16:06:52.012Z,1755878812.012 [DAT](INFO): DAT read: Range 11 to 50 : 151.9 m  (Round-trip  202.6 ms) speed -0.5 m/s

2025-08-22T16:06:52.013Z,1755878812.013 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:52.019Z,1755878812.019 [DAT](INFO): direction in FSK: [-0.904488,0.423693,0.048850]
2025-08-22T16:06:52.019Z,1755878812.019 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:52.030Z,1755878812.030 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:52.031Z,1755878812.031 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:52.031Z,1755878812.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:52.153Z,1755878812.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.899994 m,
      deltaT: 4.033296 s,
      deltaX: 1.199997 m,
      approachRate: 0.297523 m/s,
      rangeRepo size: 2

2025-08-22T16:06:52.159Z,1755878812.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.007263 m,
      bearing: 324.824420 deg,
      lat: 36.779590 deg,
      lon: -121.859337 deg,
      deltaT: 4.033296 s,
      deltaX: 1.192795 m,
      approachRate: 0.295737 m/s,
      posRepo size: 2

2025-08-22T16:06:52.160Z,1755878812.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:52.166Z,1755878812.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 324.824420 deg.
2025-08-22T16:06:52.168Z,1755878812.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669256 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:52.243Z,1755878812.243 [DAT](INFO): DAT read: user:22>

2025-08-22T16:06:52.243Z,1755878812.243 [DAT](INFO): DAT read: Tx time:16:06:53.3018

2025-08-22T16:06:52.244Z,1755878812.244 [DAT](INFO): Ping request sent.
2025-08-22T16:06:52.244Z,1755878812.244 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:52.244Z,1755878812.244 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:52.244Z,1755878812.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-22T16:06:52.459Z,1755878812.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:52.467Z,1755878812.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 146.921661 m,
      bearing: 323.794460 deg,
      approach rate: 0.394915 m/s,
      LOS rate: 0.118701 deg/s,
      cmd heading: 324.824427 deg,
      new cmd heading: 324.897277 deg.

2025-08-22T16:06:52.468Z,1755878812.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670527 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:52.495Z,1755878812.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251308
2025-08-22T16:06:52.747Z,1755878812.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502824
2025-08-22T16:06:52.823Z,1755878812.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:52.826Z,1755878812.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.036285 m,
      bearing: 323.829046 deg,
      approach rate: 0.315396 m/s,
      LOS rate: 0.095092 deg/s,
      cmd heading: 324.897264 deg,
      new cmd heading: 324.966382 deg.

2025-08-22T16:06:52.827Z,1755878812.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671733 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:52.000Z,1755878813.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756025
2025-08-22T16:06:53.251Z,1755878813.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007048
2025-08-22T16:06:53.256Z,1755878813.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:53.259Z,1755878813.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:53.262Z,1755878813.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.174850 m,
      bearing: 323.870516 deg,
      approach rate: 0.317775 m/s,
      LOS rate: 0.095015 deg/s,
      cmd heading: 324.966385 deg,
      new cmd heading: 325.049248 deg.

2025-08-22T16:06:53.263Z,1755878813.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.673180 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:53.504Z,1755878813.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259613
2025-08-22T16:06:53.615Z,1755878813.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:53.618Z,1755878813.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.286560 m,
      bearing: 323.904040 deg,
      approach rate: 0.313619 m/s,
      LOS rate: 0.094044 deg/s,
      cmd heading: 325.049249 deg,
      new cmd heading: 325.116245 deg.

2025-08-22T16:06:53.619Z,1755878813.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674349 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:53.755Z,1755878813.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510993
2025-08-22T16:06:54.008Z,1755878814.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764139
2025-08-22T16:06:54.038Z,1755878814.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:54.041Z,1755878814.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.418961 m,
      bearing: 323.943843 deg,
      approach rate: 0.312706 m/s,
      LOS rate: 0.093923 deg/s,
      cmd heading: 325.116240 deg,
      new cmd heading: 325.195774 deg.

2025-08-22T16:06:54.042Z,1755878814.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675737 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:54.258Z,1755878814.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785
2025-08-22T16:06:54.458Z,1755878814.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:54.461Z,1755878814.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.548615 m,
      bearing: 323.983373 deg,
      approach rate: 0.309220 m/s,
      LOS rate: 0.094196 deg/s,
      cmd heading: 325.195770 deg,
      new cmd heading: 325.274762 deg.

2025-08-22T16:06:54.462Z,1755878814.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.677115 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:54.511Z,1755878814.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267518
2025-08-22T16:06:54.763Z,1755878814.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518950
2025-08-22T16:06:54.825Z,1755878814.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:54.828Z,1755878814.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.661819 m,
      bearing: 324.018123 deg,
      approach rate: 0.307993 m/s,
      LOS rate: 0.094472 deg/s,
      cmd heading: 325.274755 deg,
      new cmd heading: 325.344202 deg.

2025-08-22T16:06:54.829Z,1755878814.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678328 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:54.903Z,1755878814.903 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:06:55.015Z,1755878815.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867
2025-08-22T16:06:55.267Z,1755878815.267 [DAT](INFO): DAT read: Rx Time:16:06:55.9100

2025-08-22T16:06:55.267Z,1755878815.267 [DAT](INFO): Rx dataTimestamp_ set to:1755878815.266866
2025-08-22T16:06:55.268Z,1755878815.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024008
2025-08-22T16:06:55.277Z,1755878815.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:55.307Z,1755878815.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:55.314Z,1755878815.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.813736 m,
      bearing: 324.062055 deg,
      approach rate: 0.314960 m/s,
      LOS rate: 0.090986 deg/s,
      cmd heading: 325.344204 deg,
      new cmd heading: 325.431976 deg.

2025-08-22T16:06:55.315Z,1755878815.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.679860 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:55.519Z,1755878815.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274884
2025-08-22T16:06:55.692Z,1755878815.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.01 m.
2025-08-22T16:06:55.695Z,1755878815.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.007263 m,
      nav range: 147.951859 m,
      bearing: 324.102386 deg,
      approach rate: 0.359193 m/s,
      LOS rate: 0.104785 deg/s,
      cmd heading: 325.431985 deg,
      new cmd heading: 325.512573 deg.

2025-08-22T16:06:55.696Z,1755878815.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681266 target range: 151.007263 and range: 151.90 m.
2025-08-22T16:06:55.774Z,1755878815.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529691
2025-08-22T16:06:56.028Z,1755878816.028 [DAT](INFO): DAT read: 16:06:55.9100 LVL= 30832, 22465, 32754, 32755, AGC= 66, IDX= 439,-0.49, 0.513, 1.733,-0.227, 0.878, PHS=-0.263, 0.900,-1.149, RAW= 355.6,   5.8, CAL= 355.4,   4.5, ROT= 154.6,  -4.5

2025-08-22T16:06:56.029Z,1755878816.029 [DAT](INFO): got valid direction response:
 16:06:55.9100 LVL= 30832, 22465, 32754, 32755, AGC= 66, IDX= 439,-0.49, 0.513, 1.733,-0.227, 0.878, PHS=-0.263, 0.900,-1.149, RAW= 355.6,   5.8, CAL= 355.4,   4.5, ROT= 154.6,  -4.5

2025-08-22T16:06:56.030Z,1755878816.030 [DAT](INFO): DAT read: Bearing 135.7,  31.8 (Local)

2025-08-22T16:06:56.030Z,1755878816.030 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.7,  31.8 (Local)

2025-08-22T16:06:56.031Z,1755878816.031 [DAT](INFO): DAT read: Range 11 to 50 : 153.0 m  (Round-trip  204.1 ms) speed -0.3 m/s

2025-08-22T16:06:56.032Z,1755878816.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:56.033Z,1755878816.033 [DAT](INFO): direction in FSK: [-0.900551,0.427613,0.078459]
2025-08-22T16:06:56.033Z,1755878816.033 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:56.037Z,1755878816.037 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:56.037Z,1755878816.037 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:56.037Z,1755878816.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:56.229Z,1755878816.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.000000 m,
      deltaT: 4.030495 s,
      deltaX: 1.100006 m,
      approachRate: 0.272921 m/s,
      rangeRepo size: 3

2025-08-22T16:06:56.235Z,1755878816.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.101166 m,
      bearing: 326.857725 deg,
      lat: 36.779609 deg,
      lon: -121.859326 deg,
      deltaT: 4.030495 s,
      deltaX: 1.093903 m,
      approachRate: 0.271407 m/s,
      posRepo size: 3

2025-08-22T16:06:56.236Z,1755878816.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:56.242Z,1755878816.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 149.299774 m,
      bearing: 324.942196 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104785 deg/s,
      cmd heading: 325.512582 deg,
      new cmd heading: 325.624937 deg.

2025-08-22T16:06:56.243Z,1755878816.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683227 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:56.275Z,1755878816.275 [DAT](INFO): DAT read: user:23>

2025-08-22T16:06:56.276Z,1755878816.276 [DAT](INFO): DAT read: Tx time:16:06:57.3018

2025-08-22T16:06:56.276Z,1755878816.276 [DAT](INFO): Ping request sent.
2025-08-22T16:06:56.276Z,1755878816.276 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:06:56.276Z,1755878816.276 [DAT](INFO): publishing transmit ping time
2025-08-22T16:06:56.277Z,1755878816.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-08-22T16:06:56.367Z,1755878816.367 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:06:56.527Z,1755878816.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250897
2025-08-22T16:06:56.620Z,1755878816.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:56.627Z,1755878816.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 149.458282 m,
      bearing: 324.985741 deg,
      approach rate: 0.404426 m/s,
      LOS rate: 0.110986 deg/s,
      cmd heading: 325.624925 deg,
      new cmd heading: 325.711923 deg.

2025-08-22T16:06:56.628Z,1755878816.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684745 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:56.779Z,1755878816.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502495
2025-08-22T16:06:57.011Z,1755878817.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:57.018Z,1755878817.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 149.597336 m,
      bearing: 325.024499 deg,
      approach rate: 0.355796 m/s,
      LOS rate: 0.099077 deg/s,
      cmd heading: 325.711914 deg,
      new cmd heading: 325.789357 deg.

2025-08-22T16:06:57.022Z,1755878817.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686097 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:57.031Z,1755878817.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754538
2025-08-22T16:06:57.283Z,1755878817.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006513
2025-08-22T16:06:57.370Z,1755878817.370 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:06:57.406Z,1755878817.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:57.408Z,1755878817.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:57.427Z,1755878817.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 149.763580 m,
      bearing: 325.070101 deg,
      approach rate: 0.418742 m/s,
      LOS rate: 0.114737 deg/s,
      cmd heading: 325.789368 deg,
      new cmd heading: 325.880472 deg.

2025-08-22T16:06:57.428Z,1755878817.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687687 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:57.536Z,1755878817.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259464
2025-08-22T16:06:57.787Z,1755878817.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510521
2025-08-22T16:06:57.806Z,1755878817.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:57.809Z,1755878817.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 149.914001 m,
      bearing: 325.112030 deg,
      approach rate: 0.377629 m/s,
      LOS rate: 0.105155 deg/s,
      cmd heading: 325.880483 deg,
      new cmd heading: 325.964256 deg.

2025-08-22T16:06:57.814Z,1755878817.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689149 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:58.039Z,1755878818.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762506
2025-08-22T16:06:58.278Z,1755878818.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:58.280Z,1755878818.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 150.114288 m,
      bearing: 325.169410 deg,
      approach rate: 0.425100 m/s,
      LOS rate: 0.121624 deg/s,
      cmd heading: 325.964248 deg,
      new cmd heading: 326.078855 deg.

2025-08-22T16:06:58.281Z,1755878818.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691150 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:58.291Z,1755878818.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014595
2025-08-22T16:06:58.542Z,1755878818.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266444
2025-08-22T16:06:58.623Z,1755878818.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:58.626Z,1755878818.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 150.255508 m,
      bearing: 325.210598 deg,
      approach rate: 0.408519 m/s,
      LOS rate: 0.119035 deg/s,
      cmd heading: 326.078859 deg,
      new cmd heading: 326.161157 deg.

2025-08-22T16:06:58.627Z,1755878818.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692586 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:58.794Z,1755878818.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518414
2025-08-22T16:06:59.047Z,1755878819.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770586
2025-08-22T16:06:59.059Z,1755878819.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:59.078Z,1755878819.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 150.433731 m,
      bearing: 325.262430 deg,
      approach rate: 0.409093 m/s,
      LOS rate: 0.118836 deg/s,
      cmd heading: 326.161149 deg,
      new cmd heading: 326.264692 deg.

2025-08-22T16:06:59.079Z,1755878819.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694393 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:59.301Z,1755878819.301 [DAT](INFO): DAT read: Rx Time:16:06:59.9117

2025-08-22T16:06:59.302Z,1755878819.302 [DAT](INFO): Rx dataTimestamp_ set to:1755878819.301444
2025-08-22T16:06:59.302Z,1755878819.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026242
2025-08-22T16:06:59.459Z,1755878819.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:06:59.462Z,1755878819.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.10 m.
2025-08-22T16:06:59.464Z,1755878819.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.101166 m,
      nav range: 150.611374 m,
      bearing: 325.312916 deg,
      approach rate: 0.441163 m/s,
      LOS rate: 0.125231 deg/s,
      cmd heading: 326.264695 deg,
      new cmd heading: 326.365548 deg.

2025-08-22T16:06:59.465Z,1755878819.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696153 target range: 152.101166 and range: 153.00 m.
2025-08-22T16:06:59.552Z,1755878819.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275164
2025-08-22T16:06:59.824Z,1755878819.824 [DAT](INFO): DAT read: 16:06:59.9117 LVL= 32448, 28577, 32754, 32755, AGC= 64, IDX= 439,-0.06,-0.479, 0.547,-1.423,-0.296, PHS=-0.080, 0.888,-1.170, RAW=   1.9,   4.1, CAL=   1.8,   2.0, ROT= 148.2,  -2.0

2025-08-22T16:06:59.825Z,1755878819.825 [DAT](INFO): got valid direction response:
 16:06:59.9117 LVL= 32448, 28577, 32754, 32755, AGC= 64, IDX= 439,-0.06,-0.479, 0.547,-1.423,-0.296, PHS=-0.080, 0.888,-1.170, RAW=   1.9,   4.1, CAL=   1.8,   2.0, ROT= 148.2,  -2.0

2025-08-22T16:06:59.830Z,1755878819.830 [DAT](INFO): DAT read: Bearing 145.1,  36.1 (Local)

2025-08-22T16:06:59.830Z,1755878819.830 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1,  36.1 (Local)

2025-08-22T16:06:59.832Z,1755878819.832 [DAT](INFO): DAT read: Range 11 to 50 : 154.2 m  (Round-trip  205.7 ms) speed -0.5 m/s

2025-08-22T16:06:59.832Z,1755878819.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:06:59.833Z,1755878819.833 [DAT](INFO): direction in FSK: [-0.849375,0.526635,0.034899]
2025-08-22T16:06:59.871Z,1755878819.871 [DAT](INFO): publishing direction and range info
2025-08-22T16:06:59.882Z,1755878819.882 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:06:59.882Z,1755878819.882 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:06:59.882Z,1755878819.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:06:59.964Z,1755878819.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.199997 m,
      deltaT: 3.781787 s,
      deltaX: 1.199997 m,
      approachRate: 0.317309 m/s,
      rangeRepo size: 4

2025-08-22T16:06:59.970Z,1755878819.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.294983 m,
      bearing: 324.602921 deg,
      lat: 36.779609 deg,
      lon: -121.859326 deg,
      deltaT: 3.781787 s,
      deltaX: 1.193817 m,
      approachRate: 0.315675 m/s,
      posRepo size: 4

2025-08-22T16:06:59.971Z,1755878819.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:06:59.981Z,1755878819.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 150.818604 m,
      bearing: 325.371624 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.125231 deg/s,
      cmd heading: 326.365536 deg,
      new cmd heading: 326.489576 deg.

2025-08-22T16:06:59.987Z,1755878819.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698318 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:00.055Z,1755878820.055 [DAT](INFO): DAT read: user:24>

2025-08-22T16:07:00.056Z,1755878820.056 [DAT](INFO): DAT read: Tx time:16:07:01.1518

2025-08-22T16:07:00.056Z,1755878820.056 [DAT](INFO): Ping request sent.
2025-08-22T16:07:00.056Z,1755878820.056 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:00.056Z,1755878820.056 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:00.057Z,1755878820.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-08-22T16:07:00.307Z,1755878820.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250465
2025-08-22T16:07:00.398Z,1755878820.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:00.401Z,1755878820.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.032898 m,
      bearing: 325.432023 deg,
      approach rate: 0.485221 m/s,
      LOS rate: 0.136565 deg/s,
      cmd heading: 326.489572 deg,
      new cmd heading: 326.610198 deg.

2025-08-22T16:07:00.402Z,1755878820.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.700423 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:00.558Z,1755878820.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502421
2025-08-22T16:07:00.783Z,1755878820.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:00.786Z,1755878820.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.193451 m,
      bearing: 325.480462 deg,
      approach rate: 0.416764 m/s,
      LOS rate: 0.125603 deg/s,
      cmd heading: 326.610193 deg,
      new cmd heading: 326.706967 deg.

2025-08-22T16:07:00.787Z,1755878820.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702112 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:00.811Z,1755878820.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754555
2025-08-22T16:07:01.064Z,1755878821.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007998
2025-08-22T16:07:01.201Z,1755878821.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:01.204Z,1755878821.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.375244 m,
      bearing: 325.536461 deg,
      approach rate: 0.435734 m/s,
      LOS rate: 0.134062 deg/s,
      cmd heading: 326.706963 deg,
      new cmd heading: 326.818827 deg.

2025-08-22T16:07:01.205Z,1755878821.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704064 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:01.316Z,1755878821.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260322
2025-08-22T16:07:01.567Z,1755878821.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510543
2025-08-22T16:07:01.646Z,1755878821.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:01.648Z,1755878821.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:01.651Z,1755878821.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.589172 m,
      bearing: 325.603287 deg,
      approach rate: 0.477916 m/s,
      LOS rate: 0.149078 deg/s,
      cmd heading: 326.818814 deg,
      new cmd heading: 326.952277 deg.

2025-08-22T16:07:01.652Z,1755878821.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706394 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:01.819Z,1755878821.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762635
2025-08-22T16:07:02.028Z,1755878822.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:02.031Z,1755878822.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.773163 m,
      bearing: 325.661930 deg,
      approach rate: 0.485042 m/s,
      LOS rate: 0.154410 deg/s,
      cmd heading: 326.952276 deg,
      new cmd heading: 327.069421 deg.

2025-08-22T16:07:02.032Z,1755878822.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708438 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:02.071Z,1755878822.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014599
2025-08-22T16:07:02.323Z,1755878822.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470
2025-08-22T16:07:02.435Z,1755878822.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:02.437Z,1755878822.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 151.962952 m,
      bearing: 325.722452 deg,
      approach rate: 0.466246 m/s,
      LOS rate: 0.148496 deg/s,
      cmd heading: 327.069428 deg,
      new cmd heading: 327.190320 deg.

2025-08-22T16:07:02.438Z,1755878822.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710548 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:02.575Z,1755878822.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518487
2025-08-22T16:07:02.827Z,1755878822.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770624
2025-08-22T16:07:02.835Z,1755878822.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:02.837Z,1755878822.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 152.138382 m,
      bearing: 325.779735 deg,
      approach rate: 0.438610 m/s,
      LOS rate: 0.143055 deg/s,
      cmd heading: 327.190322 deg,
      new cmd heading: 327.304757 deg.

2025-08-22T16:07:02.842Z,1755878822.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712546 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:03.078Z,1755878823.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022312
2025-08-22T16:07:03.223Z,1755878823.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:03.226Z,1755878823.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 152.324661 m,
      bearing: 325.842109 deg,
      approach rate: 0.479680 m/s,
      LOS rate: 0.160418 deg/s,
      cmd heading: 327.304769 deg,
      new cmd heading: 327.429363 deg.

2025-08-22T16:07:03.227Z,1755878823.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714720 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:03.333Z,1755878823.333 [DAT](INFO): DAT read: Rx Time:16:07:03.7636

2025-08-22T16:07:03.334Z,1755878823.334 [DAT](INFO): Rx dataTimestamp_ set to:1755878823.333678
2025-08-22T16:07:03.334Z,1755878823.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278457
2025-08-22T16:07:03.587Z,1755878823.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530510
2025-08-22T16:07:03.704Z,1755878823.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:03.707Z,1755878823.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.29 m.
2025-08-22T16:07:03.709Z,1755878823.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.294983 m,
      nav range: 152.557480 m,
      bearing: 325.918646 deg,
      approach rate: 0.481413 m/s,
      LOS rate: 0.158019 deg/s,
      cmd heading: 327.429351 deg,
      new cmd heading: 327.582192 deg.

2025-08-22T16:07:03.711Z,1755878823.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.717388 target range: 153.294983 and range: 154.20 m.
2025-08-22T16:07:03.844Z,1755878823.844 [DAT](INFO): DAT read: 16:07:03.7636 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 443,-0.18,-0.175, 0.654,-1.287,-0.074, PHS= 0.000, 0.773,-1.257, RAW=   7.9,   5.5, CAL=   7.8,   4.5, ROT= 142.2,  -4.5

2025-08-22T16:07:03.845Z,1755878823.845 [DAT](INFO): got valid direction response:
 16:07:03.7636 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 443,-0.18,-0.175, 0.654,-1.287,-0.074, PHS= 0.000, 0.773,-1.257, RAW=   7.9,   5.5, CAL=   7.8,   4.5, ROT= 142.2,  -4.5

2025-08-22T16:07:03.846Z,1755878823.846 [DAT](INFO): DAT read: Bearing 150.8,  40.2 (Local)

2025-08-22T16:07:03.846Z,1755878823.846 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8,  40.2 (Local)

2025-08-22T16:07:03.848Z,1755878823.848 [DAT](INFO): DAT read: Range 11 to 50 : 155.7 m  (Round-trip  207.7 ms) speed -0.1 m/s

2025-08-22T16:07:03.848Z,1755878823.848 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:03.849Z,1755878823.849 [DAT](INFO): direction in FSK: [-0.787719,0.611018,0.078459]
2025-08-22T16:07:03.850Z,1755878823.850 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:03.853Z,1755878823.853 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:03.853Z,1755878823.853 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:03.853Z,1755878823.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:04.090Z,1755878824.090 [DAT](INFO): DAT read: user:25>

2025-08-22T16:07:04.091Z,1755878824.091 [DAT](INFO): DAT read: Tx time:16:07:05.1018

2025-08-22T16:07:04.091Z,1755878824.091 [DAT](INFO): Ping request sent.
2025-08-22T16:07:04.092Z,1755878824.092 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:04.092Z,1755878824.092 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:04.092Z,1755878824.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-22T16:07:04.094Z,1755878824.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.699997 m,
      deltaT: 4.034367 s,
      deltaX: 1.500000 m,
      approachRate: 0.371806 m/s,
      rangeRepo size: 4

2025-08-22T16:07:04.097Z,1755878824.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.785339 m,
      bearing: 327.752850 deg,
      lat: 36.779609 deg,
      lon: -121.859317 deg,
      deltaT: 4.034367 s,
      deltaX: 1.490356 m,
      approachRate: 0.369415 m/s,
      posRepo size: 4

2025-08-22T16:07:04.109Z,1755878824.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:04.112Z,1755878824.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 152.265594 m,
      bearing: 326.237115 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.158019 deg/s,
      cmd heading: 327.582184 deg,
      new cmd heading: 327.701891 deg.

2025-08-22T16:07:04.113Z,1755878824.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719477 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:04.343Z,1755878824.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251235
2025-08-22T16:07:04.582Z,1755878824.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:04.585Z,1755878824.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 152.496185 m,
      bearing: 326.313142 deg,
      approach rate: 0.464096 m/s,
      LOS rate: 0.152783 deg/s,
      cmd heading: 327.701903 deg,
      new cmd heading: 327.853726 deg.

2025-08-22T16:07:04.590Z,1755878824.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722127 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:04.595Z,1755878824.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502986
2025-08-22T16:07:04.847Z,1755878824.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755812
2025-08-22T16:07:04.947Z,1755878824.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:04.954Z,1755878824.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 152.694778 m,
      bearing: 326.380305 deg,
      approach rate: 0.543741 m/s,
      LOS rate: 0.183652 deg/s,
      cmd heading: 327.853725 deg,
      new cmd heading: 327.987876 deg.

2025-08-22T16:07:04.955Z,1755878824.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724468 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:05.100Z,1755878825.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008367
2025-08-22T16:07:05.351Z,1755878825.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259280
2025-08-22T16:07:05.409Z,1755878825.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:05.412Z,1755878825.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 152.933182 m,
      bearing: 326.457875 deg,
      approach rate: 0.516361 m/s,
      LOS rate: 0.167748 deg/s,
      cmd heading: 327.987870 deg,
      new cmd heading: 328.142768 deg.

2025-08-22T16:07:05.413Z,1755878825.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727172 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:05.603Z,1755878825.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511216
2025-08-22T16:07:05.855Z,1755878825.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763013
2025-08-22T16:07:05.897Z,1755878825.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:05.899Z,1755878825.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:05.902Z,1755878825.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 153.182846 m,
      bearing: 326.541294 deg,
      approach rate: 0.509787 m/s,
      LOS rate: 0.170055 deg/s,
      cmd heading: 328.142778 deg,
      new cmd heading: 328.309344 deg.

2025-08-22T16:07:05.903Z,1755878825.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730079 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:06.106Z,1755878826.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014843
2025-08-22T16:07:06.352Z,1755878826.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:06.359Z,1755878826.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267120
2025-08-22T16:07:06.361Z,1755878826.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 153.390457 m,
      bearing: 326.612508 deg,
      approach rate: 0.458111 m/s,
      LOS rate: 0.156926 deg/s,
      cmd heading: 328.309353 deg,
      new cmd heading: 328.451587 deg.

2025-08-22T16:07:06.367Z,1755878826.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732562 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:06.611Z,1755878826.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519017
2025-08-22T16:07:06.863Z,1755878826.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048
2025-08-22T16:07:06.892Z,1755878826.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:06.895Z,1755878826.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 153.690186 m,
      bearing: 326.716455 deg,
      approach rate: 0.555527 m/s,
      LOS rate: 0.192283 deg/s,
      cmd heading: 328.451585 deg,
      new cmd heading: 328.659072 deg.

2025-08-22T16:07:06.895Z,1755878826.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736183 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:07.115Z,1755878827.115 [DAT](INFO): DAT read: Rx Time:16:07:07.7156

2025-08-22T16:07:07.115Z,1755878827.115 [DAT](INFO): Rx dataTimestamp_ set to:1755878827.115054
2025-08-22T16:07:07.116Z,1755878827.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024272
2025-08-22T16:07:07.266Z,1755878827.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.79 m.
2025-08-22T16:07:07.268Z,1755878827.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.785339 m,
      nav range: 153.880249 m,
      bearing: 326.784210 deg,
      approach rate: 0.508290 m/s,
      LOS rate: 0.180976 deg/s,
      cmd heading: 328.659059 deg,
      new cmd heading: 328.794402 deg.

2025-08-22T16:07:07.270Z,1755878827.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738545 target range: 154.785339 and range: 155.70 m.
2025-08-22T16:07:07.373Z,1755878827.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280429
2025-08-22T16:07:07.629Z,1755878827.629 [DAT](INFO): DAT read: 16:07:07.7156 LVL= 29040, 24897, 32754, 28115, AGC= 64, IDX= 447, 0.12,-0.235,-0.089,-1.807,-0.557, PHS= 0.425, 0.513,-1.294, RAW=  27.5,   4.1, CAL=  27.5,   2.8, ROT= 122.5,  -2.8

2025-08-22T16:07:07.630Z,1755878827.630 [DAT](INFO): got valid direction response:
 16:07:07.7156 LVL= 29040, 24897, 32754, 28115, AGC= 64, IDX= 447, 0.12,-0.235,-0.089,-1.807,-0.557, PHS= 0.425, 0.513,-1.294, RAW=  27.5,   4.1, CAL=  27.5,   2.8, ROT= 122.5,  -2.8

2025-08-22T16:07:07.631Z,1755878827.631 [DAT](INFO): DAT read: Bearing 168.9,  56.5 (Local)

2025-08-22T16:07:07.631Z,1755878827.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.9,  56.5 (Local)

2025-08-22T16:07:07.633Z,1755878827.633 [DAT](INFO): DAT read: Range 11 to 50 : 157.2 m  (Round-trip  209.6 ms) speed -0.4 m/s

2025-08-22T16:07:07.645Z,1755878827.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:07.646Z,1755878827.646 [DAT](INFO): direction in FSK: [-0.536658,0.842385,0.048850]
2025-08-22T16:07:07.647Z,1755878827.647 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:07.658Z,1755878827.658 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:07.658Z,1755878827.658 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:07.658Z,1755878827.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:07.789Z,1755878827.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.199997 m,
      deltaT: 3.781457 s,
      deltaX: 1.500000 m,
      approachRate: 0.396672 m/s,
      rangeRepo size: 4

2025-08-22T16:07:07.811Z,1755878827.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.275742 m,
      bearing: 315.997317 deg,
      lat: 36.779609 deg,
      lon: -121.859317 deg,
      deltaT: 3.781457 s,
      deltaX: 1.490402 m,
      approachRate: 0.394134 m/s,
      posRepo size: 4

2025-08-22T16:07:07.812Z,1755878827.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:07.823Z,1755878827.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 154.137939 m,
      bearing: 326.875119 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.180976 deg/s,
      cmd heading: 328.794406 deg,
      new cmd heading: 328.983641 deg.

2025-08-22T16:07:07.824Z,1755878827.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741848 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:07.870Z,1755878827.870 [DAT](INFO): DAT read: user:26>

2025-08-22T16:07:07.871Z,1755878827.871 [DAT](INFO): DAT read: Tx time:16:07:08.9018

2025-08-22T16:07:07.871Z,1755878827.871 [DAT](INFO): Ping request sent.
2025-08-22T16:07:07.871Z,1755878827.871 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:07.872Z,1755878827.872 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:07.872Z,1755878827.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:07:08.123Z,1755878828.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251129
2025-08-22T16:07:08.131Z,1755878828.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:08.133Z,1755878828.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:08.136Z,1755878828.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 154.323181 m,
      bearing: 326.942384 deg,
      approach rate: 0.538119 m/s,
      LOS rate: 0.195169 deg/s,
      cmd heading: 328.983629 deg,
      new cmd heading: 329.117999 deg.

2025-08-22T16:07:08.137Z,1755878828.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744193 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:08.380Z,1755878828.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505725
2025-08-22T16:07:08.560Z,1755878828.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:08.563Z,1755878828.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 154.540207 m,
      bearing: 327.023848 deg,
      approach rate: 0.507838 m/s,
      LOS rate: 0.190356 deg/s,
      cmd heading: 329.117993 deg,
      new cmd heading: 329.280690 deg.

2025-08-22T16:07:08.564Z,1755878828.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747032 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:08.628Z,1755878828.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756636
2025-08-22T16:07:08.879Z,1755878828.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007007
2025-08-22T16:07:08.949Z,1755878828.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:08.952Z,1755878828.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 154.734650 m,
      bearing: 327.098963 deg,
      approach rate: 0.499823 m/s,
      LOS rate: 0.192844 deg/s,
      cmd heading: 329.280688 deg,
      new cmd heading: 329.430729 deg.

2025-08-22T16:07:08.953Z,1755878828.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749651 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:09.131Z,1755878829.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259034
2025-08-22T16:07:09.344Z,1755878829.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:09.387Z,1755878829.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514682
2025-08-22T16:07:09.438Z,1755878829.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 154.928268 m,
      bearing: 327.176039 deg,
      approach rate: 0.491761 m/s,
      LOS rate: 0.195518 deg/s,
      cmd heading: 329.430733 deg,
      new cmd heading: 329.584694 deg.

2025-08-22T16:07:09.439Z,1755878829.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752338 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:09.635Z,1755878829.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763004
2025-08-22T16:07:09.842Z,1755878829.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:09.845Z,1755878829.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 155.174774 m,
      bearing: 327.276128 deg,
      approach rate: 0.494018 m/s,
      LOS rate: 0.200267 deg/s,
      cmd heading: 329.584686 deg,
      new cmd heading: 329.784544 deg.

2025-08-22T16:07:09.846Z,1755878829.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755826 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:09.888Z,1755878829.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015710
2025-08-22T16:07:10.138Z,1755878830.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901
2025-08-22T16:07:10.247Z,1755878830.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:10.249Z,1755878830.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:10.256Z,1755878830.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 155.361237 m,
      bearing: 327.354200 deg,
      approach rate: 0.457608 m/s,
      LOS rate: 0.191371 deg/s,
      cmd heading: 329.784537 deg,
      new cmd heading: 329.940494 deg.

2025-08-22T16:07:10.257Z,1755878830.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758548 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:10.394Z,1755878830.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521869
2025-08-22T16:07:10.643Z,1755878830.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771020
2025-08-22T16:07:10.680Z,1755878830.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:10.683Z,1755878830.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 155.581970 m,
      bearing: 327.446469 deg,
      approach rate: 0.512497 m/s,
      LOS rate: 0.213925 deg/s,
      cmd heading: 329.940484 deg,
      new cmd heading: 330.124759 deg.

2025-08-22T16:07:10.684Z,1755878830.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761764 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:10.895Z,1755878830.895 [DAT](INFO): DAT read: Rx Time:16:07:11.5177

2025-08-22T16:07:10.895Z,1755878830.895 [DAT](INFO): Rx dataTimestamp_ set to:1755878830.895027
2025-08-22T16:07:10.896Z,1755878830.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024328
2025-08-22T16:07:11.147Z,1755878831.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275063
2025-08-22T16:07:11.204Z,1755878831.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.28 m.
2025-08-22T16:07:11.211Z,1755878831.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.275742 m,
      nav range: 155.813736 m,
      bearing: 327.550129 deg,
      approach rate: 0.441941 m/s,
      LOS rate: 0.197369 deg/s,
      cmd heading: 330.124763 deg,
      new cmd heading: 330.331773 deg.

2025-08-22T16:07:11.212Z,1755878831.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765377 target range: 156.275742 and range: 157.20 m.
2025-08-22T16:07:11.447Z,1755878831.447 [DAT](INFO): DAT read: 16:07:11.5177 LVL= 27456, 22273, 27122, 32403, AGC= 62, IDX= 468, 0.17, 2.280, 1.952, 0.424, 1.671, PHS= 0.710, 0.325,-1.291, RAW=  40.4,   2.8, CAL=  40.6,   1.5, ROT= 109.4,  -1.5

2025-08-22T16:07:11.448Z,1755878831.448 [DAT](INFO): got valid direction response:
 16:07:11.5177 LVL= 27456, 22273, 27122, 32403, AGC= 62, IDX= 468, 0.17, 2.280, 1.952, 0.424, 1.671, PHS= 0.710, 0.325,-1.291, RAW=  40.4,   2.8, CAL=  40.6,   1.5, ROT= 109.4,  -1.5

2025-08-22T16:07:11.449Z,1755878831.449 [DAT](INFO): DAT read: Bearing 189.2,  66.2 (Local)

2025-08-22T16:07:11.449Z,1755878831.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.2,  66.2 (Local)

2025-08-22T16:07:11.450Z,1755878831.450 [DAT](INFO): DAT read: Range 11 to 50 : 158.8 m  (Round-trip  211.8 ms) speed -0.4 m/s

2025-08-22T16:07:11.452Z,1755878831.452 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:11.455Z,1755878831.455 [DAT](INFO): direction in FSK: [-0.332047,0.942899,0.026177]
2025-08-22T16:07:11.456Z,1755878831.456 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:11.470Z,1755878831.470 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:11.470Z,1755878831.470 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:11.471Z,1755878831.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:11.663Z,1755878831.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.800003 m,
      deltaT: 3.819722 s,
      deltaX: 1.600006 m,
      approachRate: 0.418880 m/s,
      rangeRepo size: 4

2025-08-22T16:07:11.666Z,1755878831.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.865082 m,
      bearing: 312.957039 deg,
      lat: 36.779601 deg,
      lon: -121.859346 deg,
      deltaT: 3.819722 s,
      deltaX: 1.589340 m,
      approachRate: 0.416088 m/s,
      posRepo size: 4

2025-08-22T16:07:11.666Z,1755878831.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:11.669Z,1755878831.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 156.638092 m,
      bearing: 326.653305 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.197369 deg/s,
      cmd heading: 330.331772 deg,
      new cmd heading: 330.512770 deg.

2025-08-22T16:07:11.670Z,1755878831.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768536 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:11.690Z,1755878831.690 [DAT](INFO): DAT read: user:27>

2025-08-22T16:07:11.691Z,1755878831.691 [DAT](INFO): DAT read: Tx time:16:07:12.7518

2025-08-22T16:07:11.691Z,1755878831.691 [DAT](INFO): Ping request sent.
2025-08-22T16:07:11.692Z,1755878831.692 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:11.692Z,1755878831.692 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:11.692Z,1755878831.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-22T16:07:11.946Z,1755878831.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254067
2025-08-22T16:07:12.143Z,1755878832.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:12.146Z,1755878832.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 156.859726 m,
      bearing: 326.760048 deg,
      approach rate: 0.461665 m/s,
      LOS rate: 0.222032 deg/s,
      cmd heading: 330.512772 deg,
      new cmd heading: 330.725955 deg.

2025-08-22T16:07:12.147Z,1755878832.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772257 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:12.195Z,1755878832.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503697
2025-08-22T16:07:12.448Z,1755878832.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756131
2025-08-22T16:07:12.568Z,1755878832.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:12.570Z,1755878832.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:12.573Z,1755878832.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.051971 m,
      bearing: 326.853531 deg,
      approach rate: 0.449970 m/s,
      LOS rate: 0.218539 deg/s,
      cmd heading: 330.725956 deg,
      new cmd heading: 330.912693 deg.

2025-08-22T16:07:12.574Z,1755878832.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775516 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:12.699Z,1755878832.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006951
2025-08-22T16:07:12.947Z,1755878832.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:12.952Z,1755878832.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259940
2025-08-22T16:07:12.957Z,1755878832.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.218216 m,
      bearing: 326.937310 deg,
      approach rate: 0.440800 m/s,
      LOS rate: 0.221904 deg/s,
      cmd heading: 330.912693 deg,
      new cmd heading: 331.080072 deg.

2025-08-22T16:07:12.959Z,1755878832.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778437 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:13.203Z,1755878833.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511733
2025-08-22T16:07:13.353Z,1755878833.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:13.356Z,1755878833.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.392273 m,
      bearing: 327.028346 deg,
      approach rate: 0.428868 m/s,
      LOS rate: 0.224061 deg/s,
      cmd heading: 331.080060 deg,
      new cmd heading: 331.261931 deg.

2025-08-22T16:07:13.357Z,1755878833.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781611 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:13.459Z,1755878833.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766147
2025-08-22T16:07:13.706Z,1755878833.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880
2025-08-22T16:07:13.781Z,1755878833.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:13.784Z,1755878833.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.580765 m,
      bearing: 327.124413 deg,
      approach rate: 0.440742 m/s,
      LOS rate: 0.224361 deg/s,
      cmd heading: 331.261934 deg,
      new cmd heading: 331.453838 deg.

2025-08-22T16:07:13.786Z,1755878833.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784961 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:13.963Z,1755878833.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271383
2025-08-22T16:07:14.187Z,1755878834.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:14.195Z,1755878834.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.744110 m,
      bearing: 327.210850 deg,
      approach rate: 0.402400 m/s,
      LOS rate: 0.212716 deg/s,
      cmd heading: 331.453835 deg,
      new cmd heading: 331.626529 deg.

2025-08-22T16:07:14.197Z,1755878834.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787975 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:14.211Z,1755878834.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519076
2025-08-22T16:07:14.466Z,1755878834.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773647
2025-08-22T16:07:14.579Z,1755878834.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:14.581Z,1755878834.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:14.600Z,1755878834.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 157.922516 m,
      bearing: 327.307340 deg,
      approach rate: 0.452583 m/s,
      LOS rate: 0.244501 deg/s,
      cmd heading: 331.626530 deg,
      new cmd heading: 331.819292 deg.

2025-08-22T16:07:14.601Z,1755878834.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791339 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:14.716Z,1755878834.716 [DAT](INFO): DAT read: Rx Time:16:07:15.3694

2025-08-22T16:07:14.717Z,1755878834.717 [DAT](INFO): Rx dataTimestamp_ set to:1755878834.716099
2025-08-22T16:07:14.719Z,1755878834.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025647
2025-08-22T16:07:15.031Z,1755878835.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.339315
2025-08-22T16:07:15.045Z,1755878835.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:15.048Z,1755878835.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 158.114594 m,
      bearing: 327.415317 deg,
      approach rate: 0.413739 m/s,
      LOS rate: 0.232301 deg/s,
      cmd heading: 331.819305 deg,
      new cmd heading: 332.034995 deg.

2025-08-22T16:07:15.049Z,1755878835.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795104 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:15.223Z,1755878835.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530558
2025-08-22T16:07:15.388Z,1755878835.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:15.391Z,1755878835.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865082 m,
      nav range: 158.248077 m,
      bearing: 327.493383 deg,
      approach rate: 0.389144 m/s,
      LOS rate: 0.227392 deg/s,
      cmd heading: 332.035003 deg,
      new cmd heading: 332.191002 deg.

2025-08-22T16:07:15.392Z,1755878835.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797827 target range: 157.865082 and range: 158.80 m.
2025-08-22T16:07:15.500Z,1755878835.500 [DAT](INFO): DAT read: 16:07:15.3694 LVL= 25072, 32753, 32754, 32755, AGC= 63, IDX= 454, 0.02,-1.638,-2.139, 2.799,-2.294, PHS= 0.758, 0.200,-1.234, RAW=  45.7,   3.1, CAL=  45.7,   1.5, ROT= 104.3,  -1.5

2025-08-22T16:07:15.506Z,1755878835.506 [DAT](INFO): got valid direction response:
 16:07:15.3694 LVL= 25072, 32753, 32754, 32755, AGC= 63, IDX= 454, 0.02,-1.638,-2.139, 2.799,-2.294, PHS= 0.758, 0.200,-1.234, RAW=  45.7,   3.1, CAL=  45.7,   1.5, ROT= 104.3,  -1.5

2025-08-22T16:07:15.507Z,1755878835.507 [DAT](INFO): DAT read: Bearing 205.5,  69.0 (Local)

2025-08-22T16:07:15.507Z,1755878835.507 [DAT](INFO): Local bearing/azimuth received:
 Bearing 205.5,  69.0 (Local)

2025-08-22T16:07:15.508Z,1755878835.508 [DAT](INFO): DAT read: Range 11 to 50 : 160.0 m  (Round-trip  213.4 ms) speed -0.3 m/s

2025-08-22T16:07:15.509Z,1755878835.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:15.518Z,1755878835.518 [DAT](INFO): direction in FSK: [-0.246914,0.968684,0.026177]
2025-08-22T16:07:15.519Z,1755878835.519 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:15.538Z,1755878835.538 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:15.538Z,1755878835.538 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:15.538Z,1755878835.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:15.722Z,1755878835.722 [DAT](INFO): DAT read: user:28>

2025-08-22T16:07:15.723Z,1755878835.723 [DAT](INFO): DAT read: Tx time:16:07:16.8018

2025-08-22T16:07:15.723Z,1755878835.723 [DAT](INFO): Ping request sent.
2025-08-22T16:07:15.723Z,1755878835.723 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:15.724Z,1755878835.724 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:15.724Z,1755878835.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-08-22T16:07:15.842Z,1755878835.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.000000 m,
      deltaT: 4.033028 s,
      deltaX: 1.199997 m,
      approachRate: 0.297542 m/s,
      rangeRepo size: 4

2025-08-22T16:07:15.844Z,1755878835.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.057907 m,
      bearing: 319.417594 deg,
      lat: 36.779460 deg,
      lon: -121.859529 deg,
      deltaT: 4.033028 s,
      deltaX: 1.192825 m,
      approachRate: 0.295764 m/s,
      posRepo size: 4

2025-08-22T16:07:15.845Z,1755878835.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:15.852Z,1755878835.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 155.526352 m,
      bearing: 319.418132 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.227392 deg/s,
      cmd heading: 332.191004 deg,
      new cmd heading: 332.397085 deg.

2025-08-22T16:07:15.853Z,1755878835.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801424 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:15.979Z,1755878835.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254881
2025-08-22T16:07:16.215Z,1755878836.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:16.222Z,1755878836.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 155.637543 m,
      bearing: 319.514826 deg,
      approach rate: 0.297649 m/s,
      LOS rate: 0.258659 deg/s,
      cmd heading: 332.397085 deg,
      new cmd heading: 332.590335 deg.

2025-08-22T16:07:16.223Z,1755878836.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804796 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:16.227Z,1755878836.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503126
2025-08-22T16:07:16.482Z,1755878836.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757453
2025-08-22T16:07:16.610Z,1755878836.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:16.612Z,1755878836.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:16.615Z,1755878836.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 155.760666 m,
      bearing: 319.620098 deg,
      approach rate: 0.310056 m/s,
      LOS rate: 0.264892 deg/s,
      cmd heading: 332.590324 deg,
      new cmd heading: 332.800700 deg.

2025-08-22T16:07:16.616Z,1755878836.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808468 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:16.731Z,1755878836.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007093
2025-08-22T16:07:16.983Z,1755878836.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259079
2025-08-22T16:07:17.001Z,1755878837.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:17.004Z,1755878837.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 155.873032 m,
      bearing: 319.721133 deg,
      approach rate: 0.291528 m/s,
      LOS rate: 0.261941 deg/s,
      cmd heading: 332.800694 deg,
      new cmd heading: 333.002617 deg.

2025-08-22T16:07:17.005Z,1755878837.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811992 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:17.234Z,1755878837.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510979
2025-08-22T16:07:17.406Z,1755878837.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:17.409Z,1755878837.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 155.982224 m,
      bearing: 319.824696 deg,
      approach rate: 0.267247 m/s,
      LOS rate: 0.253294 deg/s,
      cmd heading: 333.002622 deg,
      new cmd heading: 333.209603 deg.

2025-08-22T16:07:17.410Z,1755878837.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815605 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:17.492Z,1755878837.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767645
2025-08-22T16:07:17.738Z,1755878837.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014919
2025-08-22T16:07:17.826Z,1755878837.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:17.829Z,1755878837.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 156.095276 m,
      bearing: 319.939746 deg,
      approach rate: 0.269156 m/s,
      LOS rate: 0.273713 deg/s,
      cmd heading: 333.209604 deg,
      new cmd heading: 333.439535 deg.

2025-08-22T16:07:17.830Z,1755878837.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819618 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:17.991Z,1755878837.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267748
2025-08-22T16:07:18.217Z,1755878838.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:18.236Z,1755878838.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 156.191467 m,
      bearing: 320.043468 deg,
      approach rate: 0.246261 m/s,
      LOS rate: 0.265378 deg/s,
      cmd heading: 333.439535 deg,
      new cmd heading: 333.646852 deg.

2025-08-22T16:07:18.237Z,1755878838.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823236 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:18.243Z,1755878838.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519193
2025-08-22T16:07:18.497Z,1755878838.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773041
2025-08-22T16:07:18.727Z,1755878838.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:18.729Z,1755878838.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:18.732Z,1755878838.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 156.313797 m,
      bearing: 320.180516 deg,
      approach rate: 0.238795 m/s,
      LOS rate: 0.267316 deg/s,
      cmd heading: 333.646845 deg,
      new cmd heading: 333.920724 deg.

2025-08-22T16:07:18.733Z,1755878838.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828016 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:18.747Z,1755878838.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023335
2025-08-22T16:07:18.999Z,1755878838.999 [DAT](INFO): DAT read: Rx Time:16:07:19.4208

2025-08-22T16:07:18.999Z,1755878838.999 [DAT](INFO): Rx dataTimestamp_ set to:1755878838.998760
2025-08-22T16:07:18.000Z,1755878839.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276094
2025-08-22T16:07:19.102Z,1755878839.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:19.105Z,1755878839.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 156.399139 m,
      bearing: 320.282353 deg,
      approach rate: 0.229023 m/s,
      LOS rate: 0.273137 deg/s,
      cmd heading: 333.920736 deg,
      new cmd heading: 334.124297 deg.

2025-08-22T16:07:19.107Z,1755878839.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831569 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:19.254Z,1755878839.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530889
2025-08-22T16:07:19.551Z,1755878839.551 [DAT](INFO): DAT read: 16:07:19.4208 LVL= 20336, 26929, 32754, 25139, AGC= 62, IDX= 436,-0.06, 0.863, 0.129,-1.020, 0.087, PHS= 0.877, 0.087,-1.152, RAW=  52.7,   2.1, CAL=  52.9,  -0.3, ROT=  97.1,   0.3

2025-08-22T16:07:19.555Z,1755878839.555 [DAT](INFO): got valid direction response:
 16:07:19.4208 LVL= 20336, 26929, 32754, 25139, AGC= 62, IDX= 436,-0.06, 0.863, 0.129,-1.020, 0.087, PHS= 0.877, 0.087,-1.152, RAW=  52.7,   2.1, CAL=  52.9,  -0.3, ROT=  97.1,   0.3

2025-08-22T16:07:19.575Z,1755878839.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:19.578Z,1755878839.578 [DAT](INFO): DAT read: Bearing 233.3,  72.9 (Local)

2025-08-22T16:07:19.580Z,1755878839.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.3,  72.9 (Local)

2025-08-22T16:07:19.584Z,1755878839.584 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.8 ms) speed -0.1 m/s

2025-08-22T16:07:19.584Z,1755878839.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:19.595Z,1755878839.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057907 m,
      nav range: 156.498825 m,
      bearing: 320.409693 deg,
      approach rate: 0.210458 m/s,
      LOS rate: 0.268671 deg/s,
      cmd heading: 334.124303 deg,
      new cmd heading: 334.378819 deg.

2025-08-22T16:07:19.596Z,1755878839.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836011 target range: 159.057907 and range: 160.00 m.
2025-08-22T16:07:19.602Z,1755878839.602 [DAT](INFO): direction in FSK: [-0.123600,0.992318,-0.005236]
2025-08-22T16:07:19.602Z,1755878839.602 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:19.605Z,1755878839.605 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:19.605Z,1755878839.605 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:19.605Z,1755878839.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:19.766Z,1755878839.766 [DAT](INFO): DAT read: user:29>

2025-08-22T16:07:19.767Z,1755878839.767 [DAT](INFO): DAT read: Tx time:16:07:20.8518

2025-08-22T16:07:19.767Z,1755878839.767 [DAT](INFO): Ping request sent.
2025-08-22T16:07:19.768Z,1755878839.768 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:19.768Z,1755878839.768 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:19.768Z,1755878839.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:07:19.956Z,1755878839.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.100006 m,
      deltaT: 4.041695 s,
      deltaX: 1.100006 m,
      approachRate: 0.272165 m/s,
      rangeRepo size: 4

2025-08-22T16:07:19.964Z,1755878839.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.153595 m,
      bearing: 323.717047 deg,
      lat: 36.779460 deg,
      lon: -121.859529 deg,
      deltaT: 4.041695 s,
      deltaX: 1.095688 m,
      approachRate: 0.271096 m/s,
      posRepo size: 4

2025-08-22T16:07:19.965Z,1755878839.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:19.972Z,1755878839.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.566528 m,
      bearing: 320.505550 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.268671 deg/s,
      cmd heading: 334.378823 deg,
      new cmd heading: 334.571336 deg.

2025-08-22T16:07:19.973Z,1755878839.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839371 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:20.019Z,1755878840.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250971
2025-08-22T16:07:20.271Z,1755878840.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502883
2025-08-22T16:07:20.313Z,1755878840.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:20.332Z,1755878840.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.633789 m,
      bearing: 320.608490 deg,
      approach rate: 0.177247 m/s,
      LOS rate: 0.271153 deg/s,
      cmd heading: 334.571325 deg,
      new cmd heading: 334.777115 deg.

2025-08-22T16:07:20.333Z,1755878840.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842963 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:20.525Z,1755878840.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756577
2025-08-22T16:07:20.744Z,1755878840.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:20.746Z,1755878840.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:20.749Z,1755878840.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.705475 m,
      bearing: 320.722894 deg,
      approach rate: 0.165656 m/s,
      LOS rate: 0.264250 deg/s,
      cmd heading: 334.777105 deg,
      new cmd heading: 335.005806 deg.

2025-08-22T16:07:20.750Z,1755878840.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846954 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:20.774Z,1755878840.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006744
2025-08-22T16:07:21.027Z,1755878841.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258886
2025-08-22T16:07:21.119Z,1755878841.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:21.123Z,1755878841.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.763016 m,
      bearing: 320.823209 deg,
      approach rate: 0.153954 m/s,
      LOS rate: 0.268302 deg/s,
      cmd heading: 335.005807 deg,
      new cmd heading: 335.206364 deg.

2025-08-22T16:07:21.123Z,1755878841.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850455 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:21.279Z,1755878841.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510896
2025-08-22T16:07:21.533Z,1755878841.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765033
2025-08-22T16:07:21.594Z,1755878841.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:21.597Z,1755878841.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.820740 m,
      bearing: 320.934006 deg,
      approach rate: 0.121549 m/s,
      LOS rate: 0.233217 deg/s,
      cmd heading: 335.206369 deg,
      new cmd heading: 335.427879 deg.

2025-08-22T16:07:21.606Z,1755878841.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854321 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:21.783Z,1755878841.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864
2025-08-22T16:07:22.007Z,1755878842.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:22.030Z,1755878842.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.884705 m,
      bearing: 321.051007 deg,
      approach rate: 0.155000 m/s,
      LOS rate: 0.283401 deg/s,
      cmd heading: 335.427885 deg,
      new cmd heading: 335.661790 deg.

2025-08-22T16:07:22.031Z,1755878842.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858403 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:22.035Z,1755878842.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266965
2025-08-22T16:07:22.286Z,1755878842.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518847
2025-08-22T16:07:22.342Z,1755878842.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:22.345Z,1755878842.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.934402 m,
      bearing: 321.151398 deg,
      approach rate: 0.148693 m/s,
      LOS rate: 0.300268 deg/s,
      cmd heading: 335.661778 deg,
      new cmd heading: 335.862496 deg.

2025-08-22T16:07:22.346Z,1755878842.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861907 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:22.541Z,1755878842.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773109
2025-08-22T16:07:22.759Z,1755878842.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:22.762Z,1755878842.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:22.764Z,1755878842.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 156.990692 m,
      bearing: 321.262398 deg,
      approach rate: 0.133961 m/s,
      LOS rate: 0.264068 deg/s,
      cmd heading: 335.862504 deg,
      new cmd heading: 336.084423 deg.

2025-08-22T16:07:22.765Z,1755878842.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865780 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:22.791Z,1755878842.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022919
2025-08-22T16:07:23.042Z,1755878843.042 [DAT](INFO): DAT read: Rx Time:16:07:23.4715

2025-08-22T16:07:23.043Z,1755878843.043 [DAT](INFO): Rx dataTimestamp_ set to:1755878843.042673
2025-08-22T16:07:23.043Z,1755878843.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275872
2025-08-22T16:07:23.146Z,1755878843.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:23.148Z,1755878843.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.153595 m,
      nav range: 157.036926 m,
      bearing: 321.364508 deg,
      approach rate: 0.120393 m/s,
      LOS rate: 0.265815 deg/s,
      cmd heading: 336.084430 deg,
      new cmd heading: 336.288590 deg.

2025-08-22T16:07:23.149Z,1755878843.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869343 target range: 160.153595 and range: 161.10 m.
2025-08-22T16:07:23.295Z,1755878843.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527166
2025-08-22T16:07:23.552Z,1755878843.552 [DAT](INFO): DAT read: 16:07:23.4715 LVL= 25536, 30001, 30882, 32755, AGC= 65, IDX= 428, 0.27, 2.285, 1.200, 0.458, 1.492, PHS= 0.895,-0.247,-1.077, RAW=  65.2,   5.1, CAL=  64.3,   3.6, ROT=  85.7,  -3.6

2025-08-22T16:07:23.566Z,1755878843.566 [DAT](INFO): got valid direction response:
 16:07:23.4715 LVL= 25536, 30001, 30882, 32755, AGC= 65, IDX= 428, 0.27, 2.285, 1.200, 0.458, 1.492, PHS= 0.895,-0.247,-1.077, RAW=  65.2,   5.1, CAL=  64.3,   3.6, ROT=  85.7,  -3.6

2025-08-22T16:07:23.569Z,1755878843.569 [DAT](INFO): DAT read: Bearing 283.6,  81.7 (Local)

2025-08-22T16:07:23.575Z,1755878843.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.6,  81.7 (Local)

2025-08-22T16:07:23.588Z,1755878843.588 [DAT](INFO): DAT read: Range 11 to 50 : 161.7 m  (Round-trip  215.6 ms) speed -0.1 m/s

2025-08-22T16:07:23.598Z,1755878843.598 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:23.638Z,1755878843.638 [DAT](INFO): direction in FSK: [0.074831,0.995217,0.062791]
2025-08-22T16:07:23.638Z,1755878843.638 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:23.641Z,1755878843.641 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:23.641Z,1755878843.641 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:23.652Z,1755878843.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:23.661Z,1755878843.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.699997 m,
      deltaT: 4.032052 s,
      deltaX: 0.599991 m,
      approachRate: 0.148805 m/s,
      rangeRepo size: 4

2025-08-22T16:07:23.679Z,1755878843.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.748718 m,
      bearing: 323.128197 deg,
      lat: 36.779460 deg,
      lon: -121.859529 deg,
      deltaT: 4.032052 s,
      deltaX: 0.595123 m,
      approachRate: 0.147598 m/s,
      posRepo size: 4

2025-08-22T16:07:23.679Z,1755878843.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:23.690Z,1755878843.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.079773 m,
      bearing: 321.472170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.265815 deg/s,
      cmd heading: 336.288599 deg,
      new cmd heading: 336.562046 deg.

2025-08-22T16:07:23.691Z,1755878843.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874116 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:23.799Z,1755878843.799 [DAT](INFO): DAT read: user:30>

2025-08-22T16:07:23.800Z,1755878843.800 [DAT](INFO): DAT read: Tx time:16:07:24.9018

2025-08-22T16:07:23.801Z,1755878843.801 [DAT](INFO): Ping request sent.
2025-08-22T16:07:23.801Z,1755878843.801 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:23.801Z,1755878843.801 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:23.802Z,1755878843.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001162
2025-08-22T16:07:24.051Z,1755878844.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249781
2025-08-22T16:07:24.058Z,1755878844.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:24.061Z,1755878844.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.142090 m,
      bearing: 321.601513 deg,
      approach rate: 0.156442 m/s,
      LOS rate: 0.324578 deg/s,
      cmd heading: 336.562052 deg,
      new cmd heading: 336.820634 deg.

2025-08-22T16:07:24.062Z,1755878844.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878629 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:24.303Z,1755878844.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501750
2025-08-22T16:07:24.456Z,1755878844.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:24.461Z,1755878844.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.189362 m,
      bearing: 321.698448 deg,
      approach rate: 0.119112 m/s,
      LOS rate: 0.244176 deg/s,
      cmd heading: 336.820643 deg,
      new cmd heading: 337.014454 deg.

2025-08-22T16:07:24.462Z,1755878844.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882012 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:24.557Z,1755878844.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755778
2025-08-22T16:07:24.807Z,1755878844.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005701
2025-08-22T16:07:24.858Z,1755878844.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:24.860Z,1755878844.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:24.867Z,1755878844.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.229019 m,
      bearing: 321.809426 deg,
      approach rate: 0.098015 m/s,
      LOS rate: 0.274215 deg/s,
      cmd heading: 337.014456 deg,
      new cmd heading: 337.236355 deg.

2025-08-22T16:07:24.868Z,1755878844.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885885 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:25.059Z,1755878845.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257678
2025-08-22T16:07:25.246Z,1755878845.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:25.249Z,1755878845.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.253250 m,
      bearing: 321.909859 deg,
      approach rate: 0.063443 m/s,
      LOS rate: 0.262918 deg/s,
      cmd heading: 337.236356 deg,
      new cmd heading: 337.437189 deg.

2025-08-22T16:07:25.254Z,1755878845.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889390 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:25.311Z,1755878845.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509688
2025-08-22T16:07:25.563Z,1755878845.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761896
2025-08-22T16:07:25.693Z,1755878845.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:25.696Z,1755878845.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.277420 m,
      bearing: 322.033460 deg,
      approach rate: 0.053526 m/s,
      LOS rate: 0.273681 deg/s,
      cmd heading: 337.437190 deg,
      new cmd heading: 337.684352 deg.

2025-08-22T16:07:25.697Z,1755878845.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893704 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:25.815Z,1755878845.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013722
2025-08-22T16:07:26.026Z,1755878846.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:26.029Z,1755878846.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.289490 m,
      bearing: 322.120637 deg,
      approach rate: 0.036265 m/s,
      LOS rate: 0.261913 deg/s,
      cmd heading: 337.684361 deg,
      new cmd heading: 337.858701 deg.

2025-08-22T16:07:26.033Z,1755878846.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896747 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:26.066Z,1755878846.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265571
2025-08-22T16:07:26.319Z,1755878846.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517651
2025-08-22T16:07:26.452Z,1755878846.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:26.459Z,1755878846.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.297974 m,
      bearing: 322.225139 deg,
      approach rate: 0.019938 m/s,
      LOS rate: 0.245580 deg/s,
      cmd heading: 337.858695 deg,
      new cmd heading: 338.067687 deg.

2025-08-22T16:07:26.460Z,1755878846.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900394 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:26.572Z,1755878846.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771638
2025-08-22T16:07:26.823Z,1755878846.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021689
2025-08-22T16:07:26.869Z,1755878846.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:26.875Z,1755878846.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:26.882Z,1755878846.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.299774 m,
      bearing: 322.342022 deg,
      approach rate: 0.004254 m/s,
      LOS rate: 0.276137 deg/s,
      cmd heading: 338.067699 deg,
      new cmd heading: 338.301461 deg.

2025-08-22T16:07:26.883Z,1755878846.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904474 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:27.075Z,1755878847.075 [DAT](INFO): DAT read: Rx Time:16:07:27.5220

2025-08-22T16:07:27.075Z,1755878847.075 [DAT](INFO): Rx dataTimestamp_ set to:1755878847.074695
2025-08-22T16:07:27.076Z,1755878847.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274668
2025-08-22T16:07:27.260Z,1755878847.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:27.267Z,1755878847.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748718 m,
      nav range: 157.295578 m,
      bearing: 322.443652 deg,
      approach rate: -0.010885 m/s,
      LOS rate: 0.263630 deg/s,
      cmd heading: 338.301455 deg,
      new cmd heading: 338.504719 deg.

2025-08-22T16:07:27.268Z,1755878847.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908022 target range: 160.748718 and range: 161.70 m.
2025-08-22T16:07:27.327Z,1755878847.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526355
2025-08-22T16:07:27.490Z,1755878847.490 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:07:27.584Z,1755878847.584 [DAT](INFO): DAT read: 16:07:27.5220 LVL= 20112, 27169, 32754, 32755, AGC= 66, IDX= 433,-0.25, 2.444, 0.939, 0.849, 1.602, PHS= 0.944,-0.618,-0.797, RAW=  84.6,   5.7, CAL=  83.7,   3.5, ROT=  66.3,  -3.5

2025-08-22T16:07:27.585Z,1755878847.585 [DAT](INFO): got valid direction response:
 16:07:27.5220 LVL= 20112, 27169, 32754, 32755, AGC= 66, IDX= 433,-0.25, 2.444, 0.939, 0.849, 1.602, PHS= 0.944,-0.618,-0.797, RAW=  84.6,   5.7, CAL=  83.7,   3.5, ROT=  66.3,  -3.5

2025-08-22T16:07:27.586Z,1755878847.586 [DAT](INFO): DAT read: Bearing  11.2,  70.3 (Local)

2025-08-22T16:07:27.587Z,1755878847.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing  11.2,  70.3 (Local)

2025-08-22T16:07:27.596Z,1755878847.596 [DAT](INFO): DAT read: Range 11 to 50 : 162.0 m  (Round-trip  216.1 ms) speed -0.2 m/s

2025-08-22T16:07:27.596Z,1755878847.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:27.619Z,1755878847.619 [DAT](INFO): direction in FSK: [0.401198,0.913955,0.061049]
2025-08-22T16:07:27.620Z,1755878847.620 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:27.671Z,1755878847.671 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:27.672Z,1755878847.672 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:27.672Z,1755878847.672 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:27.801Z,1755878847.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.000000 m,
      deltaT: 4.031821 s,
      deltaX: 0.300003 m,
      approachRate: 0.074409 m/s,
      rangeRepo size: 4

2025-08-22T16:07:27.807Z,1755878847.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.046570 m,
      bearing: 316.864355 deg,
      lat: 36.779460 deg,
      lon: -121.859529 deg,
      deltaT: 4.031821 s,
      deltaX: 0.297852 m,
      approachRate: 0.073875 m/s,
      posRepo size: 4

2025-08-22T16:07:27.808Z,1755878847.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:27.815Z,1755878847.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.278107 m,
      bearing: 322.578398 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.263630 deg/s,
      cmd heading: 338.504722 deg,
      new cmd heading: 338.789578 deg.

2025-08-22T16:07:27.816Z,1755878847.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912993 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:27.831Z,1755878847.831 [DAT](INFO): DAT read: user:31>

2025-08-22T16:07:27.831Z,1755878847.831 [DAT](INFO): DAT read: Tx time:16:07:28.9518

2025-08-22T16:07:27.832Z,1755878847.832 [DAT](INFO): Ping request sent.
2025-08-22T16:07:27.832Z,1755878847.832 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:27.832Z,1755878847.832 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:27.833Z,1755878847.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713
2025-08-22T16:07:28.056Z,1755878848.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:28.063Z,1755878848.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.264618 m,
      bearing: 322.650716 deg,
      approach rate: -0.052900 m/s,
      LOS rate: 0.283636 deg/s,
      cmd heading: 338.789568 deg,
      new cmd heading: 338.934215 deg.

2025-08-22T16:07:28.064Z,1755878848.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915518 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:28.083Z,1755878848.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250683
2025-08-22T16:07:28.334Z,1755878848.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502581
2025-08-22T16:07:28.475Z,1755878848.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:28.478Z,1755878848.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.238663 m,
      bearing: 322.757616 deg,
      approach rate: -0.061828 m/s,
      LOS rate: 0.254689 deg/s,
      cmd heading: 338.934204 deg,
      new cmd heading: 339.148039 deg.

2025-08-22T16:07:28.479Z,1755878848.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919250 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:28.495Z,1755878848.495 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:07:28.587Z,1755878848.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755104
2025-08-22T16:07:28.839Z,1755878848.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006654
2025-08-22T16:07:28.901Z,1755878848.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:28.903Z,1755878848.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:28.906Z,1755878848.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.205780 m,
      bearing: 322.873107 deg,
      approach rate: -0.076865 m/s,
      LOS rate: 0.270022 deg/s,
      cmd heading: 339.148044 deg,
      new cmd heading: 339.379072 deg.

2025-08-22T16:07:28.907Z,1755878848.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923282 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:29.090Z,1755878849.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258480
2025-08-22T16:07:29.274Z,1755878849.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:29.277Z,1755878849.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.172867 m,
      bearing: 322.969143 deg,
      approach rate: -0.088673 m/s,
      LOS rate: 0.258791 deg/s,
      cmd heading: 339.379068 deg,
      new cmd heading: 339.571180 deg.

2025-08-22T16:07:29.278Z,1755878849.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926635 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:29.343Z,1755878849.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510778
2025-08-22T16:07:29.595Z,1755878849.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763100
2025-08-22T16:07:29.721Z,1755878849.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:29.727Z,1755878849.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.128281 m,
      bearing: 323.080131 deg,
      approach rate: -0.099910 m/s,
      LOS rate: 0.248777 deg/s,
      cmd heading: 339.571187 deg,
      new cmd heading: 339.793225 deg.

2025-08-22T16:07:29.728Z,1755878849.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930511 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:29.847Z,1755878849.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015058
2025-08-22T16:07:30.099Z,1755878850.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884
2025-08-22T16:07:30.101Z,1755878850.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:30.108Z,1755878850.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.087479 m,
      bearing: 323.177087 deg,
      approach rate: -0.107362 m/s,
      LOS rate: 0.255184 deg/s,
      cmd heading: 339.793223 deg,
      new cmd heading: 339.987184 deg.

2025-08-22T16:07:30.109Z,1755878850.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933896 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:30.351Z,1755878850.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518656
2025-08-22T16:07:30.472Z,1755878850.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:30.475Z,1755878850.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 157.039597 m,
      bearing: 323.276456 deg,
      approach rate: -0.129091 m/s,
      LOS rate: 0.267984 deg/s,
      cmd heading: 339.987173 deg,
      new cmd heading: 340.185971 deg.

2025-08-22T16:07:30.476Z,1755878850.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937365 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:30.602Z,1755878850.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770580
2025-08-22T16:07:30.854Z,1755878850.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022560
2025-08-22T16:07:30.909Z,1755878850.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:30.912Z,1755878850.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:30.914Z,1755878850.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 156.980850 m,
      bearing: 323.385551 deg,
      approach rate: -0.133521 m/s,
      LOS rate: 0.248048 deg/s,
      cmd heading: 340.185959 deg,
      new cmd heading: 340.404230 deg.

2025-08-22T16:07:30.915Z,1755878850.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941175 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:31.107Z,1755878851.107 [DAT](INFO): DAT read: Rx Time:16:07:31.5716

2025-08-22T16:07:31.107Z,1755878851.107 [DAT](INFO): Rx dataTimestamp_ set to:1755878851.106739
2025-08-22T16:07:31.108Z,1755878851.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275709
2025-08-22T16:07:31.277Z,1755878851.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.05 m.
2025-08-22T16:07:31.280Z,1755878851.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.046570 m,
      nav range: 156.926376 m,
      bearing: 323.476059 deg,
      approach rate: -0.148989 m/s,
      LOS rate: 0.247629 deg/s,
      cmd heading: 340.404225 deg,
      new cmd heading: 340.585303 deg.

2025-08-22T16:07:31.281Z,1755878851.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944335 target range: 161.046570 and range: 162.00 m.
2025-08-22T16:07:31.360Z,1755878851.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527479
2025-08-22T16:07:31.616Z,1755878851.616 [DAT](INFO): DAT read: 16:07:31.5716 LVL= 25072, 32625, 32754, 32755, AGC= 66, IDX= 429, 0.18, 2.407, 0.856, 1.089, 1.702, PHS= 0.807,-0.801,-0.657, RAW=  94.6,   8.5, CAL=  94.7,   8.6, ROT=  55.3,  -8.6

2025-08-22T16:07:31.617Z,1755878851.617 [DAT](INFO): got valid direction response:
 16:07:31.5716 LVL= 25072, 32625, 32754, 32755, AGC= 66, IDX= 429, 0.18, 2.407, 0.856, 1.089, 1.702, PHS= 0.807,-0.801,-0.657, RAW=  94.6,   8.5, CAL=  94.7,   8.6, ROT=  55.3,  -8.6

2025-08-22T16:07:31.618Z,1755878851.618 [DAT](INFO): DAT read: Bearing  44.5,  60.7 (Local)

2025-08-22T16:07:31.618Z,1755878851.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing  44.5,  60.7 (Local)

2025-08-22T16:07:31.619Z,1755878851.619 [DAT](INFO): DAT read: Range 11 to 50 : 161.7 m  (Round-trip  215.7 ms) speed  0.0 m/s

2025-08-22T16:07:31.620Z,1755878851.620 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:31.621Z,1755878851.621 [DAT](INFO): direction in FSK: [0.562879,0.812900,0.149535]
2025-08-22T16:07:31.621Z,1755878851.621 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:31.625Z,1755878851.625 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:31.625Z,1755878851.625 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:31.625Z,1755878851.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:31.780Z,1755878851.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.699997 m,
      deltaT: 4.032237 s,
      deltaX: -0.300003 m,
      approachRate: -0.074401 m/s,
      rangeRepo size: 4

2025-08-22T16:07:31.784Z,1755878851.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.748688 m,
      bearing: 318.231031 deg,
      lat: 36.779460 deg,
      lon: -121.859529 deg,
      deltaT: 4.032237 s,
      deltaX: -0.297882 m,
      approachRate: -0.073875 m/s,
      posRepo size: 4

2025-08-22T16:07:31.784Z,1755878851.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:31.795Z,1755878851.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.848236 m,
      bearing: 323.593578 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.247629 deg/s,
      cmd heading: 340.585307 deg,
      new cmd heading: 340.834054 deg.

2025-08-22T16:07:31.796Z,1755878851.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948677 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:31.863Z,1755878851.863 [DAT](INFO): DAT read: user:32>

2025-08-22T16:07:31.864Z,1755878851.864 [DAT](INFO): DAT read: Tx time:16:07:32.9018

2025-08-22T16:07:31.864Z,1755878851.864 [DAT](INFO): Ping request sent.
2025-08-22T16:07:31.864Z,1755878851.864 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:31.865Z,1755878851.865 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:31.866Z,1755878851.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001661
2025-08-22T16:07:32.115Z,1755878852.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250032
2025-08-22T16:07:32.122Z,1755878852.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:32.124Z,1755878852.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.791550 m,
      bearing: 323.680239 deg,
      approach rate: -0.165764 m/s,
      LOS rate: 0.253508 deg/s,
      cmd heading: 340.834062 deg,
      new cmd heading: 341.007446 deg.

2025-08-22T16:07:32.125Z,1755878852.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951703 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:32.366Z,1755878852.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501920
2025-08-22T16:07:32.521Z,1755878852.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:32.528Z,1755878852.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.728912 m,
      bearing: 323.767553 deg,
      approach rate: -0.156722 m/s,
      LOS rate: 0.218553 deg/s,
      cmd heading: 341.007440 deg,
      new cmd heading: 341.182137 deg.

2025-08-22T16:07:32.529Z,1755878852.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.954751 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:32.619Z,1755878852.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754427
2025-08-22T16:07:32.871Z,1755878852.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006011
2025-08-22T16:07:32.952Z,1755878852.952 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:32.958Z,1755878852.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:32.961Z,1755878852.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.657745 m,
      bearing: 323.864167 deg,
      approach rate: -0.162750 m/s,
      LOS rate: 0.221044 deg/s,
      cmd heading: 341.182129 deg,
      new cmd heading: 341.375443 deg.

2025-08-22T16:07:32.966Z,1755878852.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958126 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:33.123Z,1755878853.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257988
2025-08-22T16:07:33.310Z,1755878853.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:33.313Z,1755878853.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.586105 m,
      bearing: 323.953842 deg,
      approach rate: -0.213665 m/s,
      LOS rate: 0.267576 deg/s,
      cmd heading: 341.375450 deg,
      new cmd heading: 341.554882 deg.

2025-08-22T16:07:33.318Z,1755878853.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961257 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:33.376Z,1755878853.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510981
2025-08-22T16:07:33.626Z,1755878853.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761917
2025-08-22T16:07:33.740Z,1755878853.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:33.753Z,1755878853.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.504791 m,
      bearing: 324.047980 deg,
      approach rate: -0.195977 m/s,
      LOS rate: 0.227002 deg/s,
      cmd heading: 341.554893 deg,
      new cmd heading: 341.743266 deg.

2025-08-22T16:07:33.761Z,1755878853.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964545 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:33.879Z,1755878853.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014609
2025-08-22T16:07:34.130Z,1755878854.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265899
2025-08-22T16:07:34.152Z,1755878854.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:34.155Z,1755878854.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.415909 m,
      bearing: 324.146107 deg,
      approach rate: -0.200477 m/s,
      LOS rate: 0.221455 deg/s,
      cmd heading: 341.743270 deg,
      new cmd heading: 341.939634 deg.

2025-08-22T16:07:34.156Z,1755878854.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967972 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:34.383Z,1755878854.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518120
2025-08-22T16:07:34.508Z,1755878854.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:34.511Z,1755878854.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.340668 m,
      bearing: 324.223664 deg,
      approach rate: -0.211170 m/s,
      LOS rate: 0.217775 deg/s,
      cmd heading: 341.939624 deg,
      new cmd heading: 342.094812 deg.

2025-08-22T16:07:34.512Z,1755878854.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970681 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:34.635Z,1755878854.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946
2025-08-22T16:07:34.887Z,1755878854.887 [DAT](INFO): DAT read: Rx Time:16:07:35.5208

2025-08-22T16:07:34.887Z,1755878854.887 [DAT](INFO): Rx dataTimestamp_ set to:1755878854.887104
2025-08-22T16:07:34.888Z,1755878854.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023389
2025-08-22T16:07:34.975Z,1755878854.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:34.978Z,1755878854.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:34.980Z,1755878854.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.241333 m,
      bearing: 324.322185 deg,
      approach rate: -0.211745 m/s,
      LOS rate: 0.210143 deg/s,
      cmd heading: 342.094806 deg,
      new cmd heading: 342.291972 deg.

2025-08-22T16:07:34.986Z,1755878854.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974122 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:35.138Z,1755878855.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273913
2025-08-22T16:07:35.323Z,1755878855.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.75 m.
2025-08-22T16:07:35.325Z,1755878855.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.748688 m,
      nav range: 156.160599 m,
      bearing: 324.397284 deg,
      approach rate: -0.233819 m/s,
      LOS rate: 0.217612 deg/s,
      cmd heading: 342.291980 deg,
      new cmd heading: 342.442255 deg.

2025-08-22T16:07:35.350Z,1755878855.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976745 target range: 160.748688 and range: 161.70 m.
2025-08-22T16:07:35.393Z,1755878855.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528118
2025-08-22T16:07:35.648Z,1755878855.648 [DAT](INFO): DAT read: 16:07:35.5208 LVL= 27984, 32753, 32754, 32755, AGC= 65, IDX= 436, 0.12,-1.470, 3.003,-2.652,-2.229, PHS= 0.861,-1.006,-0.467, RAW= 106.3,   7.4, CAL= 107.6,   8.1, ROT=  42.4,  -8.1

2025-08-22T16:07:35.649Z,1755878855.649 [DAT](INFO): got valid direction response:
 16:07:35.5208 LVL= 27984, 32753, 32754, 32755, AGC= 65, IDX= 436, 0.12,-1.470, 3.003,-2.652,-2.229, PHS= 0.861,-1.006,-0.467, RAW= 106.3,   7.4, CAL= 107.6,   8.1, ROT=  42.4,  -8.1

2025-08-22T16:07:35.650Z,1755878855.650 [DAT](INFO): DAT read: Bearing  60.4,  47.2 (Local)

2025-08-22T16:07:35.650Z,1755878855.650 [DAT](INFO): Local bearing/azimuth received:
 Bearing  60.4,  47.2 (Local)

2025-08-22T16:07:35.651Z,1755878855.651 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.8 ms) speed  0.2 m/s

2025-08-22T16:07:35.652Z,1755878855.652 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:35.653Z,1755878855.653 [DAT](INFO): direction in FSK: [0.731088,0.667575,0.140901]
2025-08-22T16:07:35.653Z,1755878855.653 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:35.656Z,1755878855.656 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:35.656Z,1755878855.656 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:35.657Z,1755878855.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:35.835Z,1755878855.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.100006 m,
      deltaT: 4.031708 s,
      deltaX: -0.599991 m,
      approachRate: -0.148818 m/s,
      rangeRepo size: 4

2025-08-22T16:07:35.842Z,1755878855.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.152130 m,
      bearing: 317.828327 deg,
      lat: 36.779348 deg,
      lon: -121.859603 deg,
      deltaT: 4.031708 s,
      deltaX: -0.596558 m,
      approachRate: -0.147966 m/s,
      posRepo size: 4

2025-08-22T16:07:35.842Z,1755878855.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:35.845Z,1755878855.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 150.302689 m,
      bearing: 319.689721 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.217612 deg/s,
      cmd heading: 342.442244 deg,
      new cmd heading: 342.665174 deg.

2025-08-22T16:07:35.850Z,1755878855.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980636 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:35.895Z,1755878855.895 [DAT](INFO): DAT read: user:33>

2025-08-22T16:07:35.896Z,1755878855.896 [DAT](INFO): DAT read: Tx time:16:07:36.9018

2025-08-22T16:07:35.896Z,1755878855.896 [DAT](INFO): Ping request sent.
2025-08-22T16:07:35.896Z,1755878855.896 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:35.897Z,1755878855.897 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:35.898Z,1755878855.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001154
2025-08-22T16:07:36.113Z,1755878856.113 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS7,  0
2025-08-22T16:07:36.147Z,1755878856.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250332
2025-08-22T16:07:36.186Z,1755878856.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:36.202Z,1755878856.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 150.188522 m,
      bearing: 319.769055 deg,
      approach rate: -0.329474 m/s,
      LOS rate: 0.229126 deg/s,
      cmd heading: 342.665181 deg,
      new cmd heading: 342.823970 deg.

2025-08-22T16:07:36.203Z,1755878856.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983407 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:36.403Z,1755878856.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506213
2025-08-22T16:07:36.527Z,1755878856.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:36.546Z,1755878856.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 150.077011 m,
      bearing: 319.842884 deg,
      approach rate: -0.322777 m/s,
      LOS rate: 0.213860 deg/s,
      cmd heading: 342.823969 deg,
      new cmd heading: 342.971736 deg.

2025-08-22T16:07:36.547Z,1755878856.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985986 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:36.654Z,1755878856.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757948
2025-08-22T16:07:36.908Z,1755878856.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011411
2025-08-22T16:07:36.987Z,1755878856.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:36.989Z,1755878856.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:36.992Z,1755878856.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.930756 m,
      bearing: 319.933674 deg,
      approach rate: -0.316764 m/s,
      LOS rate: 0.196829 deg/s,
      cmd heading: 342.971747 deg,
      new cmd heading: 343.153505 deg.

2025-08-22T16:07:36.992Z,1755878856.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989159 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:37.159Z,1755878857.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262027
2025-08-22T16:07:37.362Z,1755878857.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:37.365Z,1755878857.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.817444 m,
      bearing: 320.000892 deg,
      approach rate: -0.303113 m/s,
      LOS rate: 0.179945 deg/s,
      cmd heading: 343.153512 deg,
      new cmd heading: 343.288048 deg.

2025-08-22T16:07:37.370Z,1755878857.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991507 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:37.412Z,1755878857.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515347
2025-08-22T16:07:37.663Z,1755878857.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766012
2025-08-22T16:07:37.744Z,1755878857.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:37.748Z,1755878857.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.679352 m,
      bearing: 320.079322 deg,
      approach rate: -0.361926 m/s,
      LOS rate: 0.205747 deg/s,
      cmd heading: 343.288040 deg,
      new cmd heading: 343.445044 deg.

2025-08-22T16:07:37.788Z,1755878857.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994247 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:37.917Z,1755878857.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.020061
2025-08-22T16:07:38.167Z,1755878858.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270644
2025-08-22T16:07:38.206Z,1755878858.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:38.208Z,1755878858.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.520599 m,
      bearing: 320.164171 deg,
      approach rate: -0.349945 m/s,
      LOS rate: 0.187236 deg/s,
      cmd heading: 343.445052 deg,
      new cmd heading: 343.614931 deg.

2025-08-22T16:07:38.213Z,1755878858.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997212 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:38.419Z,1755878858.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522575
2025-08-22T16:07:38.552Z,1755878858.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:38.555Z,1755878858.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.390472 m,
      bearing: 320.230892 deg,
      approach rate: -0.367019 m/s,
      LOS rate: 0.188348 deg/s,
      cmd heading: 343.614933 deg,
      new cmd heading: 343.748490 deg.

2025-08-22T16:07:38.556Z,1755878858.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999543 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:38.671Z,1755878858.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774211
2025-08-22T16:07:38.925Z,1755878858.925 [DAT](INFO): DAT read: Rx Time:16:07:39.5194

2025-08-22T16:07:38.925Z,1755878858.925 [DAT](INFO): Rx dataTimestamp_ set to:1755878858.924705
2025-08-22T16:07:38.926Z,1755878858.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029827
2025-08-22T16:07:39.022Z,1755878859.022 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:39.024Z,1755878859.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:39.027Z,1755878859.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.220581 m,
      bearing: 320.319243 deg,
      approach rate: -0.360090 m/s,
      LOS rate: 0.187477 deg/s,
      cmd heading: 343.748504 deg,
      new cmd heading: 343.925407 deg.

2025-08-22T16:07:39.028Z,1755878859.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002631 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:39.175Z,1755878859.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278960
2025-08-22T16:07:39.363Z,1755878859.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.15 m.
2025-08-22T16:07:39.371Z,1755878859.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.152130 m,
      nav range: 149.091827 m,
      bearing: 320.381075 deg,
      approach rate: -0.379717 m/s,
      LOS rate: 0.182510 deg/s,
      cmd heading: 343.925406 deg,
      new cmd heading: 344.049175 deg.

2025-08-22T16:07:39.373Z,1755878859.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004791 target range: 160.152130 and range: 161.10 m.
2025-08-22T16:07:39.437Z,1755878859.437 [DAT](INFO): DAT read: 16:07:39.5194 LVL= 28944, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.34,-1.254, 3.078,-2.271,-1.975, PHS= 0.823,-1.185,-0.340, RAW= 114.8,   8.1, CAL= 116.1,   9.2, ROT=  33.9,  -9.2

2025-08-22T16:07:39.438Z,1755878859.438 [DAT](INFO): got valid direction response:
 16:07:39.5194 LVL= 28944, 32753, 32754, 32755, AGC= 65, IDX= 422, 0.34,-1.254, 3.078,-2.271,-1.975, PHS= 0.823,-1.185,-0.340, RAW= 114.8,   8.1, CAL= 116.1,   9.2, ROT=  33.9,  -9.2

2025-08-22T16:07:39.439Z,1755878859.439 [DAT](INFO): DAT read: Bearing  75.7,  38.8 (Local)

2025-08-22T16:07:39.439Z,1755878859.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing  75.7,  38.8 (Local)

2025-08-22T16:07:39.440Z,1755878859.440 [DAT](INFO): DAT read: Range 11 to 50 : 160.0 m  (Round-trip  213.4 ms) speed  0.3 m/s

2025-08-22T16:07:39.441Z,1755878859.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:39.446Z,1755878859.446 [DAT](INFO): direction in FSK: [0.819335,0.550570,0.159881]
2025-08-22T16:07:39.446Z,1755878859.446 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:39.454Z,1755878859.454 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:39.455Z,1755878859.455 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:39.455Z,1755878859.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:39.678Z,1755878859.678 [DAT](INFO): DAT read: user:34>

2025-08-22T16:07:39.679Z,1755878859.679 [DAT](INFO): DAT read: Tx time:16:07:40.7018

2025-08-22T16:07:39.679Z,1755878859.679 [DAT](INFO): Ping request sent.
2025-08-22T16:07:39.679Z,1755878859.679 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:39.680Z,1755878859.680 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:39.680Z,1755878859.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-22T16:07:39.817Z,1755878859.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.000000 m,
      deltaT: 3.785475 s,
      deltaX: -1.100006 m,
      approachRate: -0.290586 m/s,
      rangeRepo size: 4

2025-08-22T16:07:39.849Z,1755878859.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.057770 m,
      bearing: 321.226041 deg,
      lat: 36.779348 deg,
      lon: -121.859603 deg,
      deltaT: 3.785475 s,
      deltaX: -1.094360 m,
      approachRate: -0.289095 m/s,
      posRepo size: 4

2025-08-22T16:07:39.855Z,1755878859.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:39.863Z,1755878859.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.929321 m,
      bearing: 320.456259 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.182510 deg/s,
      cmd heading: 344.049169 deg,
      new cmd heading: 344.213323 deg.

2025-08-22T16:07:39.864Z,1755878859.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007656 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:39.932Z,1755878859.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252184
2025-08-22T16:07:40.183Z,1755878860.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503361
2025-08-22T16:07:40.214Z,1755878860.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:40.217Z,1755878860.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.765472 m,
      bearing: 320.531152 deg,
      approach rate: -0.407887 m/s,
      LOS rate: 0.186645 deg/s,
      cmd heading: 344.213312 deg,
      new cmd heading: 344.363263 deg.

2025-08-22T16:07:40.218Z,1755878860.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010273 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:40.435Z,1755878860.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755018
2025-08-22T16:07:40.575Z,1755878860.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:40.582Z,1755878860.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.625198 m,
      bearing: 320.592932 deg,
      approach rate: -0.388894 m/s,
      LOS rate: 0.171440 deg/s,
      cmd heading: 344.363275 deg,
      new cmd heading: 344.486952 deg.

2025-08-22T16:07:40.583Z,1755878860.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012432 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:40.687Z,1755878860.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007027
2025-08-22T16:07:40.939Z,1755878860.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259024
2025-08-22T16:07:41.030Z,1755878861.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:41.032Z,1755878861.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.458450 m,
      bearing: 320.665111 deg,
      approach rate: -0.373544 m/s,
      LOS rate: 0.161874 deg/s,
      cmd heading: 344.486957 deg,
      new cmd heading: 344.631476 deg.

2025-08-22T16:07:41.033Z,1755878861.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014954 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:41.191Z,1755878861.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511554
2025-08-22T16:07:41.399Z,1755878861.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:41.404Z,1755878861.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:41.408Z,1755878861.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.310699 m,
      bearing: 320.726671 deg,
      approach rate: -0.387122 m/s,
      LOS rate: 0.161455 deg/s,
      cmd heading: 344.631483 deg,
      new cmd heading: 344.754726 deg.

2025-08-22T16:07:41.410Z,1755878861.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017105 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:41.443Z,1755878861.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763117
2025-08-22T16:07:41.694Z,1755878861.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971
2025-08-22T16:07:41.783Z,1755878861.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:41.786Z,1755878861.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 148.159668 m,
      bearing: 320.787143 deg,
      approach rate: -0.397540 m/s,
      LOS rate: 0.159336 deg/s,
      cmd heading: 344.754727 deg,
      new cmd heading: 344.875796 deg.

2025-08-22T16:07:41.787Z,1755878861.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019218 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:41.947Z,1755878861.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267025
2025-08-22T16:07:42.199Z,1755878862.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519334
2025-08-22T16:07:42.228Z,1755878862.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:42.231Z,1755878862.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 147.989120 m,
      bearing: 320.854049 deg,
      approach rate: -0.383093 m/s,
      LOS rate: 0.150459 deg/s,
      cmd heading: 344.875786 deg,
      new cmd heading: 345.009750 deg.

2025-08-22T16:07:42.232Z,1755878862.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021556 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:42.451Z,1755878862.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771036
2025-08-22T16:07:42.592Z,1755878862.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:42.595Z,1755878862.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 147.846848 m,
      bearing: 320.907545 deg,
      approach rate: -0.391149 m/s,
      LOS rate: 0.147217 deg/s,
      cmd heading: 345.009739 deg,
      new cmd heading: 345.116834 deg.

2025-08-22T16:07:42.596Z,1755878862.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023425 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:42.703Z,1755878862.703 [DAT](INFO): DAT read: Rx Time:16:07:43.3177

2025-08-22T16:07:42.703Z,1755878862.703 [DAT](INFO): Rx dataTimestamp_ set to:1755878862.702734
2025-08-22T16:07:42.704Z,1755878862.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024046
2025-08-22T16:07:42.955Z,1755878862.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275239
2025-08-22T16:07:43.028Z,1755878863.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:43.031Z,1755878863.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 147.674133 m,
      bearing: 320.969451 deg,
      approach rate: -0.396119 m/s,
      LOS rate: 0.142149 deg/s,
      cmd heading: 345.116837 deg,
      new cmd heading: 345.240795 deg.

2025-08-22T16:07:43.032Z,1755878863.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025589 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:43.212Z,1755878863.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532155
2025-08-22T16:07:43.428Z,1755878863.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:43.430Z,1755878863.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.06 m.
2025-08-22T16:07:43.433Z,1755878863.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.057770 m,
      nav range: 147.513641 m,
      bearing: 321.024604 deg,
      approach rate: -0.399542 m/s,
      LOS rate: 0.137451 deg/s,
      cmd heading: 345.240791 deg,
      new cmd heading: 345.351216 deg.

2025-08-22T16:07:43.464Z,1755878863.464 [DAT](INFO): DAT read: 16:07:43.3177 LVL= 22912, 32753, 30818, 32755, AGC= 64, IDX= 421, 0.35,-0.874,-2.828,-1.523,-1.450, PHS= 0.678,-1.334,-0.117, RAW= 126.9,   8.9, CAL= 127.2,  10.1, ROT=  22.8, -10.1

2025-08-22T16:07:43.466Z,1755878863.466 [DAT](INFO): got valid direction response:
 16:07:43.3177 LVL= 22912, 32753, 30818, 32755, AGC= 64, IDX= 421, 0.35,-0.874,-2.828,-1.523,-1.450, PHS= 0.678,-1.334,-0.117, RAW= 126.9,   8.9, CAL= 127.2,  10.1, ROT=  22.8, -10.1

2025-08-22T16:07:43.467Z,1755878863.467 [DAT](INFO): DAT read: Bearing  90.0,  28.2 (Local)

2025-08-22T16:07:43.467Z,1755878863.467 [DAT](INFO): Local bearing/azimuth received:
 Bearing  90.0,  28.2 (Local)

2025-08-22T16:07:43.468Z,1755878863.468 [DAT](INFO): DAT read: Range 11 to 50 : 158.8 m  (Round-trip  211.8 ms) speed  0.3 m/s

2025-08-22T16:07:43.469Z,1755878863.469 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:43.470Z,1755878863.470 [DAT](INFO): direction in FSK: [0.907577,0.381510,0.175367]
2025-08-22T16:07:43.470Z,1755878863.470 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:43.486Z,1755878863.486 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:43.486Z,1755878863.486 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:43.486Z,1755878863.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:43.488Z,1755878863.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.027516 target range: 159.057770 and range: 160.00 m.
2025-08-22T16:07:43.710Z,1755878863.710 [DAT](INFO): DAT read: user:35>

2025-08-22T16:07:43.711Z,1755878863.711 [DAT](INFO): DAT read: Tx time:16:07:44.7518

2025-08-22T16:07:43.711Z,1755878863.711 [DAT](INFO): Ping request sent.
2025-08-22T16:07:43.711Z,1755878863.711 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:43.712Z,1755878863.712 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:43.712Z,1755878863.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:07:43.816Z,1755878863.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.800003 m,
      deltaT: 4.031332 s,
      deltaX: -1.199997 m,
      approachRate: -0.297668 m/s,
      rangeRepo size: 4

2025-08-22T16:07:43.818Z,1755878863.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.865036 m,
      bearing: 321.895624 deg,
      lat: 36.779348 deg,
      lon: -121.859603 deg,
      deltaT: 4.031332 s,
      deltaX: -1.192734 m,
      approachRate: -0.295866 m/s,
      posRepo size: 4

2025-08-22T16:07:43.819Z,1755878863.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:43.822Z,1755878863.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 147.355698 m,
      bearing: 321.076659 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.137451 deg/s,
      cmd heading: 345.351221 deg,
      new cmd heading: 345.457183 deg.

2025-08-22T16:07:43.823Z,1755878863.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029365 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:43.963Z,1755878863.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251784
2025-08-22T16:07:44.215Z,1755878864.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503021
2025-08-22T16:07:44.240Z,1755878864.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:44.263Z,1755878864.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 147.176514 m,
      bearing: 321.132486 deg,
      approach rate: -0.422156 m/s,
      LOS rate: 0.131688 deg/s,
      cmd heading: 345.457171 deg,
      new cmd heading: 345.568961 deg.

2025-08-22T16:07:44.264Z,1755878864.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.031316 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:44.466Z,1755878864.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754957
2025-08-22T16:07:44.620Z,1755878864.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:44.623Z,1755878864.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 147.016541 m,
      bearing: 321.180190 deg,
      approach rate: -0.423491 m/s,
      LOS rate: 0.126423 deg/s,
      cmd heading: 345.568968 deg,
      new cmd heading: 345.664480 deg.

2025-08-22T16:07:44.624Z,1755878864.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032983 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:44.719Z,1755878864.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007661
2025-08-22T16:07:44.970Z,1755878864.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258958
2025-08-22T16:07:45.048Z,1755878865.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:45.051Z,1755878865.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 146.830673 m,
      bearing: 321.230954 deg,
      approach rate: -0.432081 m/s,
      LOS rate: 0.118160 deg/s,
      cmd heading: 345.664481 deg,
      new cmd heading: 345.766138 deg.

2025-08-22T16:07:45.052Z,1755878865.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034758 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:45.223Z,1755878865.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511243
2025-08-22T16:07:45.453Z,1755878865.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:45.459Z,1755878865.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:45.466Z,1755878865.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 146.657379 m,
      bearing: 321.276213 deg,
      approach rate: -0.421283 m/s,
      LOS rate: 0.110155 deg/s,
      cmd heading: 345.766142 deg,
      new cmd heading: 345.856766 deg.

2025-08-22T16:07:45.467Z,1755878865.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036339 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:45.475Z,1755878865.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763278
2025-08-22T16:07:45.726Z,1755878865.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014900
2025-08-22T16:07:45.845Z,1755878865.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:45.848Z,1755878865.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 146.484756 m,
      bearing: 321.319262 deg,
      approach rate: -0.465996 m/s,
      LOS rate: 0.116348 deg/s,
      cmd heading: 345.856765 deg,
      new cmd heading: 345.942964 deg.

2025-08-22T16:07:45.849Z,1755878865.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037844 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:45.979Z,1755878865.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267036
2025-08-22T16:07:46.231Z,1755878866.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519103
2025-08-22T16:07:46.262Z,1755878866.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:46.265Z,1755878866.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 146.289124 m,
      bearing: 321.366741 deg,
      approach rate: -0.452514 m/s,
      LOS rate: 0.109969 deg/s,
      cmd heading: 345.942962 deg,
      new cmd heading: 346.038047 deg.

2025-08-22T16:07:46.266Z,1755878866.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039503 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:46.482Z,1755878866.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770910
2025-08-22T16:07:46.637Z,1755878866.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:46.640Z,1755878866.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 146.116806 m,
      bearing: 321.406672 deg,
      approach rate: -0.458718 m/s,
      LOS rate: 0.106423 deg/s,
      cmd heading: 346.038038 deg,
      new cmd heading: 346.117993 deg.

2025-08-22T16:07:46.641Z,1755878866.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040899 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:46.735Z,1755878866.735 [DAT](INFO): DAT read: Rx Time:16:07:47.3657

2025-08-22T16:07:46.736Z,1755878866.736 [DAT](INFO): Rx dataTimestamp_ set to:1755878866.735586
2025-08-22T16:07:46.737Z,1755878866.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024917
2025-08-22T16:07:46.987Z,1755878866.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275009
2025-08-22T16:07:47.094Z,1755878867.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:47.097Z,1755878867.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 145.917374 m,
      bearing: 321.451067 deg,
      approach rate: -0.437079 m/s,
      LOS rate: 0.097431 deg/s,
      cmd heading: 346.118006 deg,
      new cmd heading: 346.206918 deg.

2025-08-22T16:07:47.098Z,1755878867.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042450 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:47.241Z,1755878867.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528951
2025-08-22T16:07:47.466Z,1755878867.466 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:47.468Z,1755878867.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.87 m.
2025-08-22T16:07:47.475Z,1755878867.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.865036 m,
      nav range: 145.760681 m,
      bearing: 321.484251 deg,
      approach rate: -0.418336 m/s,
      LOS rate: 0.088690 deg/s,
      cmd heading: 346.206907 deg,
      new cmd heading: 346.273347 deg.

2025-08-22T16:07:47.476Z,1755878867.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043610 target range: 157.865036 and range: 158.80 m.
2025-08-22T16:07:47.496Z,1755878867.496 [DAT](INFO): DAT read: 16:07:47.3657 LVL= 28656, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.20,-0.106,-2.027,-0.461,-0.507, PHS= 0.502,-1.475, 0.002, RAW= 135.9,  10.9, CAL= 135.4,  12.0, ROT=  14.6, -12.0

2025-08-22T16:07:47.497Z,1755878867.497 [DAT](INFO): got valid direction response:
 16:07:47.3657 LVL= 28656, 32753, 32754, 32755, AGC= 69, IDX= 416, 0.20,-0.106,-2.027,-0.461,-0.507, PHS= 0.502,-1.475, 0.002, RAW= 135.9,  10.9, CAL= 135.4,  12.0, ROT=  14.6, -12.0

2025-08-22T16:07:47.498Z,1755878867.498 [DAT](INFO): DAT read: Bearing 106.0,  20.2 (Local)

2025-08-22T16:07:47.498Z,1755878867.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 106.0,  20.2 (Local)

2025-08-22T16:07:47.500Z,1755878867.500 [DAT](INFO): DAT read: Range 11 to 50 : 157.2 m  (Round-trip  209.7 ms) speed  0.4 m/s

2025-08-22T16:07:47.500Z,1755878867.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:47.501Z,1755878867.501 [DAT](INFO): direction in FSK: [0.946562,0.246561,0.207912]
2025-08-22T16:07:47.502Z,1755878867.502 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:47.505Z,1755878867.505 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:47.506Z,1755878867.506 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:47.506Z,1755878867.506 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:47.742Z,1755878867.742 [DAT](INFO): DAT read: user:36>

2025-08-22T16:07:47.743Z,1755878867.743 [DAT](INFO): DAT read: Tx time:16:07:48.7518

2025-08-22T16:07:47.743Z,1755878867.743 [DAT](INFO): Ping request sent.
2025-08-22T16:07:47.743Z,1755878867.743 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:47.744Z,1755878867.744 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:47.744Z,1755878867.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729
2025-08-22T16:07:47.864Z,1755878867.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.199997 m,
      deltaT: 4.031409 s,
      deltaX: -1.600006 m,
      approachRate: -0.396885 m/s,
      rangeRepo size: 4

2025-08-22T16:07:47.866Z,1755878867.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.274429 m,
      bearing: 325.968283 deg,
      lat: 36.779368 deg,
      lon: -121.859601 deg,
      deltaT: 4.031409 s,
      deltaX: -1.590607 m,
      approachRate: -0.394554 m/s,
      posRepo size: 4

2025-08-22T16:07:47.866Z,1755878867.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:47.869Z,1755878867.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 147.206650 m,
      bearing: 322.115787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.088690 deg/s,
      cmd heading: 346.273352 deg,
      new cmd heading: 346.343381 deg.

2025-08-22T16:07:47.870Z,1755878867.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044832 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:47.995Z,1755878867.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251137
2025-08-22T16:07:48.247Z,1755878868.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503166
2025-08-22T16:07:48.281Z,1755878868.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:48.284Z,1755878868.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 147.016327 m,
      bearing: 322.153493 deg,
      approach rate: -0.455404 m/s,
      LOS rate: 0.090339 deg/s,
      cmd heading: 346.343375 deg,
      new cmd heading: 346.418884 deg.

2025-08-22T16:07:48.285Z,1755878868.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046150 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:48.499Z,1755878868.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755027
2025-08-22T16:07:48.652Z,1755878868.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:48.655Z,1755878868.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 146.848587 m,
      bearing: 322.184989 deg,
      approach rate: -0.452152 m/s,
      LOS rate: 0.084996 deg/s,
      cmd heading: 346.418889 deg,
      new cmd heading: 346.481953 deg.

2025-08-22T16:07:48.656Z,1755878868.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047251 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:48.751Z,1755878868.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007129
2025-08-22T16:07:49.003Z,1755878869.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259721
2025-08-22T16:07:49.088Z,1755878869.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:49.091Z,1755878869.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 146.649490 m,
      bearing: 322.218121 deg,
      approach rate: -0.456757 m/s,
      LOS rate: 0.076114 deg/s,
      cmd heading: 346.481945 deg,
      new cmd heading: 346.548301 deg.

2025-08-22T16:07:49.092Z,1755878869.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048409 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:49.255Z,1755878869.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511032
2025-08-22T16:07:49.484Z,1755878869.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:49.486Z,1755878869.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:49.488Z,1755878869.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 146.470093 m,
      bearing: 322.246184 deg,
      approach rate: -0.450798 m/s,
      LOS rate: 0.070603 deg/s,
      cmd heading: 346.548308 deg,
      new cmd heading: 346.604502 deg.

2025-08-22T16:07:49.490Z,1755878869.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049390 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:49.507Z,1755878869.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052
2025-08-22T16:07:49.758Z,1755878869.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968
2025-08-22T16:07:49.871Z,1755878869.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:49.874Z,1755878869.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 146.287033 m,
      bearing: 322.273061 deg,
      approach rate: -0.475622 m/s,
      LOS rate: 0.069920 deg/s,
      cmd heading: 346.604506 deg,
      new cmd heading: 346.658328 deg.

2025-08-22T16:07:49.875Z,1755878869.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050329 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:50.014Z,1755878870.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269375
2025-08-22T16:07:50.263Z,1755878870.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519009
2025-08-22T16:07:50.349Z,1755878870.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:50.352Z,1755878870.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 146.095871 m,
      bearing: 322.299862 deg,
      approach rate: -0.406128 m/s,
      LOS rate: 0.057014 deg/s,
      cmd heading: 346.658328 deg,
      new cmd heading: 346.712000 deg.

2025-08-22T16:07:50.353Z,1755878870.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051266 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:50.515Z,1755878870.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771843
2025-08-22T16:07:50.671Z,1755878870.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:50.674Z,1755878870.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 145.923615 m,
      bearing: 322.322467 deg,
      approach rate: -0.522165 m/s,
      LOS rate: 0.068604 deg/s,
      cmd heading: 346.712014 deg,
      new cmd heading: 346.757277 deg.

2025-08-22T16:07:50.675Z,1755878870.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052056 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:50.767Z,1755878870.767 [DAT](INFO): DAT read: Rx Time:16:07:51.3633

2025-08-22T16:07:50.767Z,1755878870.767 [DAT](INFO): Rx dataTimestamp_ set to:1755878870.766907
2025-08-22T16:07:50.768Z,1755878870.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024226
2025-08-22T16:07:51.018Z,1755878871.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274963
2025-08-22T16:07:51.119Z,1755878871.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.27 m.
2025-08-22T16:07:51.123Z,1755878871.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.274429 m,
      nav range: 145.724686 m,
      bearing: 322.345940 deg,
      approach rate: -0.443955 m/s,
      LOS rate: 0.052457 deg/s,
      cmd heading: 346.757284 deg,
      new cmd heading: 346.804294 deg.

2025-08-22T16:07:51.123Z,1755878871.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052877 target range: 156.274429 and range: 157.20 m.
2025-08-22T16:07:51.284Z,1755878871.284 [DAT](INFO): DAT read: 16:07:51.3633 LVL= 32752, 32753, 28210, 32755, AGC= 66, IDX= 424, 0.30,-1.887, 2.579,-1.833,-2.222, PHS= 0.437,-1.438, 0.344, RAW= 147.5,   7.2, CAL= 147.0,   7.8, ROT=   3.0,  -7.8

2025-08-22T16:07:51.285Z,1755878871.285 [DAT](INFO): got valid direction response:
 16:07:51.3633 LVL= 32752, 32753, 28210, 32755, AGC= 66, IDX= 424, 0.30,-1.887, 2.579,-1.833,-2.222, PHS= 0.437,-1.438, 0.344, RAW= 147.5,   7.2, CAL= 147.0,   7.8, ROT=   3.0,  -7.8

2025-08-22T16:07:51.286Z,1755878871.286 [DAT](INFO): DAT read: Bearing 116.7,   8.5 (Local)

2025-08-22T16:07:51.287Z,1755878871.287 [DAT](INFO): Local bearing/azimuth received:
 Bearing 116.7,   8.5 (Local)

2025-08-22T16:07:51.288Z,1755878871.288 [DAT](INFO): DAT read: Range 11 to 50 : 155.5 m  (Round-trip  207.4 ms) speed  0.1 m/s

2025-08-22T16:07:51.288Z,1755878871.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:51.298Z,1755878871.298 [DAT](INFO): direction in FSK: [0.989390,0.051852,0.135716]
2025-08-22T16:07:51.298Z,1755878871.298 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:51.301Z,1755878871.301 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:51.301Z,1755878871.301 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:51.306Z,1755878871.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:51.519Z,1755878871.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.500000 m,
      deltaT: 3.781242 s,
      deltaX: -1.699997 m,
      approachRate: -0.449587 m/s,
      rangeRepo size: 4

2025-08-22T16:07:51.522Z,1755878871.522 [DAT](INFO): DAT read: user:37>

2025-08-22T16:07:51.523Z,1755878871.523 [DAT](INFO): DAT read: Tx time:16:07:52.5518

2025-08-22T16:07:51.523Z,1755878871.523 [DAT](INFO): Ping request sent.
2025-08-22T16:07:51.524Z,1755878871.524 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:51.524Z,1755878871.524 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:51.524Z,1755878871.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-22T16:07:51.530Z,1755878871.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.585129 m,
      bearing: 326.591865 deg,
      lat: 36.779377 deg,
      lon: -121.859594 deg,
      deltaT: 3.781242 s,
      deltaX: -1.689301 m,
      approachRate: -0.446758 m/s,
      posRepo size: 4

2025-08-22T16:07:51.534Z,1755878871.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:51.536Z,1755878871.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.956604 m,
      bearing: 322.778710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.052457 deg/s,
      cmd heading: 346.804303 deg,
      new cmd heading: 346.846210 deg.

2025-08-22T16:07:51.537Z,1755878871.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053608 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:51.774Z,1755878871.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250831
2025-08-22T16:07:51.887Z,1755878871.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:51.890Z,1755878871.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:51.895Z,1755878871.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.778595 m,
      bearing: 322.797014 deg,
      approach rate: -0.479833 m/s,
      LOS rate: 0.049399 deg/s,
      cmd heading: 346.846213 deg,
      new cmd heading: 346.882866 deg.

2025-08-22T16:07:51.897Z,1755878871.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054248 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:52.034Z,1755878872.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505526
2025-08-22T16:07:52.279Z,1755878872.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755009
2025-08-22T16:07:52.341Z,1755878872.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:52.348Z,1755878872.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.588806 m,
      bearing: 322.812668 deg,
      approach rate: -0.420549 m/s,
      LOS rate: 0.034733 deg/s,
      cmd heading: 346.882878 deg,
      new cmd heading: 346.914227 deg.

2025-08-22T16:07:52.349Z,1755878872.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054795 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:52.531Z,1755878872.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007323
2025-08-22T16:07:52.694Z,1755878872.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:52.697Z,1755878872.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.416336 m,
      bearing: 322.825352 deg,
      approach rate: -0.488894 m/s,
      LOS rate: 0.035996 deg/s,
      cmd heading: 346.914215 deg,
      new cmd heading: 346.939611 deg.

2025-08-22T16:07:52.698Z,1755878872.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055239 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:52.783Z,1755878872.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259139
2025-08-22T16:07:53.037Z,1755878873.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513061
2025-08-22T16:07:53.136Z,1755878873.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:53.139Z,1755878873.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.230530 m,
      bearing: 322.835873 deg,
      approach rate: -0.420201 m/s,
      LOS rate: 0.023824 deg/s,
      cmd heading: 346.939623 deg,
      new cmd heading: 346.960692 deg.

2025-08-22T16:07:53.140Z,1755878873.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055606 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:53.287Z,1755878873.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763521
2025-08-22T16:07:53.506Z,1755878873.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:53.508Z,1755878873.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 145.066956 m,
      bearing: 322.843749 deg,
      approach rate: -0.442658 m/s,
      LOS rate: 0.021338 deg/s,
      cmd heading: 346.960687 deg,
      new cmd heading: 346.976457 deg.

2025-08-22T16:07:53.510Z,1755878873.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055882 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:53.539Z,1755878873.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014897
2025-08-22T16:07:53.790Z,1755878873.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266835
2025-08-22T16:07:53.935Z,1755878873.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:53.937Z,1755878873.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:53.953Z,1755878873.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 144.888916 m,
      bearing: 322.850856 deg,
      approach rate: -0.412387 m/s,
      LOS rate: 0.016482 deg/s,
      cmd heading: 346.976451 deg,
      new cmd heading: 346.990682 deg.

2025-08-22T16:07:53.955Z,1755878873.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056130 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:54.046Z,1755878874.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521471
2025-08-22T16:07:54.295Z,1755878874.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771208
2025-08-22T16:07:54.334Z,1755878874.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:54.337Z,1755878874.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 144.712402 m,
      bearing: 322.853991 deg,
      approach rate: -0.445141 m/s,
      LOS rate: 0.007918 deg/s,
      cmd heading: 346.990685 deg,
      new cmd heading: 346.996965 deg.

2025-08-22T16:07:54.339Z,1755878874.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056240 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:54.547Z,1755878874.547 [DAT](INFO): DAT read: Rx Time:16:07:55.1612

2025-08-22T16:07:54.547Z,1755878874.547 [DAT](INFO): Rx dataTimestamp_ set to:1755878874.546733
2025-08-22T16:07:54.548Z,1755878874.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023926
2025-08-22T16:07:54.739Z,1755878874.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:54.742Z,1755878874.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 144.546768 m,
      bearing: 322.855592 deg,
      approach rate: -0.410069 m/s,
      LOS rate: 0.003966 deg/s,
      cmd heading: 346.996969 deg,
      new cmd heading: 347.000173 deg.

2025-08-22T16:07:54.743Z,1755878874.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056295 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:54.799Z,1755878874.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275492
2025-08-22T16:07:55.055Z,1755878875.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530808
2025-08-22T16:07:55.149Z,1755878875.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.59 m.
2025-08-22T16:07:55.156Z,1755878875.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.585129 m,
      nav range: 144.375931 m,
      bearing: 322.854011 deg,
      approach rate: -0.415253 m/s,
      LOS rate: -0.003845 deg/s,
      cmd heading: 347.000166 deg,
      new cmd heading: 346.997002 deg.

2025-08-22T16:07:55.157Z,1755878875.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056240 target range: 154.585129 and range: 155.50 m.
2025-08-22T16:07:55.308Z,1755878875.308 [DAT](INFO): DAT read: 16:07:55.1612 LVL= 24128, 27937, 18546, 31411, AGC= 66, IDX= 418, 0.24, 2.700, 1.130,-2.972, 2.798, PHS= 0.004,-1.623, 0.469, RAW= 162.2,  12.1, CAL= 162.5,  13.7, ROT= 347.5, -13.7

2025-08-22T16:07:55.309Z,1755878875.309 [DAT](INFO): got valid direction response:
 16:07:55.1612 LVL= 24128, 27937, 18546, 31411, AGC= 66, IDX= 418, 0.24, 2.700, 1.130,-2.972, 2.798, PHS= 0.004,-1.623, 0.469, RAW= 162.2,  12.1, CAL= 162.5,  13.7, ROT= 347.5, -13.7

2025-08-22T16:07:55.310Z,1755878875.310 [DAT](INFO): DAT read: Bearing 137.4,  -5.6 (Local)

2025-08-22T16:07:55.311Z,1755878875.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.4,  -5.6 (Local)

2025-08-22T16:07:55.312Z,1755878875.312 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m  (Round-trip  205.2 ms) speed  0.3 m/s

2025-08-22T16:07:55.312Z,1755878875.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:55.313Z,1755878875.313 [DAT](INFO): direction in FSK: [0.948520,-0.210282,0.236838]
2025-08-22T16:07:55.314Z,1755878875.314 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:55.317Z,1755878875.317 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:55.317Z,1755878875.317 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:55.318Z,1755878875.318 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:55.550Z,1755878875.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.899994 m,
      deltaT: 4.031049 s,
      deltaX: -1.600006 m,
      approachRate: -0.396921 m/s,
      rangeRepo size: 4

2025-08-22T16:07:55.552Z,1755878875.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.994736 m,
      bearing: 322.310074 deg,
      lat: 36.779398 deg,
      lon: -121.859594 deg,
      deltaT: 4.031049 s,
      deltaX: -1.590393 m,
      approachRate: -0.394536 m/s,
      posRepo size: 4

2025-08-22T16:07:55.553Z,1755878875.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:55.555Z,1755878875.555 [DAT](INFO): DAT read: user:38>

2025-08-22T16:07:55.555Z,1755878875.555 [DAT](INFO): DAT read: Tx time:16:07:56.6018

2025-08-22T16:07:55.556Z,1755878875.556 [DAT](INFO): Ping request sent.
2025-08-22T16:07:55.556Z,1755878875.556 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:55.556Z,1755878875.556 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:55.557Z,1755878875.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T16:07:55.575Z,1755878875.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 146.128189 m,
      bearing: 323.419667 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003845 deg/s,
      cmd heading: 346.996996 deg,
      new cmd heading: 346.993915 deg.

2025-08-22T16:07:55.576Z,1755878875.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056186 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:55.807Z,1755878875.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250703
2025-08-22T16:07:55.944Z,1755878875.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:55.947Z,1755878875.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:55.951Z,1755878875.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.963120 m,
      bearing: 323.416159 deg,
      approach rate: -0.416880 m/s,
      LOS rate: -0.008870 deg/s,
      cmd heading: 346.993909 deg,
      new cmd heading: 346.986885 deg.

2025-08-22T16:07:55.952Z,1755878875.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.056064 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:56.063Z,1755878876.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506447
2025-08-22T16:07:56.310Z,1755878876.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754618
2025-08-22T16:07:56.381Z,1755878876.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:56.386Z,1755878876.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.786606 m,
      bearing: 323.409334 deg,
      approach rate: -0.406261 m/s,
      LOS rate: -0.015727 deg/s,
      cmd heading: 346.986888 deg,
      new cmd heading: 346.973222 deg.

2025-08-22T16:07:56.389Z,1755878876.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055825 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:56.563Z,1755878876.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722
2025-08-22T16:07:56.750Z,1755878876.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:56.753Z,1755878876.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.631592 m,
      bearing: 323.402274 deg,
      approach rate: -0.418881 m/s,
      LOS rate: -0.019099 deg/s,
      cmd heading: 346.973227 deg,
      new cmd heading: 346.959092 deg.

2025-08-22T16:07:56.756Z,1755878876.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055579 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:56.815Z,1755878876.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258989
2025-08-22T16:07:57.070Z,1755878877.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513373
2025-08-22T16:07:57.194Z,1755878877.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:57.214Z,1755878877.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.454773 m,
      bearing: 323.392412 deg,
      approach rate: -0.398791 m/s,
      LOS rate: -0.022270 deg/s,
      cmd heading: 346.959103 deg,
      new cmd heading: 346.939354 deg.

2025-08-22T16:07:57.215Z,1755878877.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.055234 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:57.319Z,1755878877.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762957
2025-08-22T16:07:57.558Z,1755878877.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:57.561Z,1755878877.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.305878 m,
      bearing: 323.383184 deg,
      approach rate: -0.408752 m/s,
      LOS rate: -0.025360 deg/s,
      cmd heading: 346.939350 deg,
      new cmd heading: 346.920874 deg.

2025-08-22T16:07:57.571Z,1755878877.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014857
2025-08-22T16:07:57.578Z,1755878877.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054912 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:57.822Z,1755878877.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266698
2025-08-22T16:07:57.963Z,1755878877.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:57.966Z,1755878877.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:57.968Z,1755878877.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 145.142395 m,
      bearing: 323.372101 deg,
      approach rate: -0.401016 m/s,
      LOS rate: -0.027217 deg/s,
      cmd heading: 346.920881 deg,
      new cmd heading: 346.898690 deg.

2025-08-22T16:07:57.971Z,1755878877.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054524 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:58.080Z,1755878878.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523553
2025-08-22T16:07:58.327Z,1755878878.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770789
2025-08-22T16:07:58.430Z,1755878878.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:58.433Z,1755878878.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 144.957504 m,
      bearing: 323.358823 deg,
      approach rate: -0.397834 m/s,
      LOS rate: -0.028607 deg/s,
      cmd heading: 346.898696 deg,
      new cmd heading: 346.872107 deg.

2025-08-22T16:07:58.438Z,1755878878.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.054060 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:58.579Z,1755878878.579 [DAT](INFO): DAT read: Rx Time:16:07:59.2089

2025-08-22T16:07:58.579Z,1755878878.579 [DAT](INFO): Rx dataTimestamp_ set to:1755878878.578948
2025-08-22T16:07:58.580Z,1755878878.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023993
2025-08-22T16:07:58.618Z,1755878878.618 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:07:58.771Z,1755878878.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:58.774Z,1755878878.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 144.811829 m,
      bearing: 323.347532 deg,
      approach rate: -0.427394 m/s,
      LOS rate: -0.033159 deg/s,
      cmd heading: 346.872113 deg,
      new cmd heading: 346.849509 deg.

2025-08-22T16:07:58.775Z,1755878878.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053666 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:58.832Z,1755878878.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275964
2025-08-22T16:07:59.087Z,1755878879.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530484
2025-08-22T16:07:59.247Z,1755878879.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.99 m.
2025-08-22T16:07:59.257Z,1755878879.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.994736 m,
      nav range: 144.615952 m,
      bearing: 323.332270 deg,
      approach rate: -0.411458 m/s,
      LOS rate: -0.032104 deg/s,
      cmd heading: 346.849519 deg,
      new cmd heading: 346.818953 deg.

2025-08-22T16:07:59.258Z,1755878879.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.053133 target range: 152.994736 and range: 153.90 m.
2025-08-22T16:07:59.341Z,1755878879.341 [DAT](INFO): DAT read: 16:07:59.2089 LVL= 32752, 32753, 26258, 32755, AGC= 60, IDX= 411,-0.00,-2.177, 2.839,-1.240,-1.928, PHS=-0.147,-1.472, 0.644, RAW= 171.7,  10.6, CAL= 171.7,  12.1, ROT= 338.3, -12.1

2025-08-22T16:07:59.343Z,1755878879.343 [DAT](INFO): got valid direction response:
 16:07:59.2089 LVL= 32752, 32753, 26258, 32755, AGC= 60, IDX= 411,-0.00,-2.177, 2.839,-1.240,-1.928, PHS=-0.147,-1.472, 0.644, RAW= 171.7,  10.6, CAL= 171.7,  12.1, ROT= 338.3, -12.1

2025-08-22T16:07:59.345Z,1755878879.345 [DAT](INFO): DAT read: Bearing 147.8, -15.5 (Local)

2025-08-22T16:07:59.345Z,1755878879.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.8, -15.5 (Local)

2025-08-22T16:07:59.347Z,1755878879.347 [DAT](INFO): DAT read: Range 11 to 50 : 152.2 m  (Round-trip  203.0 ms) speed  0.0 m/s

2025-08-22T16:07:59.348Z,1755878879.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:07:59.349Z,1755878879.349 [DAT](INFO): direction in FSK: [0.908490,-0.361532,0.209619]
2025-08-22T16:07:59.349Z,1755878879.349 [DAT](INFO): publishing direction and range info
2025-08-22T16:07:59.359Z,1755878879.359 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:07:59.359Z,1755878879.359 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:07:59.360Z,1755878879.360 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:07:59.587Z,1755878879.587 [DAT](INFO): DAT read: user:39>

2025-08-22T16:07:59.587Z,1755878879.587 [DAT](INFO): DAT read: Tx time:16:08:00.6518

2025-08-22T16:07:59.588Z,1755878879.588 [DAT](INFO): Ping request sent.
2025-08-22T16:07:59.588Z,1755878879.588 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:07:59.588Z,1755878879.588 [DAT](INFO): publishing transmit ping time
2025-08-22T16:07:59.589Z,1755878879.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000717
2025-08-22T16:07:59.604Z,1755878879.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.199997 m,
      deltaT: 4.031685 s,
      deltaX: -1.699997 m,
      approachRate: -0.421659 m/s,
      rangeRepo size: 4

2025-08-22T16:07:59.606Z,1755878879.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.305359 m,
      bearing: 322.588411 deg,
      lat: 36.779416 deg,
      lon: -121.859601 deg,
      deltaT: 4.031685 s,
      deltaX: -1.689377 m,
      approachRate: -0.419025 m/s,
      posRepo size: 4

2025-08-22T16:07:59.607Z,1755878879.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:07:59.610Z,1755878879.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 146.431381 m,
      bearing: 323.600882 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032104 deg/s,
      cmd heading: 346.818947 deg,
      new cmd heading: 346.796075 deg.

2025-08-22T16:07:59.611Z,1755878879.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052733 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:07:59.624Z,1755878879.624 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:07:59.839Z,1755878879.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250702
2025-08-22T16:07:59.986Z,1755878879.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:07:59.988Z,1755878879.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:07:59.996Z,1755878879.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 146.269531 m,
      bearing: 323.587397 deg,
      approach rate: -0.421178 m/s,
      LOS rate: -0.035131 deg/s,
      cmd heading: 346.796080 deg,
      new cmd heading: 346.769079 deg.

2025-08-22T16:07:59.997Z,1755878879.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.052262 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:00.091Z,1755878880.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503304
2025-08-22T16:08:00.343Z,1755878880.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754905
2025-08-22T16:08:00.441Z,1755878880.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:00.460Z,1755878880.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 146.080750 m,
      bearing: 323.571378 deg,
      approach rate: -0.416518 m/s,
      LOS rate: -0.035389 deg/s,
      cmd heading: 346.769087 deg,
      new cmd heading: 346.737007 deg.

2025-08-22T16:08:00.461Z,1755878880.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051702 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:00.595Z,1755878880.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006709
2025-08-22T16:08:00.797Z,1755878880.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:00.820Z,1755878880.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.932770 m,
      bearing: 323.558448 deg,
      approach rate: -0.415808 m/s,
      LOS rate: -0.036369 deg/s,
      cmd heading: 346.737012 deg,
      new cmd heading: 346.711126 deg.

2025-08-22T16:08:00.821Z,1755878880.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.051250 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:00.847Z,1755878880.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258795
2025-08-22T16:08:01.102Z,1755878881.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513550
2025-08-22T16:08:01.269Z,1755878881.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:01.271Z,1755878881.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.734940 m,
      bearing: 323.541653 deg,
      approach rate: -0.419298 m/s,
      LOS rate: -0.035644 deg/s,
      cmd heading: 346.711112 deg,
      new cmd heading: 346.677477 deg.

2025-08-22T16:08:01.272Z,1755878881.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050663 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:01.351Z,1755878881.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763601
2025-08-22T16:08:01.603Z,1755878881.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014795
2025-08-22T16:08:01.603Z,1755878881.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:01.631Z,1755878881.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.595551 m,
      bearing: 323.529260 deg,
      approach rate: -0.418708 m/s,
      LOS rate: -0.037263 deg/s,
      cmd heading: 346.677480 deg,
      new cmd heading: 346.652670 deg.

2025-08-22T16:08:01.632Z,1755878881.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.050231 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:01.854Z,1755878881.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266655
2025-08-22T16:08:02.010Z,1755878882.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:02.012Z,1755878882.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:02.015Z,1755878882.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.425262 m,
      bearing: 323.513829 deg,
      approach rate: -0.414546 m/s,
      LOS rate: -0.037608 deg/s,
      cmd heading: 346.652673 deg,
      new cmd heading: 346.621776 deg.

2025-08-22T16:08:02.016Z,1755878882.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049691 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:02.112Z,1755878882.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523375
2025-08-22T16:08:02.365Z,1755878882.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776959
2025-08-22T16:08:02.459Z,1755878882.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:02.462Z,1755878882.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.236969 m,
      bearing: 323.497478 deg,
      approach rate: -0.421089 m/s,
      LOS rate: -0.036615 deg/s,
      cmd heading: 346.621773 deg,
      new cmd heading: 346.589027 deg.

2025-08-22T16:08:02.463Z,1755878882.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.049119 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:02.615Z,1755878882.615 [DAT](INFO): DAT read: Rx Time:16:08:03.2567

2025-08-22T16:08:02.615Z,1755878882.615 [DAT](INFO): Rx dataTimestamp_ set to:1755878882.614841
2025-08-22T16:08:02.616Z,1755878882.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027861
2025-08-22T16:08:02.822Z,1755878882.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:02.832Z,1755878882.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 145.090622 m,
      bearing: 323.484587 deg,
      approach rate: -0.417776 m/s,
      LOS rate: -0.036838 deg/s,
      cmd heading: 346.589016 deg,
      new cmd heading: 346.563207 deg.

2025-08-22T16:08:02.837Z,1755878882.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048669 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:02.868Z,1755878882.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280024
2025-08-22T16:08:03.123Z,1755878883.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534748
2025-08-22T16:08:03.274Z,1755878883.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.31 m.
2025-08-22T16:08:03.277Z,1755878883.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.305359 m,
      nav range: 144.896301 m,
      bearing: 323.466880 deg,
      approach rate: -0.418939 m/s,
      LOS rate: -0.038226 deg/s,
      cmd heading: 346.563197 deg,
      new cmd heading: 346.527736 deg.

2025-08-22T16:08:03.278Z,1755878883.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.048050 target range: 151.305359 and range: 152.20 m.
2025-08-22T16:08:03.381Z,1755878883.381 [DAT](INFO): DAT read: 16:08:03.2567 LVL= 32752, 32753, 31042, 32755, AGC= 64, IDX= 420, 0.08,-1.771,-2.954,-0.626,-1.402, PHS=-0.267,-1.507, 0.732, RAW= 176.4,  10.7, CAL= 176.4,  12.6, ROT= 333.6, -12.6

2025-08-22T16:08:03.383Z,1755878883.383 [DAT](INFO): got valid direction response:
 16:08:03.2567 LVL= 32752, 32753, 31042, 32755, AGC= 64, IDX= 420, 0.08,-1.771,-2.954,-0.626,-1.402, PHS=-0.267,-1.507, 0.732, RAW= 176.4,  10.7, CAL= 176.4,  12.6, ROT= 333.6, -12.6

2025-08-22T16:08:03.385Z,1755878883.385 [DAT](INFO): DAT read: Bearing 152.6, -20.7 (Local)

2025-08-22T16:08:03.386Z,1755878883.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -20.7 (Local)

2025-08-22T16:08:03.388Z,1755878883.388 [DAT](INFO): DAT read: Range 11 to 50 : 150.5 m  (Round-trip  200.7 ms) speed  0.4 m/s

2025-08-22T16:08:03.390Z,1755878883.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:03.391Z,1755878883.391 [DAT](INFO): direction in FSK: [0.874140,-0.433927,0.218143]
2025-08-22T16:08:03.392Z,1755878883.392 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:03.395Z,1755878883.395 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:03.395Z,1755878883.395 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:03.395Z,1755878883.395 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:03.623Z,1755878883.623 [DAT](INFO): DAT read: user:40>

2025-08-22T16:08:03.625Z,1755878883.625 [DAT](INFO): DAT read: Tx time:16:08:04.6518

2025-08-22T16:08:03.630Z,1755878883.630 [DAT](INFO): Ping request sent.
2025-08-22T16:08:03.630Z,1755878883.630 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:03.630Z,1755878883.630 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:03.631Z,1755878883.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001117
2025-08-22T16:08:03.765Z,1755878883.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.500000 m,
      deltaT: 4.036225 s,
      deltaX: -1.699997 m,
      approachRate: -0.421185 m/s,
      rangeRepo size: 4

2025-08-22T16:08:03.767Z,1755878883.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.615417 m,
      bearing: 321.499985 deg,
      lat: 36.779416 deg,
      lon: -121.859634 deg,
      deltaT: 4.036225 s,
      deltaX: -1.689941 m,
      approachRate: -0.418694 m/s,
      posRepo size: 4

2025-08-22T16:08:03.768Z,1755878883.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:03.770Z,1755878883.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 146.485291 m,
      bearing: 322.512361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.038226 deg/s,
      cmd heading: 346.527735 deg,
      new cmd heading: 346.490237 deg.

2025-08-22T16:08:03.771Z,1755878883.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.047396 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:03.876Z,1755878883.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245848
2025-08-22T16:08:04.127Z,1755878884.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496647
2025-08-22T16:08:04.224Z,1755878884.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:04.230Z,1755878884.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:04.233Z,1755878884.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 146.316452 m,
      bearing: 322.495442 deg,
      approach rate: -0.362294 m/s,
      LOS rate: -0.036347 deg/s,
      cmd heading: 346.490251 deg,
      new cmd heading: 346.456374 deg.

2025-08-22T16:08:04.238Z,1755878884.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.046804 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:04.381Z,1755878884.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751020
2025-08-22T16:08:04.631Z,1755878884.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000608
2025-08-22T16:08:04.715Z,1755878884.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:04.718Z,1755878884.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 146.090240 m,
      bearing: 322.469763 deg,
      approach rate: -0.466107 m/s,
      LOS rate: -0.052993 deg/s,
      cmd heading: 346.456373 deg,
      new cmd heading: 346.404936 deg.

2025-08-22T16:08:04.719Z,1755878884.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045907 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:04.884Z,1755878884.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254177
2025-08-22T16:08:05.090Z,1755878885.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:05.092Z,1755878885.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.936691 m,
      bearing: 322.452152 deg,
      approach rate: -0.410474 m/s,
      LOS rate: -0.047129 deg/s,
      cmd heading: 346.404928 deg,
      new cmd heading: 346.369669 deg.

2025-08-22T16:08:05.093Z,1755878885.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.045291 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:05.135Z,1755878885.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504834
2025-08-22T16:08:05.387Z,1755878885.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757029
2025-08-22T16:08:05.514Z,1755878885.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:05.517Z,1755878885.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.760040 m,
      bearing: 322.430262 deg,
      approach rate: -0.415857 m/s,
      LOS rate: -0.051595 deg/s,
      cmd heading: 346.369657 deg,
      new cmd heading: 346.325824 deg.

2025-08-22T16:08:05.518Z,1755878885.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.044526 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:05.639Z,1755878885.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008688
2025-08-22T16:08:05.891Z,1755878885.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260733
2025-08-22T16:08:05.907Z,1755878885.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:05.910Z,1755878885.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.596893 m,
      bearing: 322.409795 deg,
      approach rate: -0.414955 m/s,
      LOS rate: -0.052114 deg/s,
      cmd heading: 346.325835 deg,
      new cmd heading: 346.284855 deg.

2025-08-22T16:08:05.911Z,1755878885.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.043811 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:06.143Z,1755878886.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512720
2025-08-22T16:08:06.331Z,1755878886.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:06.337Z,1755878886.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:06.340Z,1755878886.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.422302 m,
      bearing: 322.386310 deg,
      approach rate: -0.409951 m/s,
      LOS rate: -0.055209 deg/s,
      cmd heading: 346.284854 deg,
      new cmd heading: 346.237828 deg.

2025-08-22T16:08:06.346Z,1755878886.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042990 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:06.395Z,1755878886.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764759
2025-08-22T16:08:06.647Z,1755878886.647 [DAT](INFO): DAT read: Rx Time:16:08:07.2543

2025-08-22T16:08:06.647Z,1755878886.647 [DAT](INFO): Rx dataTimestamp_ set to:1755878886.646731
2025-08-22T16:08:06.648Z,1755878886.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017639
2025-08-22T16:08:06.723Z,1755878886.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:06.726Z,1755878886.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.249252 m,
      bearing: 322.362795 deg,
      approach rate: -0.444007 m/s,
      LOS rate: -0.060407 deg/s,
      cmd heading: 346.237835 deg,
      new cmd heading: 346.190748 deg.

2025-08-22T16:08:06.727Z,1755878886.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.042169 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:06.898Z,1755878886.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268523
2025-08-22T16:08:07.174Z,1755878887.174 [DAT](INFO): DAT read: 16:08:07.2543 LVL= 32400, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.49, 2.384, 1.253,-2.661, 2.762, PHS=-0.275,-1.464, 0.817, RAW= 178.6,   9.4, CAL= 178.4,  10.5, ROT= 331.6, -10.5

2025-08-22T16:08:07.175Z,1755878887.175 [DAT](INFO): got valid direction response:
 16:08:07.2543 LVL= 32400, 32753, 29042, 32755, AGC= 63, IDX= 412, 0.49, 2.384, 1.253,-2.661, 2.762, PHS=-0.275,-1.464, 0.817, RAW= 178.6,   9.4, CAL= 178.4,  10.5, ROT= 331.6, -10.5

2025-08-22T16:08:07.176Z,1755878887.176 [DAT](INFO): DAT read: Bearing 151.2, -23.5 (Local)

2025-08-22T16:08:07.177Z,1755878887.177 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.2, -23.5 (Local)

2025-08-22T16:08:07.178Z,1755878887.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.62 m.
2025-08-22T16:08:07.192Z,1755878887.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.615417 m,
      nav range: 145.086411 m,
      bearing: 322.340497 deg,
      approach rate: -0.364875 m/s,
      LOS rate: -0.050019 deg/s,
      cmd heading: 346.190761 deg,
      new cmd heading: 346.146115 deg.

2025-08-22T16:08:07.198Z,1755878887.198 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m  (Round-trip  198.4 ms) speed  0.2 m/s

2025-08-22T16:08:07.200Z,1755878887.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:07.204Z,1755878887.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.041389 target range: 149.615417 and range: 150.50 m.
2025-08-22T16:08:07.238Z,1755878887.238 [DAT](INFO): direction in FSK: [0.864919,-0.467660,0.182236]
2025-08-22T16:08:07.238Z,1755878887.238 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:07.252Z,1755878887.252 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:07.252Z,1755878887.252 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:07.252Z,1755878887.252 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:07.403Z,1755878887.403 [DAT](INFO): DAT read: user:41>

2025-08-22T16:08:07.403Z,1755878887.403 [DAT](INFO): DAT read: Tx time:16:08:08.5018

2025-08-22T16:08:07.404Z,1755878887.404 [DAT](INFO): Ping request sent.
2025-08-22T16:08:07.404Z,1755878887.404 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:07.404Z,1755878887.404 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:07.404Z,1755878887.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-22T16:08:07.584Z,1755878887.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.800003 m,
      deltaT: 3.781405 s,
      deltaX: -1.699997 m,
      approachRate: -0.449568 m/s,
      rangeRepo size: 4

2025-08-22T16:08:07.590Z,1755878887.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.925232 m,
      bearing: 320.966709 deg,
      lat: 36.779398 deg,
      lon: -121.859638 deg,
      deltaT: 3.781405 s,
      deltaX: -1.690186 m,
      approachRate: -0.446973 m/s,
      posRepo size: 4

2025-08-22T16:08:07.591Z,1755878887.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:07.598Z,1755878887.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 143.486023 m,
      bearing: 321.733627 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050019 deg/s,
      cmd heading: 346.146119 deg,
      new cmd heading: 346.104701 deg.

2025-08-22T16:08:07.599Z,1755878887.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.040667 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:07.655Z,1755878887.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250993
2025-08-22T16:08:07.907Z,1755878887.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502928
2025-08-22T16:08:07.920Z,1755878887.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:07.939Z,1755878887.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 143.340088 m,
      bearing: 321.710345 deg,
      approach rate: -0.433836 m/s,
      LOS rate: -0.069283 deg/s,
      cmd heading: 346.104700 deg,
      new cmd heading: 346.058089 deg.

2025-08-22T16:08:07.940Z,1755878887.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.039853 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:08.159Z,1755878888.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754980
2025-08-22T16:08:08.347Z,1755878888.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:08.351Z,1755878888.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:08.357Z,1755878888.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 143.153564 m,
      bearing: 321.680544 deg,
      approach rate: -0.432833 m/s,
      LOS rate: -0.069245 deg/s,
      cmd heading: 346.058091 deg,
      new cmd heading: 345.998411 deg.

2025-08-22T16:08:08.380Z,1755878888.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.038812 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:08.411Z,1755878888.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954
2025-08-22T16:08:08.663Z,1755878888.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259457
2025-08-22T16:08:08.741Z,1755878888.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:08.744Z,1755878888.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.989304 m,
      bearing: 321.654155 deg,
      approach rate: -0.438423 m/s,
      LOS rate: -0.070513 deg/s,
      cmd heading: 345.998423 deg,
      new cmd heading: 345.945585 deg.

2025-08-22T16:08:08.750Z,1755878888.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.037889 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:08.915Z,1755878888.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510830
2025-08-22T16:08:09.135Z,1755878889.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:09.138Z,1755878889.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.810852 m,
      bearing: 321.625391 deg,
      approach rate: -0.435232 m/s,
      LOS rate: -0.070241 deg/s,
      cmd heading: 345.945584 deg,
      new cmd heading: 345.887985 deg.

2025-08-22T16:08:09.139Z,1755878889.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.036884 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:09.167Z,1755878889.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763385
2025-08-22T16:08:09.419Z,1755878889.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014813
2025-08-22T16:08:09.557Z,1755878889.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:09.560Z,1755878889.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.628769 m,
      bearing: 321.594471 deg,
      approach rate: -0.432029 m/s,
      LOS rate: -0.073460 deg/s,
      cmd heading: 345.887992 deg,
      new cmd heading: 345.826072 deg.

2025-08-22T16:08:09.561Z,1755878889.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.035804 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:09.671Z,1755878889.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267339
2025-08-22T16:08:09.923Z,1755878889.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518857
2025-08-22T16:08:09.942Z,1755878889.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:09.944Z,1755878889.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.462524 m,
      bearing: 321.566188 deg,
      approach rate: -0.432344 m/s,
      LOS rate: -0.073639 deg/s,
      cmd heading: 345.826083 deg,
      new cmd heading: 345.769452 deg.

2025-08-22T16:08:09.945Z,1755878889.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.034815 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:10.175Z,1755878890.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219
2025-08-22T16:08:10.406Z,1755878890.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:10.408Z,1755878890.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:10.423Z,1755878890.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.268692 m,
      bearing: 321.531214 deg,
      approach rate: -0.415551 m/s,
      LOS rate: -0.075081 deg/s,
      cmd heading: 345.769447 deg,
      new cmd heading: 345.699405 deg.

2025-08-22T16:08:10.423Z,1755878890.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.033593 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:10.427Z,1755878890.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022983
2025-08-22T16:08:10.680Z,1755878890.680 [DAT](INFO): DAT read: Rx Time:16:08:11.1022

2025-08-22T16:08:10.681Z,1755878890.681 [DAT](INFO): Rx dataTimestamp_ set to:1755878890.680689
2025-08-22T16:08:10.682Z,1755878890.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278274
2025-08-22T16:08:10.778Z,1755878890.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.93 m.
2025-08-22T16:08:10.780Z,1755878890.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.925232 m,
      nav range: 142.098984 m,
      bearing: 321.500602 deg,
      approach rate: -0.458981 m/s,
      LOS rate: -0.082890 deg/s,
      cmd heading: 345.699397 deg,
      new cmd heading: 345.638100 deg.

2025-08-22T16:08:10.782Z,1755878890.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.032523 target range: 147.925232 and range: 148.80 m.
2025-08-22T16:08:10.930Z,1755878890.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526793
2025-08-22T16:08:11.191Z,1755878891.191 [DAT](INFO): DAT read: 16:08:11.1022 LVL= 26832, 32753, 23618, 32723, AGC= 64, IDX= 422, 0.05, 1.571, 0.452, 2.834, 1.960, PHS=-0.287,-1.463, 0.831, RAW= 179.2,   9.3, CAL= 179.0,  10.4, ROT= 331.0, -10.4

2025-08-22T16:08:11.192Z,1755878891.192 [DAT](INFO): got valid direction response:
 16:08:11.1022 LVL= 26832, 32753, 23618, 32723, AGC= 64, IDX= 422, 0.05, 1.571, 0.452, 2.834, 1.960, PHS=-0.287,-1.463, 0.831, RAW= 179.2,   9.3, CAL= 179.0,  10.4, ROT= 331.0, -10.4

2025-08-22T16:08:11.194Z,1755878891.194 [DAT](INFO): DAT read: Bearing 151.3, -24.1 (Local)

2025-08-22T16:08:11.195Z,1755878891.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 151.3, -24.1 (Local)

2025-08-22T16:08:11.197Z,1755878891.197 [DAT](INFO): DAT read: Range 11 to 50 : 147.1 m  (Round-trip  196.2 ms) speed  0.4 m/s

2025-08-22T16:08:11.214Z,1755878891.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:11.215Z,1755878891.215 [DAT](INFO): direction in FSK: [0.860251,-0.476845,0.180519]
2025-08-22T16:08:11.215Z,1755878891.215 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:11.228Z,1755878891.228 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:11.228Z,1755878891.228 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:11.229Z,1755878891.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:11.312Z,1755878891.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.100006 m,
      deltaT: 4.030895 s,
      deltaX: -1.699997 m,
      approachRate: -0.421742 m/s,
      rangeRepo size: 4

2025-08-22T16:08:11.323Z,1755878891.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.235947 m,
      bearing: 320.492460 deg,
      lat: 36.779397 deg,
      lon: -121.859653 deg,
      deltaT: 4.030895 s,
      deltaX: -1.689285 m,
      approachRate: -0.419084 m/s,
      posRepo size: 4

2025-08-22T16:08:11.323Z,1755878891.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:11.335Z,1755878891.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 142.686539 m,
      bearing: 321.026905 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.082890 deg/s,
      cmd heading: 345.638089 deg,
      new cmd heading: 345.549523 deg.

2025-08-22T16:08:11.336Z,1755878891.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.030977 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:11.434Z,1755878891.434 [DAT](INFO): DAT read: user:42>

2025-08-22T16:08:11.435Z,1755878891.435 [DAT](INFO): DAT read: Tx time:16:08:12.5018

2025-08-22T16:08:11.435Z,1755878891.435 [DAT](INFO): Ping request sent.
2025-08-22T16:08:11.436Z,1755878891.436 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:11.436Z,1755878891.436 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:11.436Z,1755878891.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:08:11.687Z,1755878891.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917
2025-08-22T16:08:11.785Z,1755878891.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:11.788Z,1755878891.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 142.423584 m,
      bearing: 320.978661 deg,
      approach rate: -0.555317 m/s,
      LOS rate: -0.102073 deg/s,
      cmd heading: 345.549515 deg,
      new cmd heading: 345.452848 deg.

2025-08-22T16:08:11.789Z,1755878891.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.029290 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:11.939Z,1755878891.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503404
2025-08-22T16:08:12.172Z,1755878892.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:12.177Z,1755878892.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 142.256180 m,
      bearing: 320.947969 deg,
      approach rate: -0.432861 m/s,
      LOS rate: -0.079454 deg/s,
      cmd heading: 345.452855 deg,
      new cmd heading: 345.391398 deg.

2025-08-22T16:08:12.179Z,1755878892.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.028217 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:12.191Z,1755878892.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755532
2025-08-22T16:08:12.443Z,1755878892.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006988
2025-08-22T16:08:12.667Z,1755878892.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:12.669Z,1755878892.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:12.672Z,1755878892.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 142.038239 m,
      bearing: 320.912520 deg,
      approach rate: -0.438890 m/s,
      LOS rate: -0.071496 deg/s,
      cmd heading: 345.391410 deg,
      new cmd heading: 345.320404 deg.

2025-08-22T16:08:12.673Z,1755878892.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.026978 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:12.695Z,1755878892.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003
2025-08-22T16:08:12.946Z,1755878892.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837
2025-08-22T16:08:13.139Z,1755878893.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:13.142Z,1755878893.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 141.833130 m,
      bearing: 320.879371 deg,
      approach rate: -0.436048 m/s,
      LOS rate: -0.070574 deg/s,
      cmd heading: 345.320404 deg,
      new cmd heading: 345.254010 deg.

2025-08-22T16:08:13.143Z,1755878893.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.025819 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:13.199Z,1755878893.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763475
2025-08-22T16:08:13.451Z,1755878893.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014946
2025-08-22T16:08:13.566Z,1755878893.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:13.569Z,1755878893.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 141.643799 m,
      bearing: 320.849197 deg,
      approach rate: -0.443607 m/s,
      LOS rate: -0.070792 deg/s,
      cmd heading: 345.254014 deg,
      new cmd heading: 345.193586 deg.

2025-08-22T16:08:13.570Z,1755878893.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.024765 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:13.703Z,1755878893.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266981
2025-08-22T16:08:13.946Z,1755878893.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:13.949Z,1755878893.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 141.474854 m,
      bearing: 320.822384 deg,
      approach rate: -0.444106 m/s,
      LOS rate: -0.070568 deg/s,
      cmd heading: 345.193581 deg,
      new cmd heading: 345.139890 deg.

2025-08-22T16:08:13.950Z,1755878893.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.023828 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:13.955Z,1755878893.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519142
2025-08-22T16:08:14.208Z,1755878894.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771987
2025-08-22T16:08:14.422Z,1755878894.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:14.424Z,1755878894.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 141.262436 m,
      bearing: 320.791661 deg,
      approach rate: -0.447058 m/s,
      LOS rate: -0.064757 deg/s,
      cmd heading: 345.139895 deg,
      new cmd heading: 345.078357 deg.

2025-08-22T16:08:14.426Z,1755878894.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022754 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:14.459Z,1755878894.459 [DAT](INFO): DAT read: Rx Time:16:08:15.1000

2025-08-22T16:08:14.460Z,1755878894.460 [DAT](INFO): Rx dataTimestamp_ set to:1755878894.459399
2025-08-22T16:08:14.461Z,1755878894.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024703
2025-08-22T16:08:14.711Z,1755878894.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275391
2025-08-22T16:08:14.755Z,1755878894.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:14.757Z,1755878894.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:14.759Z,1755878894.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 141.112518 m,
      bearing: 320.770143 deg,
      approach rate: -0.447118 m/s,
      LOS rate: -0.064246 deg/s,
      cmd heading: 345.078369 deg,
      new cmd heading: 345.035286 deg.

2025-08-22T16:08:14.760Z,1755878894.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.022002 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:14.965Z,1755878894.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529106
2025-08-22T16:08:15.157Z,1755878895.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.24 m.
2025-08-22T16:08:15.161Z,1755878895.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.235947 m,
      nav range: 140.932846 m,
      bearing: 320.744572 deg,
      approach rate: -0.448444 m/s,
      LOS rate: -0.063903 deg/s,
      cmd heading: 345.035284 deg,
      new cmd heading: 344.984077 deg.

2025-08-22T16:08:15.178Z,1755878895.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.021108 target range: 146.235947 and range: 147.10 m.
2025-08-22T16:08:15.220Z,1755878895.220 [DAT](INFO): DAT read: 16:08:15.1000 LVL= 28240, 32753, 23778, 32755, AGC= 61, IDX= 414,-0.15,-2.310, 2.864,-1.055,-1.954, PHS=-0.254,-1.420, 0.856, RAW= 179.2,   8.4, CAL= 179.0,   8.9, ROT= 331.0,  -8.9

2025-08-22T16:08:15.221Z,1755878895.221 [DAT](INFO): got valid direction response:
 16:08:15.1000 LVL= 28240, 32753, 23778, 32755, AGC= 61, IDX= 414,-0.15,-2.310, 2.864,-1.055,-1.954, PHS=-0.254,-1.420, 0.856, RAW= 179.2,   8.4, CAL= 179.0,   8.9, ROT= 331.0,  -8.9

2025-08-22T16:08:15.222Z,1755878895.222 [DAT](INFO): DAT read: Bearing 149.4, -23.6 (Local)

2025-08-22T16:08:15.222Z,1755878895.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.4, -23.6 (Local)

2025-08-22T16:08:15.224Z,1755878895.224 [DAT](INFO): DAT read: Range 11 to 50 : 145.4 m  (Round-trip  193.9 ms) speed  0.4 m/s

2025-08-22T16:08:15.224Z,1755878895.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:15.225Z,1755878895.225 [DAT](INFO): direction in FSK: [0.864089,-0.478972,0.154710]
2025-08-22T16:08:15.226Z,1755878895.226 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:15.276Z,1755878895.276 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:15.276Z,1755878895.276 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:15.276Z,1755878895.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:15.467Z,1755878895.467 [DAT](INFO): DAT read: user:43>

2025-08-22T16:08:15.467Z,1755878895.467 [DAT](INFO): DAT read: Tx time:16:08:16.5518

2025-08-22T16:08:15.468Z,1755878895.468 [DAT](INFO): Ping request sent.
2025-08-22T16:08:15.468Z,1755878895.468 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:15.468Z,1755878895.468 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:15.468Z,1755878895.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:08:15.696Z,1755878895.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.399994 m,
      deltaT: 4.031274 s,
      deltaX: -1.700012 m,
      approachRate: -0.421706 m/s,
      rangeRepo size: 4

2025-08-22T16:08:15.699Z,1755878895.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.546738 m,
      bearing: 319.466705 deg,
      lat: 36.779397 deg,
      lon: -121.859665 deg,
      deltaT: 4.031274 s,
      deltaX: -1.689209 m,
      approachRate: -0.419026 m/s,
      posRepo size: 4

2025-08-22T16:08:15.700Z,1755878895.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:15.702Z,1755878895.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 141.339020 m,
      bearing: 320.369466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063903 deg/s,
      cmd heading: 344.984085 deg,
      new cmd heading: 344.915264 deg.

2025-08-22T16:08:15.703Z,1755878895.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019907 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:15.718Z,1755878895.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250767
2025-08-22T16:08:15.974Z,1755878895.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506455
2025-08-22T16:08:16.054Z,1755878896.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:16.056Z,1755878896.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 141.171997 m,
      bearing: 320.346798 deg,
      approach rate: -0.466728 m/s,
      LOS rate: -0.063418 deg/s,
      cmd heading: 344.915264 deg,
      new cmd heading: 344.869874 deg.

2025-08-22T16:08:16.074Z,1755878896.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.019115 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:16.223Z,1755878896.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754815
2025-08-22T16:08:16.475Z,1755878896.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006985
2025-08-22T16:08:16.484Z,1755878896.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:16.487Z,1755878896.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.971771 m,
      bearing: 320.321554 deg,
      approach rate: -0.465042 m/s,
      LOS rate: -0.058714 deg/s,
      cmd heading: 344.869884 deg,
      new cmd heading: 344.819325 deg.

2025-08-22T16:08:16.488Z,1755878896.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.018232 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:16.726Z,1755878896.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258766
2025-08-22T16:08:16.874Z,1755878896.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:16.876Z,1755878896.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:16.895Z,1755878896.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.789597 m,
      bearing: 320.298834 deg,
      approach rate: -0.465407 m/s,
      LOS rate: -0.058118 deg/s,
      cmd heading: 344.819314 deg,
      new cmd heading: 344.773815 deg.

2025-08-22T16:08:16.896Z,1755878896.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.017438 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:16.979Z,1755878896.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511202
2025-08-22T16:08:17.231Z,1755878897.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762937
2025-08-22T16:08:17.288Z,1755878897.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:17.295Z,1755878897.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.608582 m,
      bearing: 320.276322 deg,
      approach rate: -0.439062 m/s,
      LOS rate: -0.054676 deg/s,
      cmd heading: 344.773824 deg,
      new cmd heading: 344.728741 deg.

2025-08-22T16:08:17.296Z,1755878897.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.016652 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:17.482Z,1755878897.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014733
2025-08-22T16:08:17.704Z,1755878897.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:17.707Z,1755878897.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.404373 m,
      bearing: 320.251276 deg,
      approach rate: -0.490948 m/s,
      LOS rate: -0.060301 deg/s,
      cmd heading: 344.728745 deg,
      new cmd heading: 344.678581 deg.

2025-08-22T16:08:17.708Z,1755878897.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015776 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:17.735Z,1755878897.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267219
2025-08-22T16:08:17.987Z,1755878897.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519480
2025-08-22T16:08:18.078Z,1755878898.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:18.081Z,1755878898.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.229843 m,
      bearing: 320.229900 deg,
      approach rate: -0.465881 m/s,
      LOS rate: -0.057131 deg/s,
      cmd heading: 344.678584 deg,
      new cmd heading: 344.635779 deg.

2025-08-22T16:08:18.082Z,1755878898.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.015029 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:18.238Z,1755878898.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770723
2025-08-22T16:08:18.491Z,1755878898.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023215
2025-08-22T16:08:18.502Z,1755878898.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:18.505Z,1755878898.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 140.037231 m,
      bearing: 320.203837 deg,
      approach rate: -0.456379 m/s,
      LOS rate: -0.061840 deg/s,
      cmd heading: 344.635773 deg,
      new cmd heading: 344.583575 deg.

2025-08-22T16:08:18.506Z,1755878898.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014118 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:18.743Z,1755878898.743 [DAT](INFO): DAT read: Rx Time:16:08:19.1474

2025-08-22T16:08:18.744Z,1755878898.744 [DAT](INFO): Rx dataTimestamp_ set to:1755878898.743674
2025-08-22T16:08:18.745Z,1755878898.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277184
2025-08-22T16:08:18.918Z,1755878898.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:18.920Z,1755878898.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.55 m.
2025-08-22T16:08:18.944Z,1755878898.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.546738 m,
      nav range: 139.842316 m,
      bearing: 320.177421 deg,
      approach rate: -0.464394 m/s,
      LOS rate: -0.063024 deg/s,
      cmd heading: 344.583563 deg,
      new cmd heading: 344.530658 deg.

2025-08-22T16:08:18.945Z,1755878898.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.013195 target range: 144.546738 and range: 145.40 m.
2025-08-22T16:08:18.995Z,1755878898.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527603
2025-08-22T16:08:19.257Z,1755878899.257 [DAT](INFO): DAT read: 16:08:19.1474 LVL= 27632, 30561, 20450, 31171, AGC= 66, IDX= 420,-0.10,-0.385,-1.514, 0.843,-0.053, PHS=-0.230,-1.416, 0.851, RAW= 178.5,   8.1, CAL= 178.2,   8.5, ROT= 331.8,  -8.5

2025-08-22T16:08:19.258Z,1755878899.258 [DAT](INFO): got valid direction response:
 16:08:19.1474 LVL= 27632, 30561, 20450, 31171, AGC= 66, IDX= 420,-0.10,-0.385,-1.514, 0.843,-0.053, PHS=-0.230,-1.416, 0.851, RAW= 178.5,   8.1, CAL= 178.2,   8.5, ROT= 331.8,  -8.5

2025-08-22T16:08:19.259Z,1755878899.259 [DAT](INFO): DAT read: Bearing 149.0, -22.1 (Local)

2025-08-22T16:08:19.259Z,1755878899.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.0, -22.1 (Local)

2025-08-22T16:08:19.260Z,1755878899.260 [DAT](INFO): DAT read: Range 11 to 50 : 143.5 m  (Round-trip  191.4 ms) speed  0.4 m/s

2025-08-22T16:08:19.261Z,1755878899.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:19.281Z,1755878899.281 [DAT](INFO): direction in FSK: [0.871623,-0.467360,0.147809]
2025-08-22T16:08:19.282Z,1755878899.282 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:19.285Z,1755878899.285 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:19.285Z,1755878899.285 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:19.285Z,1755878899.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:19.438Z,1755878899.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.500000 m,
      deltaT: 4.033057 s,
      deltaX: -1.899994 m,
      approachRate: -0.471105 m/s,
      rangeRepo size: 4

2025-08-22T16:08:19.440Z,1755878899.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.657715 m,
      bearing: 319.226715 deg,
      lat: 36.779391 deg,
      lon: -121.859665 deg,
      deltaT: 4.033057 s,
      deltaX: -1.889023 m,
      approachRate: -0.468385 m/s,
      posRepo size: 4

2025-08-22T16:08:19.441Z,1755878899.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:19.448Z,1755878899.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 139.191788 m,
      bearing: 319.949978 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063024 deg/s,
      cmd heading: 344.530670 deg,
      new cmd heading: 344.466540 deg.

2025-08-22T16:08:19.449Z,1755878899.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.012075 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:19.499Z,1755878899.499 [DAT](INFO): DAT read: user:44>

2025-08-22T16:08:19.500Z,1755878899.500 [DAT](INFO): DAT read: Tx time:16:08:20.5519

2025-08-22T16:08:19.501Z,1755878899.501 [DAT](INFO): Ping request sent.
2025-08-22T16:08:19.501Z,1755878899.501 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:19.501Z,1755878899.501 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:19.502Z,1755878899.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001116
2025-08-22T16:08:19.750Z,1755878899.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249706
2025-08-22T16:08:19.914Z,1755878899.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:19.916Z,1755878899.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.927658 m,
      bearing: 319.913042 deg,
      approach rate: -0.545028 m/s,
      LOS rate: -0.076361 deg/s,
      cmd heading: 344.466548 deg,
      new cmd heading: 344.392536 deg.

2025-08-22T16:08:19.918Z,1755878899.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.010784 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:20.003Z,1755878900.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502340
2025-08-22T16:08:20.255Z,1755878900.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753862
2025-08-22T16:08:20.294Z,1755878900.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:20.296Z,1755878900.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.766647 m,
      bearing: 319.890484 deg,
      approach rate: -0.423904 m/s,
      LOS rate: -0.059460 deg/s,
      cmd heading: 344.392536 deg,
      new cmd heading: 344.347367 deg.

2025-08-22T16:08:20.302Z,1755878900.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.009995 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:20.507Z,1755878900.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006670
2025-08-22T16:08:20.750Z,1755878900.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:20.753Z,1755878900.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.550476 m,
      bearing: 319.857462 deg,
      approach rate: -0.473382 m/s,
      LOS rate: -0.072426 deg/s,
      cmd heading: 344.347375 deg,
      new cmd heading: 344.281228 deg.

2025-08-22T16:08:20.754Z,1755878900.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.008841 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:20.759Z,1755878900.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257860
2025-08-22T16:08:21.011Z,1755878901.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510066
2025-08-22T16:08:21.118Z,1755878901.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:21.120Z,1755878901.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:21.123Z,1755878901.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.377670 m,
      bearing: 319.830977 deg,
      approach rate: -0.466504 m/s,
      LOS rate: -0.071587 deg/s,
      cmd heading: 344.281231 deg,
      new cmd heading: 344.228195 deg.

2025-08-22T16:08:21.124Z,1755878901.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.007915 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:21.262Z,1755878901.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761715
2025-08-22T16:08:21.515Z,1755878901.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013813
2025-08-22T16:08:21.563Z,1755878901.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:21.566Z,1755878901.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.180832 m,
      bearing: 319.798766 deg,
      approach rate: -0.444745 m/s,
      LOS rate: -0.072884 deg/s,
      cmd heading: 344.228202 deg,
      new cmd heading: 344.163687 deg.

2025-08-22T16:08:21.567Z,1755878901.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.006790 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:21.767Z,1755878901.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266419
2025-08-22T16:08:21.919Z,1755878901.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:21.923Z,1755878901.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 138.007874 m,
      bearing: 319.770440 deg,
      approach rate: -0.485319 m/s,
      LOS rate: -0.079582 deg/s,
      cmd heading: 344.163697 deg,
      new cmd heading: 344.106974 deg.

2025-08-22T16:08:21.923Z,1755878901.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.005800 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:22.019Z,1755878902.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517825
2025-08-22T16:08:22.270Z,1755878902.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769731
2025-08-22T16:08:22.323Z,1755878902.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:22.346Z,1755878902.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 137.824356 m,
      bearing: 319.740374 deg,
      approach rate: -0.455101 m/s,
      LOS rate: -0.074658 deg/s,
      cmd heading: 344.106979 deg,
      new cmd heading: 344.046768 deg.

2025-08-22T16:08:22.348Z,1755878902.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.004749 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:22.523Z,1755878902.523 [DAT](INFO): DAT read: Rx Time:16:08:23.1449

2025-08-22T16:08:22.523Z,1755878902.523 [DAT](INFO): Rx dataTimestamp_ set to:1755878902.522814
2025-08-22T16:08:22.524Z,1755878902.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022892
2025-08-22T16:08:22.773Z,1755878902.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:22.775Z,1755878902.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273879
2025-08-22T16:08:22.777Z,1755878902.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 137.616333 m,
      bearing: 319.705793 deg,
      approach rate: -0.462514 m/s,
      LOS rate: -0.077003 deg/s,
      cmd heading: 344.046764 deg,
      new cmd heading: 343.977498 deg.

2025-08-22T16:08:22.778Z,1755878902.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.003540 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:23.044Z,1755878903.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542440
2025-08-22T16:08:23.137Z,1755878903.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:23.139Z,1755878903.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.66 m.
2025-08-22T16:08:23.142Z,1755878903.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.657715 m,
      nav range: 137.447128 m,
      bearing: 319.677778 deg,
      approach rate: -0.461145 m/s,
      LOS rate: -0.076446 deg/s,
      cmd heading: 343.977506 deg,
      new cmd heading: 343.921407 deg.

2025-08-22T16:08:23.143Z,1755878903.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.002561 target range: 142.657715 and range: 143.50 m.
2025-08-22T16:08:23.284Z,1755878903.284 [DAT](INFO): DAT read: 16:08:23.1449 LVL= 27568, 30577, 22642, 31299, AGC= 60, IDX= 410, 0.27,-1.951,-3.085,-0.761,-1.678, PHS=-0.171,-1.362, 0.873, RAW= 177.8,   6.9, CAL= 177.5,   6.5, ROT= 332.5,  -6.5

2025-08-22T16:08:23.285Z,1755878903.285 [DAT](INFO): got valid direction response:
 16:08:23.1449 LVL= 27568, 30577, 22642, 31299, AGC= 60, IDX= 410, 0.27,-1.951,-3.085,-0.761,-1.678, PHS=-0.171,-1.362, 0.873, RAW= 177.8,   6.9, CAL= 177.5,   6.5, ROT= 332.5,  -6.5

2025-08-22T16:08:23.299Z,1755878903.299 [DAT](INFO): DAT read: Bearing 147.7, -20.1 (Local)

2025-08-22T16:08:23.300Z,1755878903.300 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.7, -20.1 (Local)

2025-08-22T16:08:23.301Z,1755878903.301 [DAT](INFO): DAT read: Range 11 to 50 : 141.6 m  (Round-trip  188.8 ms) speed  0.4 m/s

2025-08-22T16:08:23.302Z,1755878903.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:23.303Z,1755878903.303 [DAT](INFO): direction in FSK: [0.881309,-0.458780,0.113203]
2025-08-22T16:08:23.303Z,1755878903.303 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:23.329Z,1755878903.329 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:23.329Z,1755878903.329 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:23.329Z,1755878903.329 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:23.530Z,1755878903.530 [DAT](INFO): DAT read: user:45>

2025-08-22T16:08:23.531Z,1755878903.531 [DAT](INFO): DAT read: Tx time:16:08:24.6019

2025-08-22T16:08:23.531Z,1755878903.531 [DAT](INFO): Ping request sent.
2025-08-22T16:08:23.532Z,1755878903.532 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:23.532Z,1755878903.532 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:23.532Z,1755878903.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-08-22T16:08:23.569Z,1755878903.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.600006 m,
      deltaT: 4.031047 s,
      deltaX: -1.899994 m,
      approachRate: -0.471340 m/s,
      rangeRepo size: 4

2025-08-22T16:08:23.571Z,1755878903.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.769577 m,
      bearing: 319.504814 deg,
      lat: 36.779391 deg,
      lon: -121.859672 deg,
      deltaT: 4.031047 s,
      deltaX: -1.888138 m,
      approachRate: -0.468399 m/s,
      posRepo size: 4

2025-08-22T16:08:23.572Z,1755878903.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:23.595Z,1755878903.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 137.632767 m,
      bearing: 319.456636 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.076446 deg/s,
      cmd heading: 343.921417 deg,
      new cmd heading: 343.855848 deg.

2025-08-22T16:08:23.596Z,1755878903.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.001417 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:23.782Z,1755878903.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250910
2025-08-22T16:08:23.938Z,1755878903.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:23.940Z,1755878903.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 137.456223 m,
      bearing: 319.428408 deg,
      approach rate: -0.478407 m/s,
      LOS rate: -0.076590 deg/s,
      cmd heading: 343.855847 deg,
      new cmd heading: 343.799320 deg.

2025-08-22T16:08:23.941Z,1755878903.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.000430 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:24.039Z,1755878904.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507741
2025-08-22T16:08:24.290Z,1755878904.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758850
2025-08-22T16:08:24.371Z,1755878904.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:24.386Z,1755878904.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 137.251343 m,
      bearing: 319.395826 deg,
      approach rate: -0.472294 m/s,
      LOS rate: -0.075222 deg/s,
      cmd heading: 343.799320 deg,
      new cmd heading: 343.734058 deg.

2025-08-22T16:08:24.387Z,1755878904.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.999291 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:24.542Z,1755878904.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010875
2025-08-22T16:08:24.777Z,1755878904.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:24.780Z,1755878904.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 137.059570 m,
      bearing: 319.366134 deg,
      approach rate: -0.472391 m/s,
      LOS rate: -0.073241 deg/s,
      cmd heading: 343.734051 deg,
      new cmd heading: 343.674585 deg.

2025-08-22T16:08:24.781Z,1755878904.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.998253 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:24.795Z,1755878904.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263056
2025-08-22T16:08:25.047Z,1755878905.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514962
2025-08-22T16:08:25.159Z,1755878905.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:25.167Z,1755878905.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:25.175Z,1755878905.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 136.883987 m,
      bearing: 319.339047 deg,
      approach rate: -0.450858 m/s,
      LOS rate: -0.069644 deg/s,
      cmd heading: 343.674574 deg,
      new cmd heading: 343.620329 deg.

2025-08-22T16:08:25.176Z,1755878905.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.997306 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:25.299Z,1755878905.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767093
2025-08-22T16:08:25.551Z,1755878905.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019052
2025-08-22T16:08:25.596Z,1755878905.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:25.603Z,1755878905.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 136.676254 m,
      bearing: 319.307635 deg,
      approach rate: -0.483345 m/s,
      LOS rate: -0.073198 deg/s,
      cmd heading: 343.620342 deg,
      new cmd heading: 343.557424 deg.

2025-08-22T16:08:25.604Z,1755878905.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.996208 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:25.803Z,1755878905.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271000
2025-08-22T16:08:25.961Z,1755878905.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:25.964Z,1755878905.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 136.499817 m,
      bearing: 319.280992 deg,
      approach rate: -0.483962 m/s,
      LOS rate: -0.073176 deg/s,
      cmd heading: 343.557422 deg,
      new cmd heading: 343.504067 deg.

2025-08-22T16:08:25.965Z,1755878905.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.995277 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:26.055Z,1755878906.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523790
2025-08-22T16:08:26.307Z,1755878906.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774992
2025-08-22T16:08:26.386Z,1755878906.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:26.389Z,1755878906.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 136.304443 m,
      bearing: 319.251543 deg,
      approach rate: -0.473263 m/s,
      LOS rate: -0.071437 deg/s,
      cmd heading: 343.504065 deg,
      new cmd heading: 343.445083 deg.

2025-08-22T16:08:26.394Z,1755878906.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.994247 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:26.559Z,1755878906.559 [DAT](INFO): DAT read: Rx Time:16:08:27.1923

2025-08-22T16:08:26.559Z,1755878906.559 [DAT](INFO): Rx dataTimestamp_ set to:1755878906.558710
2025-08-22T16:08:26.560Z,1755878906.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027958
2025-08-22T16:08:26.792Z,1755878906.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:26.795Z,1755878906.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 136.106415 m,
      bearing: 319.223723 deg,
      approach rate: -0.472947 m/s,
      LOS rate: -0.066539 deg/s,
      cmd heading: 343.445079 deg,
      new cmd heading: 343.389358 deg.

2025-08-22T16:08:26.796Z,1755878906.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.993275 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:26.811Z,1755878906.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279322
2025-08-22T16:08:27.066Z,1755878907.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533652
2025-08-22T16:08:27.181Z,1755878907.181 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:27.184Z,1755878907.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.77 m.
2025-08-22T16:08:27.189Z,1755878907.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.769577 m,
      nav range: 135.923889 m,
      bearing: 319.198079 deg,
      approach rate: -0.465968 m/s,
      LOS rate: -0.065555 deg/s,
      cmd heading: 343.389345 deg,
      new cmd heading: 343.337988 deg.

2025-08-22T16:08:27.190Z,1755878907.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.992378 target range: 140.769577 and range: 141.60 m.
2025-08-22T16:08:27.325Z,1755878907.325 [DAT](INFO): DAT read: 16:08:27.1923 LVL= 26576, 29377, 22818, 29171, AGC= 56, IDX= 416,-0.04,-1.262,-2.384,-0.123,-1.091, PHS=-0.069,-1.248, 0.924, RAW= 177.2,   4.2, CAL= 176.7,   2.3, ROT= 333.3,  -2.3

2025-08-22T16:08:27.326Z,1755878907.326 [DAT](INFO): got valid direction response:
 16:08:27.1923 LVL= 26576, 29377, 22818, 29171, AGC= 56, IDX= 416,-0.04,-1.262,-2.384,-0.123,-1.091, PHS=-0.069,-1.248, 0.924, RAW= 177.2,   4.2, CAL= 176.7,   2.3, ROT= 333.3,  -2.3

2025-08-22T16:08:27.328Z,1755878907.328 [DAT](INFO): DAT read: Bearing 142.3, -18.1 (Local)

2025-08-22T16:08:27.328Z,1755878907.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.3, -18.1 (Local)

2025-08-22T16:08:27.332Z,1755878907.332 [DAT](INFO): DAT read: Range 11 to 50 : 139.7 m  (Round-trip  186.3 ms) speed  0.4 m/s

2025-08-22T16:08:27.332Z,1755878907.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:27.335Z,1755878907.335 [DAT](INFO): direction in FSK: [0.892652,-0.448957,0.040132]
2025-08-22T16:08:27.335Z,1755878907.335 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:27.341Z,1755878907.341 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:27.341Z,1755878907.341 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:27.346Z,1755878907.346 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:27.566Z,1755878907.566 [DAT](INFO): DAT read: user:46>

2025-08-22T16:08:27.567Z,1755878907.567 [DAT](INFO): DAT read: Tx time:16:08:28.6019

2025-08-22T16:08:27.567Z,1755878907.567 [DAT](INFO): Ping request sent.
2025-08-22T16:08:27.568Z,1755878907.568 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:27.568Z,1755878907.568 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:27.568Z,1755878907.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T16:08:27.644Z,1755878907.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 139.699997 m,
      deltaT: 4.036948 s,
      deltaX: -1.900009 m,
      approachRate: -0.470655 m/s,
      rangeRepo size: 4

2025-08-22T16:08:27.651Z,1755878907.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.881119 m,
      bearing: 319.648438 deg,
      lat: 36.779391 deg,
      lon: -121.859672 deg,
      deltaT: 4.036948 s,
      deltaX: -1.888458 m,
      approachRate: -0.467794 m/s,
      posRepo size: 4

2025-08-22T16:08:27.658Z,1755878907.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:27.661Z,1755878907.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 135.720123 m,
      bearing: 319.170417 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065555 deg/s,
      cmd heading: 343.337982 deg,
      new cmd heading: 343.277789 deg.

2025-08-22T16:08:27.666Z,1755878907.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.991328 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:27.820Z,1755878907.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252386
2025-08-22T16:08:27.999Z,1755878907.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:28.006Z,1755878908.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 135.534027 m,
      bearing: 319.145121 deg,
      approach rate: -0.522673 m/s,
      LOS rate: -0.071144 deg/s,
      cmd heading: 343.277794 deg,
      new cmd heading: 343.227133 deg.

2025-08-22T16:08:28.007Z,1755878908.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.990444 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:28.071Z,1755878908.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503379
2025-08-22T16:08:28.324Z,1755878908.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755969
2025-08-22T16:08:28.410Z,1755878908.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:28.412Z,1755878908.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 135.333267 m,
      bearing: 319.117747 deg,
      approach rate: -0.489304 m/s,
      LOS rate: -0.066818 deg/s,
      cmd heading: 343.227142 deg,
      new cmd heading: 343.172311 deg.

2025-08-22T16:08:28.414Z,1755878908.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.989487 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:28.578Z,1755878908.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009304
2025-08-22T16:08:28.827Z,1755878908.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259035
2025-08-22T16:08:28.850Z,1755878908.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:28.859Z,1755878908.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 135.136261 m,
      bearing: 319.092597 deg,
      approach rate: -0.451569 m/s,
      LOS rate: -0.057730 deg/s,
      cmd heading: 343.172309 deg,
      new cmd heading: 343.121937 deg.

2025-08-22T16:08:28.860Z,1755878908.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.988607 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:29.081Z,1755878909.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513672
2025-08-22T16:08:29.218Z,1755878909.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:29.220Z,1755878909.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:29.223Z,1755878909.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 134.939926 m,
      bearing: 319.067506 deg,
      approach rate: -0.524808 m/s,
      LOS rate: -0.067167 deg/s,
      cmd heading: 343.121930 deg,
      new cmd heading: 343.071674 deg.

2025-08-22T16:08:29.224Z,1755878909.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.987731 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:29.332Z,1755878909.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764197
2025-08-22T16:08:29.583Z,1755878909.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014880
2025-08-22T16:08:29.648Z,1755878909.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:29.667Z,1755878909.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 134.733658 m,
      bearing: 319.042809 deg,
      approach rate: -0.482400 m/s,
      LOS rate: -0.057848 deg/s,
      cmd heading: 343.071687 deg,
      new cmd heading: 343.022217 deg.

2025-08-22T16:08:29.668Z,1755878909.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986867 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:29.750Z,1755878909.750 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:08:29.835Z,1755878909.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267411
2025-08-22T16:08:30.035Z,1755878910.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:30.043Z,1755878910.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 134.553207 m,
      bearing: 319.021346 deg,
      approach rate: -0.465075 m/s,
      LOS rate: -0.055390 deg/s,
      cmd heading: 343.022209 deg,
      new cmd heading: 342.979226 deg.

2025-08-22T16:08:30.044Z,1755878910.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.986117 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:30.087Z,1755878910.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519153
2025-08-22T16:08:30.340Z,1755878910.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771965
2025-08-22T16:08:30.427Z,1755878910.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:30.430Z,1755878910.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 134.357819 m,
      bearing: 318.998221 deg,
      approach rate: -0.499230 m/s,
      LOS rate: -0.059173 deg/s,
      cmd heading: 342.979233 deg,
      new cmd heading: 342.932915 deg.

2025-08-22T16:08:30.431Z,1755878910.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.985309 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:30.596Z,1755878910.596 [DAT](INFO): DAT read: Rx Time:16:08:31.1898

2025-08-22T16:08:30.598Z,1755878910.598 [DAT](INFO): Rx dataTimestamp_ set to:1755878910.596368
2025-08-22T16:08:30.600Z,1755878910.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031624
2025-08-22T16:08:30.754Z,1755878910.754 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:08:30.843Z,1755878910.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274943
2025-08-22T16:08:30.880Z,1755878910.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.88 m.
2025-08-22T16:08:30.883Z,1755878910.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.881119 m,
      nav range: 134.134125 m,
      bearing: 318.971343 deg,
      approach rate: -0.493359 m/s,
      LOS rate: -0.059378 deg/s,
      cmd heading: 342.932925 deg,
      new cmd heading: 342.879080 deg.

2025-08-22T16:08:30.884Z,1755878910.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.984369 target range: 138.881119 and range: 139.70 m.
2025-08-22T16:08:31.105Z,1755878911.105 [DAT](INFO): DAT read: 16:08:31.1898 LVL= 29168, 31553, 19890, 29603, AGC= 59, IDX= 422,-0.41, 1.540, 0.417, 2.700, 1.703, PHS=-0.060,-1.241, 0.953, RAW= 177.5,   3.7, CAL= 177.0,   1.5, ROT= 333.0,  -1.5

2025-08-22T16:08:31.106Z,1755878911.106 [DAT](INFO): got valid direction response:
 16:08:31.1898 LVL= 29168, 31553, 19890, 29603, AGC= 59, IDX= 422,-0.41, 1.540, 0.417, 2.700, 1.703, PHS=-0.060,-1.241, 0.953, RAW= 177.5,   3.7, CAL= 177.0,   1.5, ROT= 333.0,  -1.5

2025-08-22T16:08:31.107Z,1755878911.107 [DAT](INFO): DAT read: Bearing 141.8, -16.9 (Local)

2025-08-22T16:08:31.107Z,1755878911.107 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.8, -16.9 (Local)

2025-08-22T16:08:31.109Z,1755878911.109 [DAT](INFO): DAT read: Range 11 to 50 : 137.7 m  (Round-trip  183.7 ms) speed  0.4 m/s

2025-08-22T16:08:31.109Z,1755878911.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:31.117Z,1755878911.117 [DAT](INFO): direction in FSK: [0.890701,-0.453835,0.026177]
2025-08-22T16:08:31.117Z,1755878911.117 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:31.145Z,1755878911.145 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:31.145Z,1755878911.145 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:31.145Z,1755878911.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:31.282Z,1755878911.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 137.699997 m,
      deltaT: 3.780354 s,
      deltaX: -2.000000 m,
      approachRate: -0.529051 m/s,
      rangeRepo size: 4

2025-08-22T16:08:31.284Z,1755878911.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 136.893768 m,
      bearing: 318.681636 deg,
      lat: 36.779393 deg,
      lon: -121.859681 deg,
      deltaT: 3.780354 s,
      deltaX: -1.987350 m,
      approachRate: -0.525705 m/s,
      posRepo size: 4

2025-08-22T16:08:31.285Z,1755878911.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:31.292Z,1755878911.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 134.634445 m,
      bearing: 318.732164 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059378 deg/s,
      cmd heading: 342.879075 deg,
      new cmd heading: 342.832395 deg.

2025-08-22T16:08:31.293Z,1755878911.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.983554 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:31.346Z,1755878911.346 [DAT](INFO): DAT read: user:47>

2025-08-22T16:08:31.347Z,1755878911.347 [DAT](INFO): DAT read: Tx time:16:08:32.4035

2025-08-22T16:08:31.347Z,1755878911.347 [DAT](INFO): Ping request sent.
2025-08-22T16:08:31.347Z,1755878911.347 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:31.348Z,1755878911.348 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:31.348Z,1755878911.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:08:31.602Z,1755878911.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253380
2025-08-22T16:08:31.848Z,1755878911.848 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:31.851Z,1755878911.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503217
2025-08-22T16:08:31.854Z,1755878911.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:31.862Z,1755878911.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 134.355408 m,
      bearing: 318.698972 deg,
      approach rate: -0.484147 m/s,
      LOS rate: -0.057711 deg/s,
      cmd heading: 342.832384 deg,
      new cmd heading: 342.765861 deg.

2025-08-22T16:08:31.863Z,1755878911.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.982393 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:32.104Z,1755878912.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755889
2025-08-22T16:08:32.214Z,1755878912.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:32.216Z,1755878912.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 134.175873 m,
      bearing: 318.677562 deg,
      approach rate: -0.493618 m/s,
      LOS rate: -0.058942 deg/s,
      cmd heading: 342.765858 deg,
      new cmd heading: 342.722983 deg.

2025-08-22T16:08:32.218Z,1755878912.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.981645 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:32.355Z,1755878912.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007646
2025-08-22T16:08:32.610Z,1755878912.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261907
2025-08-22T16:08:32.664Z,1755878912.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:32.671Z,1755878912.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 133.956421 m,
      bearing: 318.651262 deg,
      approach rate: -0.487485 m/s,
      LOS rate: -0.058518 deg/s,
      cmd heading: 342.722992 deg,
      new cmd heading: 342.670305 deg.

2025-08-22T16:08:32.672Z,1755878912.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.980725 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:32.862Z,1755878912.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514452
2025-08-22T16:08:33.023Z,1755878913.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:33.026Z,1755878913.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 133.779358 m,
      bearing: 318.628021 deg,
      approach rate: -0.492357 m/s,
      LOS rate: -0.064711 deg/s,
      cmd heading: 342.670317 deg,
      new cmd heading: 342.623774 deg.

2025-08-22T16:08:33.027Z,1755878913.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.979913 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:33.111Z,1755878913.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763122
2025-08-22T16:08:33.363Z,1755878913.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015795
2025-08-22T16:08:33.505Z,1755878913.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:33.508Z,1755878913.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 133.547638 m,
      bearing: 318.597511 deg,
      approach rate: -0.480836 m/s,
      LOS rate: -0.063421 deg/s,
      cmd heading: 342.623763 deg,
      new cmd heading: 342.562636 deg.

2025-08-22T16:08:33.509Z,1755878913.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.978846 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:33.618Z,1755878913.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270687
2025-08-22T16:08:33.866Z,1755878913.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519069
2025-08-22T16:08:33.960Z,1755878913.960 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:33.967Z,1755878913.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:33.974Z,1755878913.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 133.339600 m,
      bearing: 318.568377 deg,
      approach rate: -0.450872 m/s,
      LOS rate: -0.063238 deg/s,
      cmd heading: 342.562646 deg,
      new cmd heading: 342.504289 deg.

2025-08-22T16:08:33.975Z,1755878913.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.977828 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:34.118Z,1755878914.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771082
2025-08-22T16:08:34.329Z,1755878914.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:34.340Z,1755878914.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 133.166885 m,
      bearing: 318.544059 deg,
      approach rate: -0.477910 m/s,
      LOS rate: -0.067379 deg/s,
      cmd heading: 342.504289 deg,
      new cmd heading: 342.455588 deg.

2025-08-22T16:08:34.341Z,1755878914.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.976977 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:34.371Z,1755878914.371 [DAT](INFO): DAT read: Rx Time:16:08:34.9888

2025-08-22T16:08:34.371Z,1755878914.371 [DAT](INFO): Rx dataTimestamp_ set to:1755878914.370792
2025-08-22T16:08:34.372Z,1755878914.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024245
2025-08-22T16:08:34.627Z,1755878914.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278911
2025-08-22T16:08:34.740Z,1755878914.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.89 m.
2025-08-22T16:08:34.742Z,1755878914.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 136.893768 m,
      nav range: 132.962204 m,
      bearing: 318.513115 deg,
      approach rate: -0.497178 m/s,
      LOS rate: -0.075279 deg/s,
      cmd heading: 342.455576 deg,
      new cmd heading: 342.393593 deg.

2025-08-22T16:08:34.743Z,1755878914.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.975895 target range: 136.893768 and range: 137.70 m.
2025-08-22T16:08:34.880Z,1755878914.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531647
2025-08-22T16:08:35.132Z,1755878915.132 [DAT](INFO): DAT read: 16:08:34.9888 LVL= 26816, 30481, 22130, 29619, AGC= 61, IDX= 412,-0.10, 2.355, 1.276,-2.753, 2.505, PHS=-0.048,-1.184, 0.981, RAW= 178.4,   2.7, CAL= 177.9,  -0.1, ROT= 332.1,   0.1

2025-08-22T16:08:35.133Z,1755878915.133 [DAT](INFO): got valid direction response:
 16:08:34.9888 LVL= 26816, 30481, 22130, 29619, AGC= 61, IDX= 412,-0.10, 2.355, 1.276,-2.753, 2.505, PHS=-0.048,-1.184, 0.981, RAW= 178.4,   2.7, CAL= 177.9,  -0.1, ROT= 332.1,   0.1

2025-08-22T16:08:35.134Z,1755878915.134 [DAT](INFO): DAT read: Bearing 141.1, -16.6 (Local)

2025-08-22T16:08:35.134Z,1755878915.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -16.6 (Local)

2025-08-22T16:08:35.135Z,1755878915.135 [DAT](INFO): DAT read: Range 11 to 50 : 135.9 m  (Round-trip  181.2 ms) speed  0.4 m/s

2025-08-22T16:08:35.136Z,1755878915.136 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:35.137Z,1755878915.137 [DAT](INFO): direction in FSK: [0.883764,-0.467929,-0.001745]
2025-08-22T16:08:35.137Z,1755878915.137 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:35.140Z,1755878915.140 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:35.140Z,1755878915.140 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:35.141Z,1755878915.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:35.379Z,1755878915.379 [DAT](INFO): DAT read: user:48>

2025-08-22T16:08:35.380Z,1755878915.380 [DAT](INFO): DAT read: Tx time:16:08:36.4019

2025-08-22T16:08:35.380Z,1755878915.380 [DAT](INFO): Ping request sent.
2025-08-22T16:08:35.380Z,1755878915.380 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:35.380Z,1755878915.380 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:35.381Z,1755878915.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-08-22T16:08:35.403Z,1755878915.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.899994 m,
      deltaT: 4.030630 s,
      deltaX: -1.800003 m,
      approachRate: -0.446581 m/s,
      rangeRepo size: 4

2025-08-22T16:08:35.405Z,1755878915.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.104858 m,
      bearing: 318.242776 deg,
      lat: 36.779394 deg,
      lon: -121.859681 deg,
      deltaT: 4.030630 s,
      deltaX: -1.788910 m,
      approachRate: -0.443829 m/s,
      posRepo size: 4

2025-08-22T16:08:35.405Z,1755878915.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:35.424Z,1755878915.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 132.765976 m,
      bearing: 318.506279 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.075279 deg/s,
      cmd heading: 342.393586 deg,
      new cmd heading: 342.294615 deg.

2025-08-22T16:08:35.425Z,1755878915.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.974168 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:35.634Z,1755878915.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252621
2025-08-22T16:08:35.883Z,1755878915.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701
2025-08-22T16:08:35.956Z,1755878915.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:35.959Z,1755878915.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 132.489227 m,
      bearing: 318.463652 deg,
      approach rate: -0.495152 m/s,
      LOS rate: -0.076425 deg/s,
      cmd heading: 342.294602 deg,
      new cmd heading: 342.209172 deg.

2025-08-22T16:08:35.960Z,1755878915.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.972677 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:36.135Z,1755878916.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754995
2025-08-22T16:08:36.387Z,1755878916.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006348
2025-08-22T16:08:36.438Z,1755878916.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:36.440Z,1755878916.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:36.447Z,1755878916.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 132.261566 m,
      bearing: 318.428512 deg,
      approach rate: -0.470449 m/s,
      LOS rate: -0.072741 deg/s,
      cmd heading: 342.209170 deg,
      new cmd heading: 342.138768 deg.

2025-08-22T16:08:36.448Z,1755878916.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.971448 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:36.642Z,1755878916.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261600
2025-08-22T16:08:36.891Z,1755878916.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510488
2025-08-22T16:08:36.894Z,1755878916.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:36.897Z,1755878916.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 132.039627 m,
      bearing: 318.394585 deg,
      approach rate: -0.488586 m/s,
      LOS rate: -0.074813 deg/s,
      cmd heading: 342.138765 deg,
      new cmd heading: 342.070797 deg.

2025-08-22T16:08:36.898Z,1755878916.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.970262 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:37.142Z,1755878917.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762317
2025-08-22T16:08:37.246Z,1755878917.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:37.249Z,1755878917.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 131.867569 m,
      bearing: 318.368408 deg,
      approach rate: -0.489532 m/s,
      LOS rate: -0.074576 deg/s,
      cmd heading: 342.070791 deg,
      new cmd heading: 342.018368 deg.

2025-08-22T16:08:37.250Z,1755878917.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.969347 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:37.394Z,1755878917.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014338
2025-08-22T16:08:37.649Z,1755878917.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268755
2025-08-22T16:08:37.703Z,1755878917.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:37.711Z,1755878917.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 131.673035 m,
      bearing: 318.338977 deg,
      approach rate: -0.424880 m/s,
      LOS rate: -0.064373 deg/s,
      cmd heading: 342.018362 deg,
      new cmd heading: 341.959415 deg.

2025-08-22T16:08:37.711Z,1755878917.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.968318 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:37.899Z,1755878917.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518428
2025-08-22T16:08:38.084Z,1755878918.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:38.087Z,1755878918.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 131.460938 m,
      bearing: 318.306046 deg,
      approach rate: -0.557124 m/s,
      LOS rate: -0.086642 deg/s,
      cmd heading: 341.959404 deg,
      new cmd heading: 341.893435 deg.

2025-08-22T16:08:38.088Z,1755878918.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.967166 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:38.151Z,1755878918.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770507
2025-08-22T16:08:38.403Z,1755878918.403 [DAT](INFO): DAT read: Rx Time:16:08:38.9847

2025-08-22T16:08:38.403Z,1755878918.403 [DAT](INFO): Rx dataTimestamp_ set to:1755878918.403122
2025-08-22T16:08:38.404Z,1755878918.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023790
2025-08-22T16:08:38.481Z,1755878918.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:38.487Z,1755878918.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.10 m.
2025-08-22T16:08:38.494Z,1755878918.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.104858 m,
      nav range: 131.275024 m,
      bearing: 318.277712 deg,
      approach rate: -0.461127 m/s,
      LOS rate: -0.070379 deg/s,
      cmd heading: 341.893424 deg,
      new cmd heading: 341.836675 deg.

2025-08-22T16:08:38.495Z,1755878918.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.966176 target range: 135.104858 and range: 135.90 m.
2025-08-22T16:08:38.655Z,1755878918.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274362
2025-08-22T16:08:38.912Z,1755878918.912 [DAT](INFO): DAT read: 16:08:38.9846 LVL= 22592, 28369, 19794, 28259, AGC= 59, IDX= 418, 0.00,-0.846,-1.983, 0.295,-0.706, PHS=-0.039,-1.232, 0.956, RAW= 177.0,   3.4, CAL= 176.5,   1.0, ROT= 333.5,  -1.0

2025-08-22T16:08:38.913Z,1755878918.913 [DAT](INFO): got valid direction response:
 16:08:38.9846 LVL= 22592, 28369, 19794, 28259, AGC= 59, IDX= 418, 0.00,-0.846,-1.983, 0.295,-0.706, PHS=-0.039,-1.232, 0.956, RAW= 177.0,   3.4, CAL= 176.5,   1.0, ROT= 333.5,  -1.0

2025-08-22T16:08:38.914Z,1755878918.914 [DAT](INFO): DAT read: Bearing 141.4, -16.3 (Local)

2025-08-22T16:08:38.915Z,1755878918.915 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.4, -16.3 (Local)

2025-08-22T16:08:38.916Z,1755878918.916 [DAT](INFO): DAT read: Range 11 to 50 : 134.0 m  (Round-trip  178.7 ms) speed  0.4 m/s

2025-08-22T16:08:38.916Z,1755878918.916 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:38.917Z,1755878918.917 [DAT](INFO): direction in FSK: [0.894798,-0.446130,0.017452]
2025-08-22T16:08:38.918Z,1755878918.918 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:38.921Z,1755878918.921 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:38.921Z,1755878918.921 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:38.921Z,1755878918.921 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:39.068Z,1755878919.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.000000 m,
      deltaT: 3.780376 s,
      deltaX: -1.899994 m,
      approachRate: -0.502594 m/s,
      rangeRepo size: 4

2025-08-22T16:08:39.075Z,1755878919.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.215958 m,
      bearing: 318.457662 deg,
      lat: 36.779397 deg,
      lon: -121.859682 deg,
      deltaT: 3.780376 s,
      deltaX: -1.888901 m,
      approachRate: -0.499659 m/s,
      posRepo size: 4

2025-08-22T16:08:39.075Z,1755878919.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:39.082Z,1755878919.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 131.274780 m,
      bearing: 318.315582 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070379 deg/s,
      cmd heading: 341.836679 deg,
      new cmd heading: 341.754971 deg.

2025-08-22T16:08:39.083Z,1755878919.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.964749 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:39.159Z,1755878919.159 [DAT](INFO): DAT read: user:49>

2025-08-22T16:08:39.159Z,1755878919.159 [DAT](INFO): DAT read: Tx time:16:08:40.2018

2025-08-22T16:08:39.160Z,1755878919.160 [DAT](INFO): Ping request sent.
2025-08-22T16:08:39.160Z,1755878919.160 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:39.160Z,1755878919.160 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:39.161Z,1755878919.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000981
2025-08-22T16:08:39.410Z,1755878919.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250609
2025-08-22T16:08:39.436Z,1755878919.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:39.447Z,1755878919.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 131.080994 m,
      bearing: 318.288759 deg,
      approach rate: -0.526780 m/s,
      LOS rate: -0.073022 deg/s,
      cmd heading: 341.754963 deg,
      new cmd heading: 341.701238 deg.

2025-08-22T16:08:39.447Z,1755878919.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.963812 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:39.668Z,1755878919.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507460
2025-08-22T16:08:39.863Z,1755878919.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:39.865Z,1755878919.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 130.869888 m,
      bearing: 318.260344 deg,
      approach rate: -0.494372 m/s,
      LOS rate: -0.066651 deg/s,
      cmd heading: 341.701250 deg,
      new cmd heading: 341.644328 deg.

2025-08-22T16:08:39.866Z,1755878919.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.962819 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:39.916Z,1755878919.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755699
2025-08-22T16:08:40.167Z,1755878920.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007357
2025-08-22T16:08:40.231Z,1755878920.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:40.234Z,1755878920.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 130.687424 m,
      bearing: 318.235948 deg,
      approach rate: -0.495396 m/s,
      LOS rate: -0.066327 deg/s,
      cmd heading: 341.644341 deg,
      new cmd heading: 341.595482 deg.

2025-08-22T16:08:40.235Z,1755878920.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961966 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:40.419Z,1755878920.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259067
2025-08-22T16:08:40.621Z,1755878920.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:40.624Z,1755878920.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:40.626Z,1755878920.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 130.493317 m,
      bearing: 318.210149 deg,
      approach rate: -0.494335 m/s,
      LOS rate: -0.065800 deg/s,
      cmd heading: 341.595492 deg,
      new cmd heading: 341.543817 deg.

2025-08-22T16:08:40.627Z,1755878920.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.961064 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:40.672Z,1755878920.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511578
2025-08-22T16:08:40.922Z,1755878920.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762668
2025-08-22T16:08:41.057Z,1755878921.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:41.060Z,1755878921.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 130.273239 m,
      bearing: 318.182690 deg,
      approach rate: -0.507787 m/s,
      LOS rate: -0.063464 deg/s,
      cmd heading: 341.543828 deg,
      new cmd heading: 341.488817 deg.

2025-08-22T16:08:41.061Z,1755878921.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.960104 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:41.175Z,1755878921.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015201
2025-08-22T16:08:41.426Z,1755878921.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266723
2025-08-22T16:08:41.443Z,1755878921.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:41.446Z,1755878921.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 130.077637 m,
      bearing: 318.158323 deg,
      approach rate: -0.506974 m/s,
      LOS rate: -0.063251 deg/s,
      cmd heading: 341.488804 deg,
      new cmd heading: 341.439997 deg.

2025-08-22T16:08:41.447Z,1755878921.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.959252 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:41.683Z,1755878921.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522752
2025-08-22T16:08:41.876Z,1755878921.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:41.879Z,1755878921.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 129.859177 m,
      bearing: 318.131835 deg,
      approach rate: -0.504079 m/s,
      LOS rate: -0.061223 deg/s,
      cmd heading: 341.440009 deg,
      new cmd heading: 341.386943 deg.

2025-08-22T16:08:41.880Z,1755878921.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.958326 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:41.931Z,1755878921.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771128
2025-08-22T16:08:42.184Z,1755878922.184 [DAT](INFO): DAT read: Rx Time:16:08:42.7822

2025-08-22T16:08:42.185Z,1755878922.185 [DAT](INFO): Rx dataTimestamp_ set to:1755878922.183978
2025-08-22T16:08:42.185Z,1755878922.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025371
2025-08-22T16:08:42.252Z,1755878922.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:42.255Z,1755878922.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 129.669159 m,
      bearing: 318.108719 deg,
      approach rate: -0.505922 m/s,
      LOS rate: -0.061634 deg/s,
      cmd heading: 341.386952 deg,
      new cmd heading: 341.340654 deg.

2025-08-22T16:08:42.256Z,1755878922.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.957518 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:42.434Z,1755878922.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274722
2025-08-22T16:08:42.653Z,1755878922.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:42.699Z,1755878922.699 [DAT](INFO): DAT read: 16:08:42.7822 LVL= 32752, 32753, 28946, 32755, AGC= 57, IDX= 408,-0.31, 0.832,-0.301, 1.946, 1.016, PHS=-0.082,-1.272, 0.886, RAW= 176.6,   5.1, CAL= 176.1,   3.7, ROT= 333.9,  -3.7

2025-08-22T16:08:42.700Z,1755878922.700 [DAT](INFO): got valid direction response:
 16:08:42.7822 LVL= 32752, 32753, 28946, 32755, AGC= 57, IDX= 408,-0.31, 0.832,-0.301, 1.946, 1.016, PHS=-0.082,-1.272, 0.886, RAW= 176.6,   5.1, CAL= 176.1,   3.7, ROT= 333.9,  -3.7

2025-08-22T16:08:42.701Z,1755878922.701 [DAT](INFO): DAT read: Bearing 143.9, -17.5 (Local)

2025-08-22T16:08:42.701Z,1755878922.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.9, -17.5 (Local)

2025-08-22T16:08:42.702Z,1755878922.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.22 m.
2025-08-22T16:08:42.704Z,1755878922.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.215958 m,
      nav range: 129.472397 m,
      bearing: 318.084774 deg,
      approach rate: -0.459099 m/s,
      LOS rate: -0.055956 deg/s,
      cmd heading: 341.340644 deg,
      new cmd heading: 341.292680 deg.

2025-08-22T16:08:42.714Z,1755878922.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.956681 target range: 133.215958 and range: 134.00 m.
2025-08-22T16:08:42.718Z,1755878922.718 [DAT](INFO): DAT read: Range 11 to 50 : 132.0 m  (Round-trip  176.1 ms) speed  0.4 m/s

2025-08-22T16:08:42.718Z,1755878922.718 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:42.719Z,1755878922.719 [DAT](INFO): direction in FSK: [0.896156,-0.439022,0.064532]
2025-08-22T16:08:42.720Z,1755878922.720 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:42.744Z,1755878922.744 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:42.744Z,1755878922.744 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:42.745Z,1755878922.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:42.939Z,1755878922.939 [DAT](INFO): DAT read: user:50>

2025-08-22T16:08:42.939Z,1755878922.939 [DAT](INFO): DAT read: Tx time:16:08:44.0019

2025-08-22T16:08:42.940Z,1755878922.940 [DAT](INFO): Ping request sent.
2025-08-22T16:08:42.940Z,1755878922.940 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:42.940Z,1755878922.940 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:42.941Z,1755878922.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T16:08:43.129Z,1755878923.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.000000 m,
      deltaT: 3.781647 s,
      deltaX: -2.000000 m,
      approachRate: -0.528870 m/s,
      rangeRepo size: 4

2025-08-22T16:08:43.131Z,1755878923.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.226273 m,
      bearing: 317.716812 deg,
      lat: 36.779397 deg,
      lon: -121.859685 deg,
      deltaT: 3.781647 s,
      deltaX: -1.989685 m,
      approachRate: -0.526142 m/s,
      posRepo size: 4

2025-08-22T16:08:43.132Z,1755878923.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:43.135Z,1755878923.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 129.376648 m,
      bearing: 317.985506 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055956 deg/s,
      cmd heading: 341.292668 deg,
      new cmd heading: 341.242529 deg.

2025-08-22T16:08:43.136Z,1755878923.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955806 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:43.192Z,1755878923.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251366
2025-08-22T16:08:43.442Z,1755878923.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502641
2025-08-22T16:08:43.508Z,1755878923.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:43.511Z,1755878923.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 129.184555 m,
      bearing: 317.963102 deg,
      approach rate: -0.505573 m/s,
      LOS rate: -0.059051 deg/s,
      cmd heading: 341.242535 deg,
      new cmd heading: 341.197661 deg.

2025-08-22T16:08:43.512Z,1755878923.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.955023 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:43.699Z,1755878923.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759629
2025-08-22T16:08:43.952Z,1755878923.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011962
2025-08-22T16:08:44.076Z,1755878924.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:44.084Z,1755878924.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 128.911697 m,
      bearing: 317.931701 deg,
      approach rate: -0.480676 m/s,
      LOS rate: -0.055435 deg/s,
      cmd heading: 341.197674 deg,
      new cmd heading: 341.134738 deg.

2025-08-22T16:08:44.085Z,1755878924.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.953924 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:44.203Z,1755878924.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262860
2025-08-22T16:08:44.455Z,1755878924.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515099
2025-08-22T16:08:44.547Z,1755878924.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:44.550Z,1755878924.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 128.659042 m,
      bearing: 317.902563 deg,
      approach rate: -0.536278 m/s,
      LOS rate: -0.061968 deg/s,
      cmd heading: 341.134727 deg,
      new cmd heading: 341.076338 deg.

2025-08-22T16:08:44.551Z,1755878924.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952905 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:44.707Z,1755878924.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767633
2025-08-22T16:08:44.959Z,1755878924.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018759
2025-08-22T16:08:45.008Z,1755878925.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:45.011Z,1755878925.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:45.013Z,1755878925.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 128.426392 m,
      bearing: 317.877177 deg,
      approach rate: -0.501966 m/s,
      LOS rate: -0.054871 deg/s,
      cmd heading: 341.076343 deg,
      new cmd heading: 341.025479 deg.

2025-08-22T16:08:45.019Z,1755878925.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.952017 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:45.211Z,1755878925.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270696
2025-08-22T16:08:45.389Z,1755878925.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:45.392Z,1755878925.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 128.235794 m,
      bearing: 317.856379 deg,
      approach rate: -0.503491 m/s,
      LOS rate: -0.055024 deg/s,
      cmd heading: 341.025471 deg,
      new cmd heading: 340.983812 deg.

2025-08-22T16:08:45.393Z,1755878925.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.951290 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:45.464Z,1755878925.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523686
2025-08-22T16:08:45.715Z,1755878925.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774898
2025-08-22T16:08:45.862Z,1755878925.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:45.865Z,1755878925.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 127.990852 m,
      bearing: 317.829219 deg,
      approach rate: -0.517693 m/s,
      LOS rate: -0.057514 deg/s,
      cmd heading: 340.983807 deg,
      new cmd heading: 340.929383 deg.

2025-08-22T16:08:45.870Z,1755878925.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.950340 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:45.967Z,1755878925.967 [DAT](INFO): DAT read: Rx Time:16:08:46.5795

2025-08-22T16:08:45.967Z,1755878925.967 [DAT](INFO): Rx dataTimestamp_ set to:1755878925.966958
2025-08-22T16:08:45.968Z,1755878925.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027948
2025-08-22T16:08:46.202Z,1755878926.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.23 m.
2025-08-22T16:08:46.204Z,1755878926.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.226273 m,
      nav range: 127.816620 m,
      bearing: 317.809909 deg,
      approach rate: -0.514012 m/s,
      LOS rate: -0.057045 deg/s,
      cmd heading: 340.929384 deg,
      new cmd heading: 340.890712 deg.

2025-08-22T16:08:46.206Z,1755878926.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.949666 target range: 131.226273 and range: 132.00 m.
2025-08-22T16:08:46.218Z,1755878926.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278642
2025-08-22T16:08:46.506Z,1755878926.506 [DAT](INFO): DAT read: 16:08:46.5795 LVL= 32752, 32753, 31666, 32755, AGC= 63, IDX= 413, 0.28,-0.965,-2.169, 0.118,-0.762, PHS=-0.101,-1.363, 0.836, RAW= 175.1,   6.6, CAL= 174.7,   6.1, ROT= 335.3,  -6.1

2025-08-22T16:08:46.508Z,1755878926.508 [DAT](INFO): got valid direction response:
 16:08:46.5795 LVL= 32752, 32753, 31666, 32755, AGC= 63, IDX= 413, 0.28,-0.965,-2.169, 0.118,-0.762, PHS=-0.101,-1.363, 0.836, RAW= 175.1,   6.6, CAL= 174.7,   6.1, ROT= 335.3,  -6.1

2025-08-22T16:08:46.508Z,1755878926.508 [DAT](INFO): DAT read: Bearing 146.4, -17.1 (Local)

2025-08-22T16:08:46.509Z,1755878926.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.4, -17.1 (Local)

2025-08-22T16:08:46.519Z,1755878926.519 [DAT](INFO): DAT read: Range 11 to 50 : 130.1 m  (Round-trip  173.5 ms) speed  0.4 m/s

2025-08-22T16:08:46.519Z,1755878926.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:46.520Z,1755878926.520 [DAT](INFO): direction in FSK: [0.903364,-0.415501,0.106264]
2025-08-22T16:08:46.521Z,1755878926.521 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:46.528Z,1755878926.528 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:46.528Z,1755878926.528 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:46.528Z,1755878926.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:46.630Z,1755878926.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.100006 m,
      deltaT: 3.784331 s,
      deltaX: -1.899994 m,
      approachRate: -0.502069 m/s,
      rangeRepo size: 4

2025-08-22T16:08:46.632Z,1755878926.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.330627 m,
      bearing: 318.677876 deg,
      lat: 36.779397 deg,
      lon: -121.859685 deg,
      deltaT: 3.784331 s,
      deltaX: -1.895645 m,
      approachRate: -0.500919 m/s,
      posRepo size: 4

2025-08-22T16:08:46.632Z,1755878926.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:46.651Z,1755878926.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 127.604355 m,
      bearing: 317.786429 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057045 deg/s,
      cmd heading: 340.890725 deg,
      new cmd heading: 340.842421 deg.

2025-08-22T16:08:46.652Z,1755878926.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.948822 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:46.723Z,1755878926.723 [DAT](INFO): DAT read: user:51>

2025-08-22T16:08:46.724Z,1755878926.724 [DAT](INFO): DAT read: Tx time:16:08:47.8019

2025-08-22T16:08:46.725Z,1755878926.725 [DAT](INFO): Ping request sent.
2025-08-22T16:08:46.725Z,1755878926.725 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:46.725Z,1755878926.725 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:46.726Z,1755878926.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179
2025-08-22T16:08:46.975Z,1755878926.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249654
2025-08-22T16:08:47.034Z,1755878927.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:47.036Z,1755878927.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:47.039Z,1755878927.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 127.394646 m,
      bearing: 317.762807 deg,
      approach rate: -0.509552 m/s,
      LOS rate: -0.057491 deg/s,
      cmd heading: 340.842422 deg,
      new cmd heading: 340.795101 deg.

2025-08-22T16:08:47.040Z,1755878927.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947997 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:47.227Z,1755878927.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501685
2025-08-22T16:08:47.426Z,1755878927.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:47.430Z,1755878927.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 127.182976 m,
      bearing: 317.738983 deg,
      approach rate: -0.543599 m/s,
      LOS rate: -0.061285 deg/s,
      cmd heading: 340.795103 deg,
      new cmd heading: 340.747376 deg.

2025-08-22T16:08:47.430Z,1755878927.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.947164 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:47.479Z,1755878927.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753985
2025-08-22T16:08:47.730Z,1755878927.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005523
2025-08-22T16:08:47.944Z,1755878927.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:47.951Z,1755878927.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 126.932190 m,
      bearing: 317.709594 deg,
      approach rate: -0.483762 m/s,
      LOS rate: -0.056804 deg/s,
      cmd heading: 340.747373 deg,
      new cmd heading: 340.688478 deg.

2025-08-22T16:08:47.952Z,1755878927.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.946136 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:47.983Z,1755878927.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257982
2025-08-22T16:08:48.234Z,1755878928.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509601
2025-08-22T16:08:48.427Z,1755878928.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:48.430Z,1755878928.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 126.670319 m,
      bearing: 317.678991 deg,
      approach rate: -0.542280 m/s,
      LOS rate: -0.063502 deg/s,
      cmd heading: 340.688470 deg,
      new cmd heading: 340.627138 deg.

2025-08-22T16:08:48.431Z,1755878928.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.945065 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:48.487Z,1755878928.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761752
2025-08-22T16:08:48.739Z,1755878928.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013814
2025-08-22T16:08:48.991Z,1755878928.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265742
2025-08-22T16:08:49.012Z,1755878929.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:49.015Z,1755878929.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 126.378105 m,
      bearing: 317.644881 deg,
      approach rate: -0.499855 m/s,
      LOS rate: -0.058484 deg/s,
      cmd heading: 340.627135 deg,
      new cmd heading: 340.558756 deg.

2025-08-22T16:08:49.016Z,1755878929.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943871 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:49.242Z,1755878929.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517603
2025-08-22T16:08:49.342Z,1755878929.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:49.344Z,1755878929.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:49.347Z,1755878929.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 126.211983 m,
      bearing: 317.625455 deg,
      approach rate: -0.499483 m/s,
      LOS rate: -0.058484 deg/s,
      cmd heading: 340.558751 deg,
      new cmd heading: 340.519849 deg.

2025-08-22T16:08:49.348Z,1755878929.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.943192 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:49.495Z,1755878929.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769886
2025-08-22T16:08:49.747Z,1755878929.747 [DAT](INFO): DAT read: Rx Time:16:08:50.3769

2025-08-22T16:08:49.747Z,1755878929.747 [DAT](INFO): Rx dataTimestamp_ set to:1755878929.746862
2025-08-22T16:08:49.748Z,1755878929.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022813
2025-08-22T16:08:49.753Z,1755878929.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:49.763Z,1755878929.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 126.009331 m,
      bearing: 317.601789 deg,
      approach rate: -0.495644 m/s,
      LOS rate: -0.057975 deg/s,
      cmd heading: 340.519846 deg,
      new cmd heading: 340.472438 deg.

2025-08-22T16:08:49.764Z,1755878929.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.942365 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:49.999Z,1755878929.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274459
2025-08-22T16:08:50.173Z,1755878930.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.33 m.
2025-08-22T16:08:50.177Z,1755878930.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.330627 m,
      nav range: 125.798973 m,
      bearing: 317.576557 deg,
      approach rate: -0.501378 m/s,
      LOS rate: -0.060242 deg/s,
      cmd heading: 340.472445 deg,
      new cmd heading: 340.421894 deg.

2025-08-22T16:08:50.179Z,1755878930.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.941483 target range: 129.330627 and range: 130.10 m.
2025-08-22T16:08:50.254Z,1755878930.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528521
2025-08-22T16:08:50.517Z,1755878930.517 [DAT](INFO): DAT read: 16:08:50.3769 LVL= 27056, 32753, 22130, 32755, AGC= 61, IDX= 418,-0.07,-0.567,-1.789, 0.506,-0.374, PHS=-0.092,-1.371, 0.836, RAW= 174.7,   6.6, CAL= 174.3,   6.1, ROT= 335.7,  -6.1

2025-08-22T16:08:50.526Z,1755878930.526 [DAT](INFO): got valid direction response:
 16:08:50.3769 LVL= 27056, 32753, 22130, 32755, AGC= 61, IDX= 418,-0.07,-0.567,-1.789, 0.506,-0.374, PHS=-0.092,-1.371, 0.836, RAW= 174.7,   6.6, CAL= 174.3,   6.1, ROT= 335.7,  -6.1

2025-08-22T16:08:50.527Z,1755878930.527 [DAT](INFO): DAT read: Bearing 145.7, -17.2 (Local)

2025-08-22T16:08:50.527Z,1755878930.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -17.2 (Local)

2025-08-22T16:08:50.528Z,1755878930.528 [DAT](INFO): DAT read: Range 11 to 50 : 128.1 m  (Round-trip  170.8 ms) speed  0.4 m/s

2025-08-22T16:08:50.529Z,1755878930.529 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:50.535Z,1755878930.535 [DAT](INFO): direction in FSK: [0.906243,-0.409184,0.106264]
2025-08-22T16:08:50.535Z,1755878930.535 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:50.539Z,1755878930.539 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:50.539Z,1755878930.539 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:50.539Z,1755878930.539 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:50.600Z,1755878930.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.100006 m,
      deltaT: 4.029692 s,
      deltaX: -2.000000 m,
      approachRate: -0.496316 m/s,
      rangeRepo size: 4

2025-08-22T16:08:50.608Z,1755878930.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.343979 m,
      bearing: 318.524687 deg,
      lat: 36.779401 deg,
      lon: -121.859682 deg,
      deltaT: 4.029692 s,
      deltaX: -1.986649 m,
      approachRate: -0.493003 m/s,
      posRepo size: 4

2025-08-22T16:08:50.608Z,1755878930.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:50.616Z,1755878930.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 125.820847 m,
      bearing: 317.777098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060242 deg/s,
      cmd heading: 340.421901 deg,
      new cmd heading: 340.374662 deg.

2025-08-22T16:08:50.617Z,1755878930.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.940659 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:50.755Z,1755878930.755 [DAT](INFO): DAT read: user:52>

2025-08-22T16:08:50.755Z,1755878930.755 [DAT](INFO): DAT read: Tx time:16:08:51.8019

2025-08-22T16:08:50.756Z,1755878930.756 [DAT](INFO): Ping request sent.
2025-08-22T16:08:50.756Z,1755878930.756 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:50.756Z,1755878930.756 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:50.756Z,1755878930.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T16:08:50.993Z,1755878930.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:50.996Z,1755878930.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 125.600670 m,
      bearing: 317.748917 deg,
      approach rate: -0.514450 m/s,
      LOS rate: -0.065962 deg/s,
      cmd heading: 340.374664 deg,
      new cmd heading: 340.318202 deg.

2025-08-22T16:08:50.997Z,1755878930.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.939673 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:51.007Z,1755878931.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250928
2025-08-22T16:08:51.259Z,1755878931.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503260
2025-08-22T16:08:51.357Z,1755878931.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:51.359Z,1755878931.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:51.362Z,1755878931.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 125.413918 m,
      bearing: 317.725021 deg,
      approach rate: -0.509965 m/s,
      LOS rate: -0.065349 deg/s,
      cmd heading: 340.318192 deg,
      new cmd heading: 340.270329 deg.

2025-08-22T16:08:51.363Z,1755878931.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.938838 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:51.510Z,1755878931.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754800
2025-08-22T16:08:51.755Z,1755878931.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:51.758Z,1755878931.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 125.211861 m,
      bearing: 317.699152 deg,
      approach rate: -0.510353 m/s,
      LOS rate: -0.065446 deg/s,
      cmd heading: 340.270326 deg,
      new cmd heading: 340.218503 deg.

2025-08-22T16:08:51.758Z,1755878931.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.937933 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:51.763Z,1755878931.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954
2025-08-22T16:08:52.015Z,1755878932.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259223
2025-08-22T16:08:52.189Z,1755878932.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:52.192Z,1755878932.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 124.994080 m,
      bearing: 317.671723 deg,
      approach rate: -0.502314 m/s,
      LOS rate: -0.063374 deg/s,
      cmd heading: 340.218498 deg,
      new cmd heading: 340.163546 deg.

2025-08-22T16:08:52.194Z,1755878932.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936974 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:52.268Z,1755878932.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512050
2025-08-22T16:08:52.518Z,1755878932.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762788
2025-08-22T16:08:52.560Z,1755878932.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:52.563Z,1755878932.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 124.803101 m,
      bearing: 317.647671 deg,
      approach rate: -0.513219 m/s,
      LOS rate: -0.064735 deg/s,
      cmd heading: 340.163556 deg,
      new cmd heading: 340.115378 deg.

2025-08-22T16:08:52.564Z,1755878932.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.936133 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:52.772Z,1755878932.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016125
2025-08-22T16:08:52.997Z,1755878932.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:53.023Z,1755878933.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266951
2025-08-22T16:08:53.025Z,1755878933.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 124.580879 m,
      bearing: 317.620691 deg,
      approach rate: -0.508810 m/s,
      LOS rate: -0.061884 deg/s,
      cmd heading: 340.115390 deg,
      new cmd heading: 340.061334 deg.

2025-08-22T16:08:53.026Z,1755878933.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.935190 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:53.275Z,1755878933.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519248
2025-08-22T16:08:53.366Z,1755878933.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:53.368Z,1755878933.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:53.371Z,1755878933.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 124.393646 m,
      bearing: 317.597925 deg,
      approach rate: -0.505273 m/s,
      LOS rate: -0.061529 deg/s,
      cmd heading: 340.061322 deg,
      new cmd heading: 340.015722 deg.

2025-08-22T16:08:53.371Z,1755878933.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.934394 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:53.527Z,1755878933.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770866
2025-08-22T16:08:53.780Z,1755878933.780 [DAT](INFO): DAT read: Rx Time:16:08:54.3742

2025-08-22T16:08:53.780Z,1755878933.780 [DAT](INFO): Rx dataTimestamp_ set to:1755878933.779732
2025-08-22T16:08:53.782Z,1755878933.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025846
2025-08-22T16:08:53.800Z,1755878933.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:53.803Z,1755878933.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 124.184616 m,
      bearing: 317.572460 deg,
      approach rate: -0.483136 m/s,
      LOS rate: -0.058958 deg/s,
      cmd heading: 340.015723 deg,
      new cmd heading: 339.964707 deg.

2025-08-22T16:08:53.804Z,1755878933.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.933504 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:54.031Z,1755878934.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275044
2025-08-22T16:08:54.202Z,1755878934.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.34 m.
2025-08-22T16:08:54.204Z,1755878934.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.343979 m,
      nav range: 123.970093 m,
      bearing: 317.546272 deg,
      approach rate: -0.535151 m/s,
      LOS rate: -0.065442 deg/s,
      cmd heading: 339.964716 deg,
      new cmd heading: 339.912249 deg.

2025-08-22T16:08:54.205Z,1755878934.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.932588 target range: 127.343979 and range: 128.10 m.
2025-08-22T16:08:54.292Z,1755878934.292 [DAT](INFO): DAT read: 16:08:54.3742 LVL= 26608, 32753, 21922, 32755, AGC= 62, IDX= 406,-0.14, 0.122,-1.106, 1.206, 0.332, PHS=-0.108,-1.392, 0.830, RAW= 174.8,   7.0, CAL= 174.5,   6.7, ROT= 335.5,  -6.7

2025-08-22T16:08:54.295Z,1755878934.295 [DAT](INFO): got valid direction response:
 16:08:54.3742 LVL= 26608, 32753, 21922, 32755, AGC= 62, IDX= 406,-0.14, 0.122,-1.106, 1.206, 0.332, PHS=-0.108,-1.392, 0.830, RAW= 174.8,   7.0, CAL= 174.5,   6.7, ROT= 335.5,  -6.7

2025-08-22T16:08:54.296Z,1755878934.296 [DAT](INFO): DAT read: Bearing 146.4, -17.6 (Local)

2025-08-22T16:08:54.296Z,1755878934.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 146.4, -17.6 (Local)

2025-08-22T16:08:54.299Z,1755878934.299 [DAT](INFO): DAT read: Range 11 to 50 : 126.0 m  (Round-trip  168.1 ms) speed  0.2 m/s

2025-08-22T16:08:54.299Z,1755878934.299 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:54.300Z,1755878934.300 [DAT](INFO): direction in FSK: [0.903747,-0.411861,0.116671]
2025-08-22T16:08:54.300Z,1755878934.300 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:54.308Z,1755878934.308 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:54.308Z,1755878934.308 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:54.308Z,1755878934.308 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:54.534Z,1755878934.534 [DAT](INFO): DAT read: user:53>

2025-08-22T16:08:54.535Z,1755878934.535 [DAT](INFO): DAT read: Tx time:16:08:55.5519

2025-08-22T16:08:54.535Z,1755878934.535 [DAT](INFO): Ping request sent.
2025-08-22T16:08:54.535Z,1755878934.535 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:54.536Z,1755878934.536 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:54.536Z,1755878934.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-08-22T16:08:54.623Z,1755878934.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.000000 m,
      deltaT: 3.780591 s,
      deltaX: -2.100006 m,
      approachRate: -0.555470 m/s,
      rangeRepo size: 4

2025-08-22T16:08:54.625Z,1755878934.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.247620 m,
      bearing: 317.970916 deg,
      lat: 36.779401 deg,
      lon: -121.859666 deg,
      deltaT: 3.780591 s,
      deltaX: -2.096359 m,
      approachRate: -0.554506 m/s,
      posRepo size: 4

2025-08-22T16:08:54.630Z,1755878934.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:54.632Z,1755878934.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 122.818054 m,
      bearing: 318.003066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065442 deg/s,
      cmd heading: 339.912260 deg,
      new cmd heading: 339.857172 deg.

2025-08-22T16:08:54.633Z,1755878934.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.931627 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:54.787Z,1755878934.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251765
2025-08-22T16:08:55.028Z,1755878935.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:55.031Z,1755878935.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 122.594460 m,
      bearing: 317.977767 deg,
      approach rate: -0.550411 m/s,
      LOS rate: -0.062389 deg/s,
      cmd heading: 339.857181 deg,
      new cmd heading: 339.806492 deg.

2025-08-22T16:08:55.032Z,1755878935.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.930742 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:55.039Z,1755878935.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503141
2025-08-22T16:08:55.291Z,1755878935.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755329
2025-08-22T16:08:55.400Z,1755878935.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:55.402Z,1755878935.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:55.405Z,1755878935.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 122.403229 m,
      bearing: 317.956058 deg,
      approach rate: -0.511599 m/s,
      LOS rate: -0.058168 deg/s,
      cmd heading: 339.806501 deg,
      new cmd heading: 339.763016 deg.

2025-08-22T16:08:55.406Z,1755878935.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929983 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:55.542Z,1755878935.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947
2025-08-22T16:08:55.795Z,1755878935.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259140
2025-08-22T16:08:55.826Z,1755878935.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:55.829Z,1755878935.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 122.178658 m,
      bearing: 317.930493 deg,
      approach rate: -0.535520 m/s,
      LOS rate: -0.061075 deg/s,
      cmd heading: 339.763006 deg,
      new cmd heading: 339.711782 deg.

2025-08-22T16:08:55.838Z,1755878935.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.929089 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:56.046Z,1755878936.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510940
2025-08-22T16:08:56.251Z,1755878936.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:56.260Z,1755878936.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 121.949638 m,
      bearing: 317.905336 deg,
      approach rate: -0.533048 m/s,
      LOS rate: -0.058665 deg/s,
      cmd heading: 339.711780 deg,
      new cmd heading: 339.661371 deg.

2025-08-22T16:08:56.267Z,1755878936.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.928209 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:56.299Z,1755878936.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763109
2025-08-22T16:08:56.552Z,1755878936.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016308
2025-08-22T16:08:56.628Z,1755878936.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:56.631Z,1755878936.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 121.739944 m,
      bearing: 317.882310 deg,
      approach rate: -0.555759 m/s,
      LOS rate: -0.061130 deg/s,
      cmd heading: 339.661373 deg,
      new cmd heading: 339.615243 deg.

2025-08-22T16:08:56.632Z,1755878936.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.927404 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:56.803Z,1755878936.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267365
2025-08-22T16:08:57.055Z,1755878937.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519670
2025-08-22T16:08:57.118Z,1755878937.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:57.121Z,1755878937.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 121.481506 m,
      bearing: 317.853380 deg,
      approach rate: -0.527611 m/s,
      LOS rate: -0.059187 deg/s,
      cmd heading: 339.615256 deg,
      new cmd heading: 339.557273 deg.

2025-08-22T16:08:57.142Z,1755878937.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.926393 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:57.307Z,1755878937.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771404
2025-08-22T16:08:57.559Z,1755878937.559 [DAT](INFO): DAT read: Rx Time:16:08:58.1215

2025-08-22T16:08:57.560Z,1755878937.560 [DAT](INFO): Rx dataTimestamp_ set to:1755878937.559277
2025-08-22T16:08:57.560Z,1755878937.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024608
2025-08-22T16:08:57.618Z,1755878937.618 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:57.620Z,1755878937.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.25 m.
2025-08-22T16:08:57.639Z,1755878937.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.247620 m,
      nav range: 121.216972 m,
      bearing: 317.823666 deg,
      approach rate: -0.527107 m/s,
      LOS rate: -0.059338 deg/s,
      cmd heading: 339.557281 deg,
      new cmd heading: 339.497722 deg.

2025-08-22T16:08:57.640Z,1755878937.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.925353 target range: 125.247620 and range: 126.00 m.
2025-08-22T16:08:57.811Z,1755878937.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275253
2025-08-22T16:08:58.072Z,1755878938.072 [DAT](INFO): DAT read: 16:08:58.1215 LVL= 27184, 32753, 20754, 32755, AGC= 60, IDX= 411, 0.11,-1.828,-3.055,-0.770,-1.642, PHS=-0.084,-1.368, 0.827, RAW= 174.4,   6.6, CAL= 174.0,   6.1, ROT= 336.0,  -6.1

2025-08-22T16:08:58.073Z,1755878938.073 [DAT](INFO): got valid direction response:
 16:08:58.1215 LVL= 27184, 32753, 20754, 32755, AGC= 60, IDX= 411, 0.11,-1.828,-3.055,-0.770,-1.642, PHS=-0.084,-1.368, 0.827, RAW= 174.4,   6.6, CAL= 174.0,   6.1, ROT= 336.0,  -6.1

2025-08-22T16:08:58.074Z,1755878938.074 [DAT](INFO): DAT read: Bearing 145.6, -16.9 (Local)

2025-08-22T16:08:58.074Z,1755878938.074 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.6, -16.9 (Local)

2025-08-22T16:08:58.076Z,1755878938.076 [DAT](INFO): DAT read: Range 11 to 50 : 124.1 m  (Round-trip  165.5 ms) speed  0.4 m/s

2025-08-22T16:08:58.076Z,1755878938.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:08:58.077Z,1755878938.077 [DAT](INFO): direction in FSK: [0.908373,-0.404434,0.106264]
2025-08-22T16:08:58.078Z,1755878938.078 [DAT](INFO): publishing direction and range info
2025-08-22T16:08:58.081Z,1755878938.081 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:08:58.081Z,1755878938.081 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:08:58.081Z,1755878938.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:08:58.143Z,1755878938.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.099998 m,
      deltaT: 3.783833 s,
      deltaX: -1.900002 m,
      approachRate: -0.502137 m/s,
      rangeRepo size: 4

2025-08-22T16:08:58.145Z,1755878938.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.357376 m,
      bearing: 318.345815 deg,
      lat: 36.779403 deg,
      lon: -121.859662 deg,
      deltaT: 3.783833 s,
      deltaX: -1.890244 m,
      approachRate: -0.499558 m/s,
      posRepo size: 4

2025-08-22T16:08:58.154Z,1755878938.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:08:58.157Z,1755878938.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 120.862122 m,
      bearing: 318.001563 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059338 deg/s,
      cmd heading: 339.497722 deg,
      new cmd heading: 339.435725 deg.

2025-08-22T16:08:58.162Z,1755878938.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.924271 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:08:58.318Z,1755878938.318 [DAT](INFO): DAT read: user:54>

2025-08-22T16:08:58.319Z,1755878938.319 [DAT](INFO): DAT read: Tx time:16:08:59.3519

2025-08-22T16:08:58.320Z,1755878938.320 [DAT](INFO): Ping request sent.
2025-08-22T16:08:58.320Z,1755878938.320 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:08:58.320Z,1755878938.320 [DAT](INFO): publishing transmit ping time
2025-08-22T16:08:58.320Z,1755878938.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:08:58.534Z,1755878938.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:08:58.537Z,1755878938.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 120.650475 m,
      bearing: 317.978237 deg,
      approach rate: -0.540252 m/s,
      LOS rate: -0.059647 deg/s,
      cmd heading: 339.435731 deg,
      new cmd heading: 339.388997 deg.

2025-08-22T16:08:58.542Z,1755878938.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.923455 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:08:58.571Z,1755878938.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251084
2025-08-22T16:08:58.823Z,1755878938.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502866
2025-08-22T16:08:59.032Z,1755878939.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:08:59.039Z,1755878939.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 120.426445 m,
      bearing: 317.953454 deg,
      approach rate: -0.450112 m/s,
      LOS rate: -0.049885 deg/s,
      cmd heading: 339.388985 deg,
      new cmd heading: 339.339328 deg.

2025-08-22T16:08:59.040Z,1755878939.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.922588 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:08:59.075Z,1755878939.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997
2025-08-22T16:08:59.327Z,1755878939.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006925
2025-08-22T16:08:59.345Z,1755878939.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:08:59.348Z,1755878939.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 120.229668 m,
      bearing: 317.931868 deg,
      approach rate: -0.628776 m/s,
      LOS rate: -0.069088 deg/s,
      cmd heading: 339.339316 deg,
      new cmd heading: 339.296074 deg.

2025-08-22T16:08:59.349Z,1755878939.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921834 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:08:59.579Z,1755878939.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860
2025-08-22T16:08:59.725Z,1755878939.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:08:59.727Z,1755878939.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:08:59.731Z,1755878939.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 120.031235 m,
      bearing: 317.910005 deg,
      approach rate: -0.519145 m/s,
      LOS rate: -0.057294 deg/s,
      cmd heading: 339.296067 deg,
      new cmd heading: 339.252268 deg.

2025-08-22T16:08:59.732Z,1755878939.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.921069 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:08:59.831Z,1755878939.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946
2025-08-22T16:09:00.083Z,1755878940.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763089
2025-08-22T16:09:00.168Z,1755878940.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:09:00.172Z,1755878940.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 119.808479 m,
      bearing: 317.883163 deg,
      approach rate: -0.505613 m/s,
      LOS rate: -0.061039 deg/s,
      cmd heading: 339.252272 deg,
      new cmd heading: 339.198489 deg.

2025-08-22T16:09:00.174Z,1755878940.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.920130 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:09:00.335Z,1755878940.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886
2025-08-22T16:09:00.549Z,1755878940.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:09:00.556Z,1755878940.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 119.618599 m,
      bearing: 317.860220 deg,
      approach rate: -0.498208 m/s,
      LOS rate: -0.060294 deg/s,
      cmd heading: 339.198478 deg,
      new cmd heading: 339.152518 deg.

2025-08-22T16:09:00.557Z,1755878940.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.919328 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:09:00.587Z,1755878940.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267059
2025-08-22T16:09:00.839Z,1755878940.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519733
2025-08-22T16:09:00.878Z,1755878940.878 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:09:00.944Z,1755878940.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:09:00.947Z,1755878940.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 119.413773 m,
      bearing: 317.835456 deg,
      approach rate: -0.518667 m/s,
      LOS rate: -0.062816 deg/s,
      cmd heading: 339.152524 deg,
      new cmd heading: 339.102911 deg.

2025-08-22T16:09:00.948Z,1755878940.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.918462 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:09:01.091Z,1755878941.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771135
2025-08-22T16:09:01.343Z,1755878941.343 [DAT](INFO): DAT read: Rx Time:16:09:01.9189

2025-08-22T16:09:01.343Z,1755878941.343 [DAT](INFO): Rx dataTimestamp_ set to:1755878941.342794
2025-08-22T16:09:01.344Z,1755878941.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023956
2025-08-22T16:09:01.357Z,1755878941.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:09:01.360Z,1755878941.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 119.202911 m,
      bearing: 317.812754 deg,
      approach rate: -0.510387 m/s,
      LOS rate: -0.055046 deg/s,
      cmd heading: 339.102910 deg,
      new cmd heading: 339.057427 deg.

2025-08-22T16:09:01.361Z,1755878941.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.917668 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:09:01.595Z,1755878941.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275770
2025-08-22T16:09:01.736Z,1755878941.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:01.755Z,1755878941.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.36 m.
2025-08-22T16:09:01.764Z,1755878941.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.357376 m,
      nav range: 119.008942 m,
      bearing: 317.791953 deg,
      approach rate: -0.509422 m/s,
      LOS rate: -0.054720 deg/s,
      cmd heading: 339.057421 deg,
      new cmd heading: 339.015750 deg.

2025-08-22T16:09:01.771Z,1755878941.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916941 target range: 123.357376 and range: 124.10 m.
2025-08-22T16:09:01.855Z,1755878941.855 [DAT](INFO): DAT read: 16:09:01.9189 LVL= 24720, 29457, 19266, 28323, AGC= 59, IDX= 416,-0.29,-3.087, 2.031,-2.010,-2.924, PHS=-0.061,-1.284, 0.870, RAW= 175.5,   5.1, CAL= 175.0,   3.8, ROT= 335.0,  -3.8

2025-08-22T16:09:01.856Z,1755878941.856 [DAT](INFO): got valid direction response:
 16:09:01.9189 LVL= 24720, 29457, 19266, 28323, AGC= 59, IDX= 416,-0.29,-3.087, 2.031,-2.010,-2.924, PHS=-0.061,-1.284, 0.870, RAW= 175.5,   5.1, CAL= 175.0,   3.8, ROT= 335.0,  -3.8

2025-08-22T16:09:01.857Z,1755878941.857 [DAT](INFO): DAT read: Bearing 143.7, -17.0 (Local)

2025-08-22T16:09:01.857Z,1755878941.857 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.7, -17.0 (Local)

2025-08-22T16:09:01.858Z,1755878941.858 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m  (Round-trip  162.8 ms) speed  0.3 m/s

2025-08-22T16:09:01.859Z,1755878941.859 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:01.860Z,1755878941.860 [DAT](INFO): direction in FSK: [0.904315,-0.421689,0.066274]
2025-08-22T16:09:01.861Z,1755878941.861 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:01.875Z,1755878941.875 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:01.875Z,1755878941.875 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:01.876Z,1755878941.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:01.882Z,1755878941.882 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:09:02.099Z,1755878942.099 [DAT](INFO): DAT read: user:55>

2025-08-22T16:09:02.099Z,1755878942.099 [DAT](INFO): DAT read: Tx time:16:09:03.1519

2025-08-22T16:09:02.100Z,1755878942.100 [DAT](INFO): Ping request sent.
2025-08-22T16:09:02.100Z,1755878942.100 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:02.100Z,1755878942.100 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:02.101Z,1755878942.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T16:09:02.229Z,1755878942.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.099998 m,
      deltaT: 3.781816 s,
      deltaX: -2.000000 m,
      approachRate: -0.528846 m/s,
      rangeRepo size: 4

2025-08-22T16:09:02.235Z,1755878942.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.367882 m,
      bearing: 317.204845 deg,
      lat: 36.779403 deg,
      lon: -121.859662 deg,
      deltaT: 3.781816 s,
      deltaX: -1.989494 m,
      approachRate: -0.526069 m/s,
      posRepo size: 4

2025-08-22T16:09:02.238Z,1755878942.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:02.241Z,1755878942.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 118.762276 m,
      bearing: 317.765308 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054720 deg/s,
      cmd heading: 339.015756 deg,
      new cmd heading: 338.962086 deg.

2025-08-22T16:09:02.243Z,1755878942.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.916005 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:02.352Z,1755878942.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252338
2025-08-22T16:09:02.603Z,1755878942.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502753
2025-08-22T16:09:02.621Z,1755878942.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:02.624Z,1755878942.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 118.550110 m,
      bearing: 317.742459 deg,
      approach rate: -0.540418 m/s,
      LOS rate: -0.058303 deg/s,
      cmd heading: 338.962098 deg,
      new cmd heading: 338.916320 deg.

2025-08-22T16:09:02.625Z,1755878942.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.915205 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:02.855Z,1755878942.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754610
2025-08-22T16:09:03.039Z,1755878943.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:03.077Z,1755878943.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 118.341980 m,
      bearing: 317.720135 deg,
      approach rate: -0.519567 m/s,
      LOS rate: -0.055827 deg/s,
      cmd heading: 338.916309 deg,
      new cmd heading: 338.871583 deg.

2025-08-22T16:09:03.094Z,1755878943.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.914425 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:03.106Z,1755878943.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006605
2025-08-22T16:09:03.362Z,1755878943.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262244
2025-08-22T16:09:03.455Z,1755878943.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:03.486Z,1755878943.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 118.115265 m,
      bearing: 317.696209 deg,
      approach rate: -0.522674 m/s,
      LOS rate: -0.055265 deg/s,
      cmd heading: 338.871585 deg,
      new cmd heading: 338.823641 deg.

2025-08-22T16:09:03.487Z,1755878943.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.913588 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:03.611Z,1755878943.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510621
2025-08-22T16:09:03.833Z,1755878943.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:03.835Z,1755878943.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:03.838Z,1755878943.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 117.916801 m,
      bearing: 317.675297 deg,
      approach rate: -0.522274 m/s,
      LOS rate: -0.055124 deg/s,
      cmd heading: 338.823637 deg,
      new cmd heading: 338.781743 deg.

2025-08-22T16:09:03.839Z,1755878943.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912857 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:03.863Z,1755878943.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762727
2025-08-22T16:09:04.115Z,1755878944.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009
2025-08-22T16:09:04.301Z,1755878944.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:04.304Z,1755878944.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 117.688522 m,
      bearing: 317.651075 deg,
      approach rate: -0.489977 m/s,
      LOS rate: -0.052092 deg/s,
      cmd heading: 338.781754 deg,
      new cmd heading: 338.733215 deg.

2025-08-22T16:09:04.305Z,1755878944.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.912010 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:04.367Z,1755878944.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266790
2025-08-22T16:09:04.618Z,1755878944.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518520
2025-08-22T16:09:04.639Z,1755878944.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:04.643Z,1755878944.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 117.493370 m,
      bearing: 317.630381 deg,
      approach rate: -0.576645 m/s,
      LOS rate: -0.061248 deg/s,
      cmd heading: 338.733205 deg,
      new cmd heading: 338.691749 deg.

2025-08-22T16:09:04.644Z,1755878944.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.911286 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:04.871Z,1755878944.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771108
2025-08-22T16:09:05.120Z,1755878945.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:05.123Z,1755878945.123 [DAT](INFO): DAT read: Rx Time:16:09:05.7161

2025-08-22T16:09:05.123Z,1755878945.123 [DAT](INFO): Rx dataTimestamp_ set to:1755878945.122853
2025-08-22T16:09:05.124Z,1755878945.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023810
2025-08-22T16:09:05.127Z,1755878945.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 117.279648 m,
      bearing: 317.607756 deg,
      approach rate: -0.444665 m/s,
      LOS rate: -0.047159 deg/s,
      cmd heading: 338.691760 deg,
      new cmd heading: 338.646427 deg.

2025-08-22T16:09:05.128Z,1755878945.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.910495 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:05.375Z,1755878945.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274676
2025-08-22T16:09:05.512Z,1755878945.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.37 m.
2025-08-22T16:09:05.515Z,1755878945.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.367882 m,
      nav range: 117.037407 m,
      bearing: 317.580963 deg,
      approach rate: -0.618296 m/s,
      LOS rate: -0.068528 deg/s,
      cmd heading: 338.646434 deg,
      new cmd heading: 338.592737 deg.

2025-08-22T16:09:05.516Z,1755878945.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.909558 target range: 121.367882 and range: 122.10 m.
2025-08-22T16:09:05.632Z,1755878945.632 [DAT](INFO): DAT read: 16:09:05.7161 LVL= 26800, 26449, 17026, 28451, AGC= 59, IDX= 419, 0.46, 0.475,-0.693, 1.542, 0.611, PHS=-0.034,-1.259, 0.887, RAW= 175.3,   4.4, CAL= 174.7,   2.7, ROT= 335.3,  -2.7

2025-08-22T16:09:05.634Z,1755878945.634 [DAT](INFO): got valid direction response:
 16:09:05.7161 LVL= 26800, 26449, 17026, 28451, AGC= 59, IDX= 419, 0.46, 0.475,-0.693, 1.542, 0.611, PHS=-0.034,-1.259, 0.887, RAW= 175.3,   4.4, CAL= 174.7,   2.7, ROT= 335.3,  -2.7

2025-08-22T16:09:05.636Z,1755878945.636 [DAT](INFO): DAT read: Bearing 142.4, -15.7 (Local)

2025-08-22T16:09:05.636Z,1755878945.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.4, -15.7 (Local)

2025-08-22T16:09:05.638Z,1755878945.638 [DAT](INFO): DAT read: Range 11 to 50 : 120.0 m  (Round-trip  160.0 ms) speed  0.4 m/s

2025-08-22T16:09:05.639Z,1755878945.639 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:05.640Z,1755878945.640 [DAT](INFO): direction in FSK: [0.907500,-0.417403,0.047106]
2025-08-22T16:09:05.641Z,1755878945.641 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:05.649Z,1755878945.649 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:05.649Z,1755878945.649 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:05.649Z,1755878945.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:05.878Z,1755878945.878 [DAT](INFO): DAT read: user:56>

2025-08-22T16:09:05.879Z,1755878945.879 [DAT](INFO): DAT read: Tx time:16:09:06.9019

2025-08-22T16:09:05.879Z,1755878945.879 [DAT](INFO): Ping request sent.
2025-08-22T16:09:05.879Z,1755878945.879 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:05.880Z,1755878945.880 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:05.880Z,1755878945.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-22T16:09:05.898Z,1755878945.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.000000 m,
      deltaT: 3.778390 s,
      deltaX: -2.099998 m,
      approachRate: -0.555792 m/s,
      rangeRepo size: 4

2025-08-22T16:09:05.900Z,1755878945.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.281761 m,
      bearing: 317.031534 deg,
      lat: 36.779401 deg,
      lon: -121.859666 deg,
      deltaT: 3.778390 s,
      deltaX: -2.086121 m,
      approachRate: -0.552119 m/s,
      posRepo size: 4

2025-08-22T16:09:05.901Z,1755878945.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:05.908Z,1755878945.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 116.941437 m,
      bearing: 317.340934 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068528 deg/s,
      cmd heading: 338.592749 deg,
      new cmd heading: 338.540544 deg.

2025-08-22T16:09:05.909Z,1755878945.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.908647 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:06.132Z,1755878946.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252088
2025-08-22T16:09:06.316Z,1755878946.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:06.318Z,1755878946.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:06.320Z,1755878946.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 116.702522 m,
      bearing: 317.311535 deg,
      approach rate: -0.561904 m/s,
      LOS rate: -0.069287 deg/s,
      cmd heading: 338.540539 deg,
      new cmd heading: 338.481620 deg.

2025-08-22T16:09:06.322Z,1755878946.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.907619 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:06.383Z,1755878946.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503326
2025-08-22T16:09:06.634Z,1755878946.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755055
2025-08-22T16:09:06.684Z,1755878946.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:06.693Z,1755878946.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 116.514900 m,
      bearing: 317.288432 deg,
      approach rate: -0.511829 m/s,
      LOS rate: -0.063126 deg/s,
      cmd heading: 338.481608 deg,
      new cmd heading: 338.435328 deg.

2025-08-22T16:09:06.698Z,1755878946.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.906811 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:06.890Z,1755878946.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009914
2025-08-22T16:09:07.081Z,1755878947.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:07.124Z,1755878947.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 116.299843 m,
      bearing: 317.261839 deg,
      approach rate: -0.542240 m/s,
      LOS rate: -0.067175 deg/s,
      cmd heading: 338.435327 deg,
      new cmd heading: 338.382043 deg.

2025-08-22T16:09:07.132Z,1755878947.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.905881 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:07.142Z,1755878947.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261754
2025-08-22T16:09:07.390Z,1755878947.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511064
2025-08-22T16:09:07.509Z,1755878947.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:07.511Z,1755878947.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 116.082802 m,
      bearing: 317.234884 deg,
      approach rate: -0.507765 m/s,
      LOS rate: -0.063178 deg/s,
      cmd heading: 338.382051 deg,
      new cmd heading: 338.328042 deg.

2025-08-22T16:09:07.512Z,1755878947.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904938 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:07.643Z,1755878947.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763114
2025-08-22T16:09:07.895Z,1755878947.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015239
2025-08-22T16:09:07.898Z,1755878947.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:07.900Z,1755878947.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 115.891335 m,
      bearing: 317.211008 deg,
      approach rate: -0.492447 m/s,
      LOS rate: -0.061510 deg/s,
      cmd heading: 338.328038 deg,
      new cmd heading: 338.280207 deg.

2025-08-22T16:09:07.903Z,1755878947.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.904103 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:08.151Z,1755878948.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271602
2025-08-22T16:09:08.334Z,1755878948.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:08.336Z,1755878948.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:08.339Z,1755878948.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 115.655022 m,
      bearing: 317.181315 deg,
      approach rate: -0.538296 m/s,
      LOS rate: -0.067777 deg/s,
      cmd heading: 338.280200 deg,
      new cmd heading: 338.220691 deg.

2025-08-22T16:09:08.340Z,1755878948.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.903065 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:08.400Z,1755878948.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520229
2025-08-22T16:09:08.651Z,1755878948.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771118
2025-08-22T16:09:08.714Z,1755878948.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:08.721Z,1755878948.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 115.458557 m,
      bearing: 317.156679 deg,
      approach rate: -0.519584 m/s,
      LOS rate: -0.065264 deg/s,
      cmd heading: 338.220695 deg,
      new cmd heading: 338.171340 deg.

2025-08-22T16:09:08.722Z,1755878948.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.902204 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:08.903Z,1755878948.903 [DAT](INFO): DAT read: Rx Time:16:09:09.4634

2025-08-22T16:09:08.904Z,1755878948.904 [DAT](INFO): Rx dataTimestamp_ set to:1755878948.903369
2025-08-22T16:09:08.904Z,1755878948.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024785
2025-08-22T16:09:09.103Z,1755878949.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.28 m.
2025-08-22T16:09:09.105Z,1755878949.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.281761 m,
      nav range: 115.255653 m,
      bearing: 317.131193 deg,
      approach rate: -0.522804 m/s,
      LOS rate: -0.065782 deg/s,
      cmd heading: 338.171354 deg,
      new cmd heading: 338.120293 deg.

2025-08-22T16:09:09.125Z,1755878949.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.901312 target range: 119.281761 and range: 120.00 m.
2025-08-22T16:09:09.158Z,1755878949.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277342
2025-08-22T16:09:09.414Z,1755878949.414 [DAT](INFO): DAT read: 16:09:09.4634 LVL= 26816, 32497, 19666, 29027, AGC= 60, IDX= 408, 0.10, 1.028,-0.161, 2.072, 1.139, PHS=-0.010,-1.256, 0.889, RAW= 174.6,   4.1, CAL= 174.0,   2.2, ROT= 336.0,  -2.2

2025-08-22T16:09:09.415Z,1755878949.415 [DAT](INFO): got valid direction response:
 16:09:09.4634 LVL= 26816, 32497, 19666, 29027, AGC= 60, IDX= 408, 0.10, 1.028,-0.161, 2.072, 1.139, PHS=-0.010,-1.256, 0.889, RAW= 174.6,   4.1, CAL= 174.0,   2.2, ROT= 336.0,  -2.2

2025-08-22T16:09:09.416Z,1755878949.416 [DAT](INFO): DAT read: Bearing 142.2, -14.5 (Local)

2025-08-22T16:09:09.417Z,1755878949.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.2, -14.5 (Local)

2025-08-22T16:09:09.418Z,1755878949.418 [DAT](INFO): DAT read: Range 11 to 50 : 118.0 m  (Round-trip  157.4 ms) speed  0.4 m/s

2025-08-22T16:09:09.419Z,1755878949.419 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:09.420Z,1755878949.420 [DAT](INFO): direction in FSK: [0.912872,-0.406437,0.038388]
2025-08-22T16:09:09.420Z,1755878949.420 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:09.424Z,1755878949.424 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:09.424Z,1755878949.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:09.424Z,1755878949.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:09.612Z,1755878949.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.000000 m,
      deltaT: 3.779715 s,
      deltaX: -2.000000 m,
      approachRate: -0.529140 m/s,
      rangeRepo size: 4

2025-08-22T16:09:09.622Z,1755878949.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.293602 m,
      bearing: 317.563470 deg,
      lat: 36.779401 deg,
      lon: -121.859666 deg,
      deltaT: 3.779715 s,
      deltaX: -1.988159 m,
      approachRate: -0.526008 m/s,
      posRepo size: 4

2025-08-22T16:09:09.623Z,1755878949.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:09.629Z,1755878949.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 115.002922 m,
      bearing: 317.098344 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.065782 deg/s,
      cmd heading: 338.120291 deg,
      new cmd heading: 338.053694 deg.

2025-08-22T16:09:09.630Z,1755878949.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.900150 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:09.658Z,1755878949.658 [DAT](INFO): DAT read: user:57>

2025-08-22T16:09:09.659Z,1755878949.659 [DAT](INFO): DAT read: Tx time:16:09:10.7019

2025-08-22T16:09:09.659Z,1755878949.659 [DAT](INFO): Ping request sent.
2025-08-22T16:09:09.660Z,1755878949.660 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:09.660Z,1755878949.660 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:09.660Z,1755878949.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000715
2025-08-22T16:09:09.911Z,1755878949.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251592
2025-08-22T16:09:09.959Z,1755878949.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:09.962Z,1755878949.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 114.808304 m,
      bearing: 317.073039 deg,
      approach rate: -0.555376 m/s,
      LOS rate: -0.072336 deg/s,
      cmd heading: 338.053683 deg,
      new cmd heading: 338.002986 deg.

2025-08-22T16:09:09.963Z,1755878949.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.899265 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:10.166Z,1755878950.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505761
2025-08-22T16:09:10.378Z,1755878950.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:10.380Z,1755878950.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:10.383Z,1755878950.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 114.590210 m,
      bearing: 317.045590 deg,
      approach rate: -0.517910 m/s,
      LOS rate: -0.065307 deg/s,
      cmd heading: 338.002976 deg,
      new cmd heading: 337.947974 deg.

2025-08-22T16:09:10.384Z,1755878950.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.898305 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:10.415Z,1755878950.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755470
2025-08-22T16:09:10.667Z,1755878950.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-08-22T16:09:10.774Z,1755878950.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:10.776Z,1755878950.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 114.385864 m,
      bearing: 317.019851 deg,
      approach rate: -0.519923 m/s,
      LOS rate: -0.065606 deg/s,
      cmd heading: 337.947979 deg,
      new cmd heading: 337.896409 deg.

2025-08-22T16:09:10.778Z,1755878950.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.897405 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:10.919Z,1755878950.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258870
2025-08-22T16:09:11.174Z,1755878951.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513368
2025-08-22T16:09:11.263Z,1755878951.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:11.266Z,1755878951.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 114.130905 m,
      bearing: 316.986994 deg,
      approach rate: -0.520823 m/s,
      LOS rate: -0.067268 deg/s,
      cmd heading: 337.896398 deg,
      new cmd heading: 337.830539 deg.

2025-08-22T16:09:11.267Z,1755878951.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.896255 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:11.422Z,1755878951.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762812
2025-08-22T16:09:11.631Z,1755878951.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:11.638Z,1755878951.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 113.947914 m,
      bearing: 316.963479 deg,
      approach rate: -0.497191 m/s,
      LOS rate: -0.063995 deg/s,
      cmd heading: 337.830527 deg,
      new cmd heading: 337.783421 deg.

2025-08-22T16:09:11.639Z,1755878951.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.895433 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:11.675Z,1755878951.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015219
2025-08-22T16:09:11.927Z,1755878951.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266891
2025-08-22T16:09:12.027Z,1755878952.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:12.030Z,1755878952.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 113.730392 m,
      bearing: 316.935530 deg,
      approach rate: -0.549505 m/s,
      LOS rate: -0.070740 deg/s,
      cmd heading: 337.783426 deg,
      new cmd heading: 337.727421 deg.

2025-08-22T16:09:12.031Z,1755878952.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.894455 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:12.183Z,1755878952.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522510
2025-08-22T16:09:12.431Z,1755878952.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942
2025-08-22T16:09:12.437Z,1755878952.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:12.439Z,1755878952.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:12.442Z,1755878952.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 113.517212 m,
      bearing: 316.908536 deg,
      approach rate: -0.516957 m/s,
      LOS rate: -0.065582 deg/s,
      cmd heading: 337.727419 deg,
      new cmd heading: 337.673330 deg.

2025-08-22T16:09:12.443Z,1755878952.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.893511 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:12.682Z,1755878952.682 [DAT](INFO): DAT read: Rx Time:16:09:13.2609

2025-08-22T16:09:12.683Z,1755878952.683 [DAT](INFO): Rx dataTimestamp_ set to:1755878952.682628
2025-08-22T16:09:12.683Z,1755878952.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023833
2025-08-22T16:09:12.841Z,1755878952.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.29 m.
2025-08-22T16:09:12.844Z,1755878952.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.293602 m,
      nav range: 113.315323 m,
      bearing: 316.883000 deg,
      approach rate: -0.502157 m/s,
      LOS rate: -0.063628 deg/s,
      cmd heading: 337.673324 deg,
      new cmd heading: 337.622161 deg.

2025-08-22T16:09:12.845Z,1755878952.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.892618 target range: 117.293602 and range: 118.00 m.
2025-08-22T16:09:12.935Z,1755878952.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275064
2025-08-22T16:09:13.226Z,1755878953.226 [DAT](INFO): DAT read: 16:09:13.2609 LVL= 26992, 32753, 21954, 32307, AGC= 58, IDX= 413, 0.45,-1.878,-3.080,-0.857,-1.822, PHS= 0.046,-1.213, 0.921, RAW= 174.1,   2.7, CAL= 173.3,   0.1, ROT= 336.7,  -0.1

2025-08-22T16:09:13.231Z,1755878953.231 [DAT](INFO): got valid direction response:
 16:09:13.2609 LVL= 26992, 32753, 21954, 32307, AGC= 58, IDX= 413, 0.45,-1.878,-3.080,-0.857,-1.822, PHS= 0.046,-1.213, 0.921, RAW= 174.1,   2.7, CAL= 173.3,   0.1, ROT= 336.7,  -0.1

2025-08-22T16:09:13.250Z,1755878953.250 [DAT](INFO): DAT read: Bearing 140.2, -13.1 (Local)

2025-08-22T16:09:13.251Z,1755878953.251 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.2, -13.1 (Local)

2025-08-22T16:09:13.252Z,1755878953.252 [DAT](INFO): DAT read: Range 11 to 50 : 116.1 m  (Round-trip  154.8 ms) speed  0.4 m/s

2025-08-22T16:09:13.253Z,1755878953.253 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:13.262Z,1755878953.262 [DAT](INFO): direction in FSK: [0.918445,-0.395545,0.001745]
2025-08-22T16:09:13.262Z,1755878953.262 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:13.274Z,1755878953.274 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:13.274Z,1755878953.274 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:13.274Z,1755878953.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:13.381Z,1755878953.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.099998 m,
      deltaT: 3.781519 s,
      deltaX: -1.900002 m,
      approachRate: -0.502444 m/s,
      rangeRepo size: 4

2025-08-22T16:09:13.395Z,1755878953.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.405327 m,
      bearing: 317.911908 deg,
      lat: 36.779409 deg,
      lon: -121.859663 deg,
      deltaT: 3.781519 s,
      deltaX: -1.888275 m,
      approachRate: -0.499343 m/s,
      posRepo size: 4

2025-08-22T16:09:13.396Z,1755878953.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:13.403Z,1755878953.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 113.443497 m,
      bearing: 317.230092 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.063628 deg/s,
      cmd heading: 337.622152 deg,
      new cmd heading: 337.553517 deg.

2025-08-22T16:09:13.404Z,1755878953.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891420 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:13.438Z,1755878953.438 [DAT](INFO): DAT read: user:58>

2025-08-22T16:09:13.439Z,1755878953.439 [DAT](INFO): DAT read: Tx time:16:09:14.5519

2025-08-22T16:09:13.439Z,1755878953.439 [DAT](INFO): Ping request sent.
2025-08-22T16:09:13.439Z,1755878953.439 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:13.440Z,1755878953.440 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:13.440Z,1755878953.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000710
2025-08-22T16:09:13.686Z,1755878953.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:13.689Z,1755878953.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 113.282005 m,
      bearing: 317.210204 deg,
      approach rate: -0.528034 m/s,
      LOS rate: -0.065121 deg/s,
      cmd heading: 337.553522 deg,
      new cmd heading: 337.513690 deg.

2025-08-22T16:09:13.691Z,1755878953.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251195
2025-08-22T16:09:13.695Z,1755878953.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.890725 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:13.944Z,1755878953.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504705
2025-08-22T16:09:14.070Z,1755878954.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:14.072Z,1755878954.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 113.079529 m,
      bearing: 317.185264 deg,
      approach rate: -0.528659 m/s,
      LOS rate: -0.065236 deg/s,
      cmd heading: 337.513689 deg,
      new cmd heading: 337.463718 deg.

2025-08-22T16:09:14.073Z,1755878954.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.889853 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:14.199Z,1755878954.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758741
2025-08-22T16:09:14.447Z,1755878954.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007181
2025-08-22T16:09:14.513Z,1755878954.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:14.515Z,1755878954.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:14.534Z,1755878954.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 112.857239 m,
      bearing: 317.159233 deg,
      approach rate: -0.498642 m/s,
      LOS rate: -0.058507 deg/s,
      cmd heading: 337.463719 deg,
      new cmd heading: 337.411555 deg.

2025-08-22T16:09:14.535Z,1755878954.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888943 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:14.699Z,1755878954.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259122
2025-08-22T16:09:14.874Z,1755878954.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:14.877Z,1755878954.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 112.669746 m,
      bearing: 317.137253 deg,
      approach rate: -0.522512 m/s,
      LOS rate: -0.061358 deg/s,
      cmd heading: 337.411564 deg,
      new cmd heading: 337.367529 deg.

2025-08-22T16:09:14.878Z,1755878954.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888174 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:14.951Z,1755878954.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511183
2025-08-22T16:09:15.206Z,1755878955.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765909
2025-08-22T16:09:15.373Z,1755878955.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:15.376Z,1755878955.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 112.406006 m,
      bearing: 317.108534 deg,
      approach rate: -0.528471 m/s,
      LOS rate: -0.057679 deg/s,
      cmd heading: 337.367523 deg,
      new cmd heading: 337.309951 deg.

2025-08-22T16:09:15.377Z,1755878955.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.887169 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:15.455Z,1755878955.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015261
2025-08-22T16:09:15.708Z,1755878955.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268226
2025-08-22T16:09:15.800Z,1755878955.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:15.803Z,1755878955.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 112.180008 m,
      bearing: 317.083889 deg,
      approach rate: -0.528979 m/s,
      LOS rate: -0.057802 deg/s,
      cmd heading: 337.309958 deg,
      new cmd heading: 337.260568 deg.

2025-08-22T16:09:15.804Z,1755878955.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.886307 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:15.959Z,1755878955.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519140
2025-08-22T16:09:16.214Z,1755878956.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773437
2025-08-22T16:09:16.281Z,1755878956.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:16.288Z,1755878956.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 111.934143 m,
      bearing: 317.057032 deg,
      approach rate: -0.511473 m/s,
      LOS rate: -0.055993 deg/s,
      cmd heading: 337.260562 deg,
      new cmd heading: 337.206730 deg.

2025-08-22T16:09:16.289Z,1755878956.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.885368 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:16.462Z,1755878956.462 [DAT](INFO): DAT read: Rx Time:16:09:17.1081

2025-08-22T16:09:16.463Z,1755878956.463 [DAT](INFO): Rx dataTimestamp_ set to:1755878956.462644
2025-08-22T16:09:16.463Z,1755878956.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024055
2025-08-22T16:09:16.632Z,1755878956.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:16.634Z,1755878956.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:16.637Z,1755878956.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 111.737801 m,
      bearing: 317.037912 deg,
      approach rate: -0.555701 m/s,
      LOS rate: -0.054209 deg/s,
      cmd heading: 337.206740 deg,
      new cmd heading: 337.168433 deg.

2025-08-22T16:09:16.638Z,1755878956.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.884699 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:16.717Z,1755878956.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277166
2025-08-22T16:09:16.970Z,1755878956.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529380
2025-08-22T16:09:17.046Z,1755878957.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.41 m.
2025-08-22T16:09:17.048Z,1755878957.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.405327 m,
      nav range: 111.517975 m,
      bearing: 317.016676 deg,
      approach rate: -0.534589 m/s,
      LOS rate: -0.051747 deg/s,
      cmd heading: 337.168436 deg,
      new cmd heading: 337.125879 deg.

2025-08-22T16:09:17.049Z,1755878957.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883956 target range: 115.405327 and range: 116.10 m.
2025-08-22T16:09:17.231Z,1755878957.231 [DAT](INFO): DAT read: 16:09:17.1081 LVL= 26368, 32097, 20978, 32099, AGC= 63, IDX= 417, 0.29,-1.415,-2.593,-0.399,-1.354, PHS= 0.041,-1.194, 0.911, RAW= 174.3,   2.7, CAL= 173.5,   0.0, ROT= 336.5,  -0.0

2025-08-22T16:09:17.235Z,1755878957.235 [DAT](INFO): got valid direction response:
 16:09:17.1081 LVL= 26368, 32097, 20978, 32099, AGC= 63, IDX= 417, 0.29,-1.415,-2.593,-0.399,-1.354, PHS= 0.041,-1.194, 0.911, RAW= 174.3,   2.7, CAL= 173.5,   0.0, ROT= 336.5,  -0.0

2025-08-22T16:09:17.246Z,1755878957.246 [DAT](INFO): DAT read: Bearing 140.4, -12.8 (Local)

2025-08-22T16:09:17.247Z,1755878957.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.4, -12.8 (Local)

2025-08-22T16:09:17.259Z,1755878957.259 [DAT](INFO): DAT read: Range 11 to 50 : 114.0 m  (Round-trip  152.0 ms) speed  0.7 m/s

2025-08-22T16:09:17.261Z,1755878957.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:17.312Z,1755878957.312 [DAT](INFO): direction in FSK: [0.917060,-0.398749,0.000000]
2025-08-22T16:09:17.312Z,1755878957.312 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:17.335Z,1755878957.335 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:17.335Z,1755878957.335 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:17.335Z,1755878957.335 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:17.470Z,1755878957.470 [DAT](INFO): DAT read: user:59>

2025-08-22T16:09:17.471Z,1755878957.471 [DAT](INFO): DAT read: Tx time:16:09:18.6019

2025-08-22T16:09:17.471Z,1755878957.471 [DAT](INFO): Ping request sent.
2025-08-22T16:09:17.472Z,1755878957.472 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:17.472Z,1755878957.472 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:17.472Z,1755878957.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000723
2025-08-22T16:09:17.495Z,1755878957.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.000000 m,
      deltaT: 4.032037 s,
      deltaX: -2.099998 m,
      approachRate: -0.520828 m/s,
      rangeRepo size: 4

2025-08-22T16:09:17.502Z,1755878957.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.311646 m,
      bearing: 317.076249 deg,
      lat: 36.779411 deg,
      lon: -121.859667 deg,
      deltaT: 4.032037 s,
      deltaX: -2.093681 m,
      approachRate: -0.519261 m/s,
      posRepo size: 4

2025-08-22T16:09:17.502Z,1755878957.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:17.505Z,1755878957.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 111.727531 m,
      bearing: 316.957638 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051747 deg/s,
      cmd heading: 337.125870 deg,
      new cmd heading: 337.079369 deg.

2025-08-22T16:09:17.510Z,1755878957.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.883145 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:17.512Z,1755878957.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 58.926647 m.
2025-08-22T16:09:17.724Z,1755878957.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251706
2025-08-22T16:09:17.833Z,1755878957.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:17.836Z,1755878957.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 111.538345 m,
      bearing: 316.938550 deg,
      approach rate: -0.559588 m/s,
      LOS rate: -0.056553 deg/s,
      cmd heading: 337.079370 deg,
      new cmd heading: 337.041131 deg.

2025-08-22T16:09:17.837Z,1755878957.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.882477 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:17.974Z,1755878957.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502825
2025-08-22T16:09:18.227Z,1755878958.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755772
2025-08-22T16:09:18.311Z,1755878958.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:18.315Z,1755878958.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 111.287018 m,
      bearing: 316.913091 deg,
      approach rate: -0.525162 m/s,
      LOS rate: -0.053318 deg/s,
      cmd heading: 337.041121 deg,
      new cmd heading: 336.990089 deg.

2025-08-22T16:09:18.316Z,1755878958.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.881587 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:18.479Z,1755878958.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859
2025-08-22T16:09:18.659Z,1755878958.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:18.662Z,1755878958.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:18.664Z,1755878958.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 111.098663 m,
      bearing: 316.895494 deg,
      approach rate: -0.538343 m/s,
      LOS rate: -0.050382 deg/s,
      cmd heading: 336.990086 deg,
      new cmd heading: 336.954831 deg.

2025-08-22T16:09:18.665Z,1755878958.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880971 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:18.732Z,1755878958.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259767
2025-08-22T16:09:18.982Z,1755878958.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510826
2025-08-22T16:09:19.052Z,1755878959.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:19.055Z,1755878959.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 110.887871 m,
      bearing: 316.875984 deg,
      approach rate: -0.539828 m/s,
      LOS rate: -0.050059 deg/s,
      cmd heading: 336.954842 deg,
      new cmd heading: 336.915749 deg.

2025-08-22T16:09:19.056Z,1755878959.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.880289 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:19.236Z,1755878959.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764467
2025-08-22T16:09:19.485Z,1755878959.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:19.487Z,1755878959.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014968
2025-08-22T16:09:19.489Z,1755878959.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 110.652138 m,
      bearing: 316.849388 deg,
      approach rate: -0.544794 m/s,
      LOS rate: -0.061595 deg/s,
      cmd heading: 336.915746 deg,
      new cmd heading: 336.862442 deg.

2025-08-22T16:09:19.490Z,1755878959.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.879359 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:19.740Z,1755878959.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267932
2025-08-22T16:09:19.853Z,1755878959.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:19.855Z,1755878959.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 110.451546 m,
      bearing: 316.827088 deg,
      approach rate: -0.545124 m/s,
      LOS rate: -0.060714 deg/s,
      cmd heading: 336.862444 deg,
      new cmd heading: 336.817761 deg.

2025-08-22T16:09:19.856Z,1755878959.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.878579 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:19.991Z,1755878959.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518879
2025-08-22T16:09:20.243Z,1755878960.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770868
2025-08-22T16:09:20.382Z,1755878960.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:20.385Z,1755878960.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 110.176613 m,
      bearing: 316.794671 deg,
      approach rate: -0.518996 m/s,
      LOS rate: -0.061346 deg/s,
      cmd heading: 336.817774 deg,
      new cmd heading: 336.752779 deg.

2025-08-22T16:09:20.386Z,1755878960.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.877445 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:20.496Z,1755878960.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023822
2025-08-22T16:09:20.747Z,1755878960.747 [DAT](INFO): DAT read: Rx Time:16:09:21.1552

2025-08-22T16:09:20.747Z,1755878960.747 [DAT](INFO): Rx dataTimestamp_ set to:1755878960.746832
2025-08-22T16:09:20.748Z,1755878960.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276023
2025-08-22T16:09:20.764Z,1755878960.764 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:20.767Z,1755878960.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:20.769Z,1755878960.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 109.976601 m,
      bearing: 316.771146 deg,
      approach rate: -0.520360 m/s,
      LOS rate: -0.061315 deg/s,
      cmd heading: 336.752778 deg,
      new cmd heading: 336.705642 deg.

2025-08-22T16:09:20.771Z,1755878960.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.876622 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:21.002Z,1755878961.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529938
2025-08-22T16:09:21.190Z,1755878961.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.31 m.
2025-08-22T16:09:21.194Z,1755878961.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.311646 m,
      nav range: 109.759575 m,
      bearing: 316.745586 deg,
      approach rate: -0.513636 m/s,
      LOS rate: -0.060613 deg/s,
      cmd heading: 336.705650 deg,
      new cmd heading: 336.654429 deg.

2025-08-22T16:09:21.195Z,1755878961.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.875728 target range: 113.311646 and range: 114.00 m.
2025-08-22T16:09:21.256Z,1755878961.256 [DAT](INFO): DAT read: 16:09:21.1552 LVL= 21232, 27729, 17042, 28659, AGC= 60, IDX= 420,-0.09, 2.938, 1.791,-2.375, 2.999, PHS= 0.042,-1.163, 0.866, RAW= 173.8,   2.9, CAL= 173.0,   0.5, ROT= 337.0,  -0.5

2025-08-22T16:09:21.257Z,1755878961.257 [DAT](INFO): got valid direction response:
 16:09:21.1552 LVL= 21232, 27729, 17042, 28659, AGC= 60, IDX= 420,-0.09, 2.938, 1.791,-2.375, 2.999, PHS= 0.042,-1.163, 0.866, RAW= 173.8,   2.9, CAL= 173.0,   0.5, ROT= 337.0,  -0.5

2025-08-22T16:09:21.258Z,1755878961.258 [DAT](INFO): DAT read: Bearing 140.3, -11.6 (Local)

2025-08-22T16:09:21.258Z,1755878961.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.3, -11.6 (Local)

2025-08-22T16:09:21.260Z,1755878961.260 [DAT](INFO): DAT read: Range 11 to 50 : 111.9 m  (Round-trip  149.2 ms) speed  0.4 m/s

2025-08-22T16:09:21.260Z,1755878961.260 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:21.261Z,1755878961.261 [DAT](INFO): direction in FSK: [0.920470,-0.390716,0.008727]
2025-08-22T16:09:21.262Z,1755878961.262 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:21.265Z,1755878961.265 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:21.265Z,1755878961.265 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:21.265Z,1755878961.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:21.503Z,1755878961.503 [DAT](INFO): DAT read: user:60>

2025-08-22T16:09:21.503Z,1755878961.503 [DAT](INFO): DAT read: Tx time:16:09:22.5519

2025-08-22T16:09:21.504Z,1755878961.504 [DAT](INFO): Ping request sent.
2025-08-22T16:09:21.504Z,1755878961.504 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:21.504Z,1755878961.504 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:21.505Z,1755878961.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-22T16:09:21.751Z,1755878961.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.900002 m,
      deltaT: 4.030244 s,
      deltaX: -2.099998 m,
      approachRate: -0.521060 m/s,
      rangeRepo size: 4

2025-08-22T16:09:21.753Z,1755878961.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.225044 m,
      bearing: 316.535336 deg,
      lat: 36.779411 deg,
      lon: -121.859667 deg,
      deltaT: 4.030244 s,
      deltaX: -2.086601 m,
      approachRate: -0.517736 m/s,
      posRepo size: 4

2025-08-22T16:09:21.755Z,1755878961.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250832
2025-08-22T16:09:21.755Z,1755878961.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:21.762Z,1755878961.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 109.484810 m,
      bearing: 316.711004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060613 deg/s,
      cmd heading: 336.654423 deg,
      new cmd heading: 336.586437 deg.

2025-08-22T16:09:21.763Z,1755878961.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.874542 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:22.007Z,1755878962.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503028
2025-08-22T16:09:22.094Z,1755878962.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:22.096Z,1755878962.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 109.296799 m,
      bearing: 316.687239 deg,
      approach rate: -0.547584 m/s,
      LOS rate: -0.069335 deg/s,
      cmd heading: 336.586449 deg,
      new cmd heading: 336.538838 deg.

2025-08-22T16:09:22.097Z,1755878962.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.873711 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:22.260Z,1755878962.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755693
2025-08-22T16:09:22.515Z,1755878962.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010728
2025-08-22T16:09:22.522Z,1755878962.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:22.524Z,1755878962.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 109.072227 m,
      bearing: 316.657755 deg,
      approach rate: -0.524390 m/s,
      LOS rate: -0.068989 deg/s,
      cmd heading: 336.538829 deg,
      new cmd heading: 336.479740 deg.

2025-08-22T16:09:22.526Z,1755878962.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.872679 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:22.763Z,1755878962.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259004
2025-08-22T16:09:22.892Z,1755878962.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:22.894Z,1755878962.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:22.897Z,1755878962.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 108.876656 m,
      bearing: 316.631949 deg,
      approach rate: -0.525527 m/s,
      LOS rate: -0.069467 deg/s,
      cmd heading: 336.479735 deg,
      new cmd heading: 336.428031 deg.

2025-08-22T16:09:22.898Z,1755878962.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.871777 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:23.015Z,1755878963.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510768
2025-08-22T16:09:23.267Z,1755878963.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763096
2025-08-22T16:09:23.297Z,1755878963.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:23.300Z,1755878963.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 108.667725 m,
      bearing: 316.604277 deg,
      approach rate: -0.518018 m/s,
      LOS rate: -0.068741 deg/s,
      cmd heading: 336.428044 deg,
      new cmd heading: 336.372593 deg.

2025-08-22T16:09:23.301Z,1755878963.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.870809 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:23.518Z,1755878963.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014662
2025-08-22T16:09:23.754Z,1755878963.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:23.757Z,1755878963.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 108.428734 m,
      bearing: 316.571743 deg,
      approach rate: -0.522676 m/s,
      LOS rate: -0.071310 deg/s,
      cmd heading: 336.372583 deg,
      new cmd heading: 336.307370 deg.

2025-08-22T16:09:23.758Z,1755878963.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.869671 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:23.771Z,1755878963.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266840
2025-08-22T16:09:24.022Z,1755878964.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518700
2025-08-22T16:09:24.103Z,1755878964.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:24.106Z,1755878964.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 108.246521 m,
      bearing: 316.546892 deg,
      approach rate: -0.522306 m/s,
      LOS rate: -0.071354 deg/s,
      cmd heading: 336.307368 deg,
      new cmd heading: 336.257582 deg.

2025-08-22T16:09:24.107Z,1755878964.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.868802 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:24.275Z,1755878964.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770973
2025-08-22T16:09:24.527Z,1755878964.527 [DAT](INFO): DAT read: Rx Time:16:09:25.1025

2025-08-22T16:09:24.527Z,1755878964.527 [DAT](INFO): Rx dataTimestamp_ set to:1755878964.526866
2025-08-22T16:09:24.528Z,1755878964.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023924
2025-08-22T16:09:24.541Z,1755878964.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:24.544Z,1755878964.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 108.014870 m,
      bearing: 316.516716 deg,
      approach rate: -0.528925 m/s,
      LOS rate: -0.069048 deg/s,
      cmd heading: 336.257589 deg,
      new cmd heading: 336.197108 deg.

2025-08-22T16:09:24.545Z,1755878964.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.867746 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:24.779Z,1755878964.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274975
2025-08-22T16:09:24.906Z,1755878964.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:24.908Z,1755878964.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.23 m.
2025-08-22T16:09:24.913Z,1755878964.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.225044 m,
      nav range: 107.821167 m,
      bearing: 316.491394 deg,
      approach rate: -0.527530 m/s,
      LOS rate: -0.069085 deg/s,
      cmd heading: 336.197101 deg,
      new cmd heading: 336.146367 deg.

2025-08-22T16:09:24.931Z,1755878964.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.866861 target range: 111.225044 and range: 111.90 m.
2025-08-22T16:09:25.037Z,1755878965.037 [DAT](INFO): DAT read: 16:09:25.1025 LVL= 23408, 31217, 19442, 31539, AGC= 60, IDX= 408,-0.18,-2.953, 2.146,-1.979,-2.856, PHS= 0.005,-1.237, 0.833, RAW= 173.4,   4.5, CAL= 172.8,   2.8, ROT= 337.2,  -2.8

2025-08-22T16:09:25.038Z,1755878965.038 [DAT](INFO): got valid direction response:
 16:09:25.1025 LVL= 23408, 31217, 19442, 31539, AGC= 60, IDX= 408,-0.18,-2.953, 2.146,-1.979,-2.856, PHS= 0.005,-1.237, 0.833, RAW= 173.4,   4.5, CAL= 172.8,   2.8, ROT= 337.2,  -2.8

2025-08-22T16:09:25.039Z,1755878965.039 [DAT](INFO): DAT read: Bearing 143.0, -13.4 (Local)

2025-08-22T16:09:25.039Z,1755878965.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.0, -13.4 (Local)

2025-08-22T16:09:25.040Z,1755878965.040 [DAT](INFO): DAT read: Range 11 to 50 : 109.8 m  (Round-trip  146.4 ms) speed  0.4 m/s

2025-08-22T16:09:25.041Z,1755878965.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:25.042Z,1755878965.042 [DAT](INFO): direction in FSK: [0.920763,-0.387053,0.048850]
2025-08-22T16:09:25.043Z,1755878965.043 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:25.046Z,1755878965.046 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:25.046Z,1755878965.046 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:25.046Z,1755878965.046 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:25.282Z,1755878965.282 [DAT](INFO): DAT read: user:61>

2025-08-22T16:09:25.283Z,1755878965.283 [DAT](INFO): DAT read: Tx time:16:09:26.3019

2025-08-22T16:09:25.283Z,1755878965.283 [DAT](INFO): Ping request sent.
2025-08-22T16:09:25.284Z,1755878965.284 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:25.284Z,1755878965.284 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:25.284Z,1755878965.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:09:25.436Z,1755878965.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.800003 m,
      deltaT: 3.780274 s,
      deltaX: -2.099998 m,
      approachRate: -0.555515 m/s,
      rangeRepo size: 4

2025-08-22T16:09:25.438Z,1755878965.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.132050 m,
      bearing: 316.484836 deg,
      lat: 36.779413 deg,
      lon: -121.859667 deg,
      deltaT: 3.780274 s,
      deltaX: -2.092995 m,
      approachRate: -0.553662 m/s,
      posRepo size: 4

2025-08-22T16:09:25.439Z,1755878965.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:25.442Z,1755878965.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 107.724335 m,
      bearing: 316.541996 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.069085 deg/s,
      cmd heading: 336.146367 deg,
      new cmd heading: 336.073532 deg.

2025-08-22T16:09:25.443Z,1755878965.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.865590 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:25.535Z,1755878965.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251218
2025-08-22T16:09:25.787Z,1755878965.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991
2025-08-22T16:09:25.806Z,1755878965.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:25.809Z,1755878965.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 107.511871 m,
      bearing: 316.517700 deg,
      approach rate: -0.573721 m/s,
      LOS rate: -0.065737 deg/s,
      cmd heading: 336.073530 deg,
      new cmd heading: 336.024841 deg.

2025-08-22T16:09:25.810Z,1755878965.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.864740 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:26.039Z,1755878966.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755262
2025-08-22T16:09:26.213Z,1755878966.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:26.234Z,1755878966.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 107.299789 m,
      bearing: 316.493488 deg,
      approach rate: -0.521883 m/s,
      LOS rate: -0.059699 deg/s,
      cmd heading: 336.024844 deg,
      new cmd heading: 335.976323 deg.

2025-08-22T16:09:26.235Z,1755878966.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863893 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:26.292Z,1755878966.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007901
2025-08-22T16:09:26.543Z,1755878966.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259216
2025-08-22T16:09:26.631Z,1755878966.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:26.638Z,1755878966.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 107.078278 m,
      bearing: 316.469948 deg,
      approach rate: -0.529066 m/s,
      LOS rate: -0.056339 deg/s,
      cmd heading: 335.976322 deg,
      new cmd heading: 335.929145 deg.

2025-08-22T16:09:26.639Z,1755878966.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.863070 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:26.795Z,1755878966.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510988
2025-08-22T16:09:27.007Z,1755878967.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:27.010Z,1755878967.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:27.013Z,1755878967.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 106.866936 m,
      bearing: 316.447396 deg,
      approach rate: -0.558365 m/s,
      LOS rate: -0.059699 deg/s,
      cmd heading: 335.929139 deg,
      new cmd heading: 335.883947 deg.

2025-08-22T16:09:27.014Z,1755878967.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.862281 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:27.047Z,1755878967.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763215
2025-08-22T16:09:27.299Z,1755878967.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015764
2025-08-22T16:09:27.462Z,1755878967.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:27.465Z,1755878967.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 106.625893 m,
      bearing: 316.421970 deg,
      approach rate: -0.531961 m/s,
      LOS rate: -0.056240 deg/s,
      cmd heading: 335.883951 deg,
      new cmd heading: 335.832984 deg.

2025-08-22T16:09:27.470Z,1755878967.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.861392 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:27.552Z,1755878967.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267962
2025-08-22T16:09:27.803Z,1755878967.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518977
2025-08-22T16:09:27.825Z,1755878967.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:27.828Z,1755878967.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 106.427742 m,
      bearing: 316.403989 deg,
      approach rate: -0.546520 m/s,
      LOS rate: -0.049687 deg/s,
      cmd heading: 335.832998 deg,
      new cmd heading: 335.796968 deg.

2025-08-22T16:09:27.829Z,1755878967.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860763 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:28.054Z,1755878968.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917
2025-08-22T16:09:28.245Z,1755878968.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:28.248Z,1755878968.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 106.212692 m,
      bearing: 316.384606 deg,
      approach rate: -0.516657 m/s,
      LOS rate: -0.046662 deg/s,
      cmd heading: 335.796961 deg,
      new cmd heading: 335.758117 deg.

2025-08-22T16:09:28.249Z,1755878968.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.860085 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:28.307Z,1755878968.307 [DAT](INFO): DAT read: Rx Time:16:09:28.8498

2025-08-22T16:09:28.308Z,1755878968.308 [DAT](INFO): Rx dataTimestamp_ set to:1755878968.307774
2025-08-22T16:09:28.309Z,1755878968.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025057
2025-08-22T16:09:28.558Z,1755878968.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274875
2025-08-22T16:09:28.638Z,1755878968.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.13 m.
2025-08-22T16:09:28.641Z,1755878968.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.132050 m,
      nav range: 105.988983 m,
      bearing: 316.365686 deg,
      approach rate: -0.563237 m/s,
      LOS rate: -0.047735 deg/s,
      cmd heading: 335.758111 deg,
      new cmd heading: 335.720192 deg.

2025-08-22T16:09:28.642Z,1755878968.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.859423 target range: 109.132050 and range: 109.80 m.
2025-08-22T16:09:28.816Z,1755878968.816 [DAT](INFO): DAT read: 16:09:28.8498 LVL= 22000, 26529, 18546, 32739, AGC= 60, IDX= 412, 0.06, 1.043,-0.267, 1.967, 1.182, PHS=-0.037,-1.404, 0.742, RAW= 171.0,   7.5, CAL= 170.6,   7.4, ROT= 339.4,  -7.4

2025-08-22T16:09:28.817Z,1755878968.817 [DAT](INFO): got valid direction response:
 16:09:28.8498 LVL= 22000, 26529, 18546, 32739, AGC= 60, IDX= 412, 0.06, 1.043,-0.267, 1.967, 1.182, PHS=-0.037,-1.404, 0.742, RAW= 171.0,   7.5, CAL= 170.6,   7.4, ROT= 339.4,  -7.4

2025-08-22T16:09:28.822Z,1755878968.822 [DAT](INFO): DAT read: Bearing 147.4, -14.7 (Local)

2025-08-22T16:09:28.822Z,1755878968.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.4, -14.7 (Local)

2025-08-22T16:09:28.824Z,1755878968.824 [DAT](INFO): DAT read: Range 11 to 50 : 107.7 m  (Round-trip  143.7 ms) speed  0.4 m/s

2025-08-22T16:09:28.824Z,1755878968.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:28.847Z,1755878968.847 [DAT](INFO): direction in FSK: [0.928263,-0.348911,0.128796]
2025-08-22T16:09:28.847Z,1755878968.847 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:28.850Z,1755878968.850 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:28.850Z,1755878968.850 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:28.851Z,1755878968.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:29.026Z,1755878969.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.699997 m,
      deltaT: 3.779842 s,
      deltaX: -2.100006 m,
      approachRate: -0.555580 m/s,
      rangeRepo size: 4

2025-08-22T16:09:29.028Z,1755878969.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.042358 m,
      bearing: 317.813976 deg,
      lat: 36.779414 deg,
      lon: -121.859667 deg,
      deltaT: 3.779842 s,
      deltaX: -2.089691 m,
      approachRate: -0.552851 m/s,
      posRepo size: 4

2025-08-22T16:09:29.029Z,1755878969.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:29.036Z,1755878969.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 105.867416 m,
      bearing: 316.389337 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047735 deg/s,
      cmd heading: 335.720190 deg,
      new cmd heading: 335.684388 deg.

2025-08-22T16:09:29.037Z,1755878969.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858798 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:29.063Z,1755878969.063 [DAT](INFO): DAT read: user:62>

2025-08-22T16:09:29.063Z,1755878969.063 [DAT](INFO): DAT read: Tx time:16:09:30.1019

2025-08-22T16:09:29.064Z,1755878969.064 [DAT](INFO): Ping request sent.
2025-08-22T16:09:29.064Z,1755878969.064 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:29.064Z,1755878969.064 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:29.065Z,1755878969.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T16:09:29.316Z,1755878969.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251684
2025-08-22T16:09:29.444Z,1755878969.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:29.452Z,1755878969.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:29.480Z,1755878969.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 105.642952 m,
      bearing: 316.370717 deg,
      approach rate: -0.512949 m/s,
      LOS rate: -0.042640 deg/s,
      cmd heading: 335.684400 deg,
      new cmd heading: 335.647082 deg.

2025-08-22T16:09:29.481Z,1755878969.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.858147 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:29.568Z,1755878969.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504100
2025-08-22T16:09:29.819Z,1755878969.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754769
2025-08-22T16:09:29.891Z,1755878969.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:29.900Z,1755878969.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 105.401672 m,
      bearing: 316.351323 deg,
      approach rate: -0.548207 m/s,
      LOS rate: -0.044166 deg/s,
      cmd heading: 335.647080 deg,
      new cmd heading: 335.608203 deg.

2025-08-22T16:09:29.901Z,1755878969.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.857468 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:30.070Z,1755878970.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006647
2025-08-22T16:09:30.260Z,1755878970.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:30.263Z,1755878970.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 105.202377 m,
      bearing: 316.335336 deg,
      approach rate: -0.539656 m/s,
      LOS rate: -0.043372 deg/s,
      cmd heading: 335.608202 deg,
      new cmd heading: 335.576168 deg.

2025-08-22T16:09:30.264Z,1755878970.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856909 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:30.323Z,1755878970.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259477
2025-08-22T16:09:30.575Z,1755878970.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510716
2025-08-22T16:09:30.698Z,1755878970.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:30.702Z,1755878970.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 104.987579 m,
      bearing: 316.317478 deg,
      approach rate: -0.492613 m/s,
      LOS rate: -0.041037 deg/s,
      cmd heading: 335.576155 deg,
      new cmd heading: 335.540368 deg.

2025-08-22T16:09:30.704Z,1755878970.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.856284 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:30.828Z,1755878970.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763862
2025-08-22T16:09:31.065Z,1755878971.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:31.068Z,1755878971.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 104.784157 m,
      bearing: 316.300649 deg,
      approach rate: -0.552154 m/s,
      LOS rate: -0.045770 deg/s,
      cmd heading: 335.540365 deg,
      new cmd heading: 335.506640 deg.

2025-08-22T16:09:31.069Z,1755878971.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855696 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:31.079Z,1755878971.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014796
2025-08-22T16:09:31.331Z,1755878971.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267334
2025-08-22T16:09:31.531Z,1755878971.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:31.533Z,1755878971.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:31.535Z,1755878971.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 104.549706 m,
      bearing: 316.281272 deg,
      approach rate: -0.501284 m/s,
      LOS rate: -0.041523 deg/s,
      cmd heading: 335.506651 deg,
      new cmd heading: 335.467811 deg.

2025-08-22T16:09:31.536Z,1755878971.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.855018 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:31.583Z,1755878971.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519431
2025-08-22T16:09:31.835Z,1755878971.835 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770685
2025-08-22T16:09:31.905Z,1755878971.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:31.908Z,1755878971.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 104.349106 m,
      bearing: 316.262801 deg,
      approach rate: -0.539144 m/s,
      LOS rate: -0.049738 deg/s,
      cmd heading: 335.467801 deg,
      new cmd heading: 335.430789 deg.

2025-08-22T16:09:31.908Z,1755878971.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.854372 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:32.003Z,1755878972.003 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:09:32.087Z,1755878972.087 [DAT](INFO): DAT read: Rx Time:16:09:32.6472

2025-08-22T16:09:32.087Z,1755878972.087 [DAT](INFO): Rx dataTimestamp_ set to:1755878972.086806
2025-08-22T16:09:32.088Z,1755878972.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023826
2025-08-22T16:09:32.287Z,1755878972.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.04 m.
2025-08-22T16:09:32.290Z,1755878972.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.042358 m,
      nav range: 104.151077 m,
      bearing: 316.244612 deg,
      approach rate: -0.517695 m/s,
      LOS rate: -0.047642 deg/s,
      cmd heading: 335.430781 deg,
      new cmd heading: 335.394334 deg.

2025-08-22T16:09:32.291Z,1755878972.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.853735 target range: 107.042358 and range: 107.70 m.
2025-08-22T16:09:32.340Z,1755878972.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275693
2025-08-22T16:09:32.596Z,1755878972.596 [DAT](INFO): DAT read: 16:09:32.6472 LVL= 28464, 28017, 20578, 30451, AGC= 61, IDX= 418,-0.46, 1.202,-0.140, 2.118, 1.448, PHS=-0.144,-1.543, 0.626, RAW= 170.5,  11.1, CAL= 170.5,  12.9, ROT= 339.5, -12.9

2025-08-22T16:09:32.597Z,1755878972.597 [DAT](INFO): got valid direction response:
 16:09:32.6472 LVL= 28464, 28017, 20578, 30451, AGC= 61, IDX= 418,-0.46, 1.202,-0.140, 2.118, 1.448, PHS=-0.144,-1.543, 0.626, RAW= 170.5,  11.1, CAL= 170.5,  12.9, ROT= 339.5, -12.9

2025-08-22T16:09:32.602Z,1755878972.602 [DAT](INFO): DAT read: Bearing 152.8, -17.9 (Local)

2025-08-22T16:09:32.603Z,1755878972.603 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.8, -17.9 (Local)

2025-08-22T16:09:32.604Z,1755878972.604 [DAT](INFO): DAT read: Range 11 to 50 : 105.9 m  (Round-trip  141.2 ms) speed  0.4 m/s

2025-08-22T16:09:32.605Z,1755878972.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:32.606Z,1755878972.606 [DAT](INFO): direction in FSK: [0.913032,-0.341369,0.223250]
2025-08-22T16:09:32.606Z,1755878972.606 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:32.609Z,1755878972.609 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:32.610Z,1755878972.610 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:32.610Z,1755878972.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:32.791Z,1755878972.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.900002 m,
      deltaT: 3.779779 s,
      deltaX: -1.799995 m,
      approachRate: -0.476217 m/s,
      rangeRepo size: 4

2025-08-22T16:09:32.793Z,1755878972.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.252983 m,
      bearing: 317.302791 deg,
      lat: 36.779414 deg,
      lon: -121.859667 deg,
      deltaT: 3.779779 s,
      deltaX: -1.789375 m,
      approachRate: -0.473407 m/s,
      posRepo size: 4

2025-08-22T16:09:32.798Z,1755878972.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:32.800Z,1755878972.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 103.898308 m,
      bearing: 316.218026 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047642 deg/s,
      cmd heading: 335.394335 deg,
      new cmd heading: 335.346395 deg.

2025-08-22T16:09:32.806Z,1755878972.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852899 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:32.842Z,1755878972.842 [DAT](INFO): DAT read: user:63>

2025-08-22T16:09:32.843Z,1755878972.843 [DAT](INFO): DAT read: Tx time:16:09:33.8519

2025-08-22T16:09:32.844Z,1755878972.844 [DAT](INFO): Ping request sent.
2025-08-22T16:09:32.844Z,1755878972.844 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:32.844Z,1755878972.844 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:32.844Z,1755878972.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T16:09:33.006Z,1755878973.006 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:09:33.090Z,1755878973.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:33.092Z,1755878973.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 103.738029 m,
      bearing: 316.201200 deg,
      approach rate: -0.536093 m/s,
      LOS rate: -0.056367 deg/s,
      cmd heading: 335.346388 deg,
      new cmd heading: 335.312683 deg.

2025-08-22T16:09:33.093Z,1755878973.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.852310 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:33.095Z,1755878973.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250938
2025-08-22T16:09:33.347Z,1755878973.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502826
2025-08-22T16:09:33.555Z,1755878973.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:33.557Z,1755878973.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:33.560Z,1755878973.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 103.501556 m,
      bearing: 316.176392 deg,
      approach rate: -0.505495 m/s,
      LOS rate: -0.053153 deg/s,
      cmd heading: 335.312674 deg,
      new cmd heading: 335.262944 deg.

2025-08-22T16:09:33.561Z,1755878973.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.851442 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:33.599Z,1755878973.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755034
2025-08-22T16:09:33.850Z,1755878973.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006799
2025-08-22T16:09:33.954Z,1755878973.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:33.956Z,1755878973.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 103.309731 m,
      bearing: 316.153275 deg,
      approach rate: -0.524478 m/s,
      LOS rate: -0.063320 deg/s,
      cmd heading: 335.262950 deg,
      new cmd heading: 335.216632 deg.

2025-08-22T16:09:33.957Z,1755878973.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.850634 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:34.103Z,1755878974.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098
2025-08-22T16:09:34.319Z,1755878974.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:34.326Z,1755878974.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 103.110435 m,
      bearing: 316.129330 deg,
      approach rate: -0.502826 m/s,
      LOS rate: -0.060531 deg/s,
      cmd heading: 335.216641 deg,
      new cmd heading: 335.168658 deg.

2025-08-22T16:09:34.327Z,1755878974.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.849797 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:34.355Z,1755878974.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511156
2025-08-22T16:09:34.607Z,1755878974.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763349
2025-08-22T16:09:34.757Z,1755878974.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:34.760Z,1755878974.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 102.885521 m,
      bearing: 316.103052 deg,
      approach rate: -0.532893 m/s,
      LOS rate: -0.062398 deg/s,
      cmd heading: 335.168666 deg,
      new cmd heading: 335.115994 deg.

2025-08-22T16:09:34.761Z,1755878974.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848877 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:34.859Z,1755878974.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015588
2025-08-22T16:09:35.111Z,1755878975.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267004
2025-08-22T16:09:35.121Z,1755878975.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:35.124Z,1755878975.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 102.690651 m,
      bearing: 316.080327 deg,
      approach rate: -0.512960 m/s,
      LOS rate: -0.059934 deg/s,
      cmd heading: 335.115992 deg,
      new cmd heading: 335.070455 deg.

2025-08-22T16:09:35.125Z,1755878975.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.848083 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:35.363Z,1755878975.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518834
2025-08-22T16:09:35.578Z,1755878975.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:35.580Z,1755878975.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:35.587Z,1755878975.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 102.463455 m,
      bearing: 316.053823 deg,
      approach rate: -0.495287 m/s,
      LOS rate: -0.057907 deg/s,
      cmd heading: 335.070448 deg,
      new cmd heading: 335.017322 deg.

2025-08-22T16:09:35.588Z,1755878975.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.847155 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:35.615Z,1755878975.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770965
2025-08-22T16:09:35.868Z,1755878975.868 [DAT](INFO): DAT read: Rx Time:16:09:36.3945

2025-08-22T16:09:35.868Z,1755878975.868 [DAT](INFO): Rx dataTimestamp_ set to:1755878975.867709
2025-08-22T16:09:35.869Z,1755878975.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025210
2025-08-22T16:09:35.978Z,1755878975.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:35.981Z,1755878975.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 102.249847 m,
      bearing: 316.027874 deg,
      approach rate: -0.536876 m/s,
      LOS rate: -0.065354 deg/s,
      cmd heading: 335.017309 deg,
      new cmd heading: 334.965304 deg.

2025-08-22T16:09:35.982Z,1755878975.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.846248 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:36.118Z,1755878976.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274810
2025-08-22T16:09:36.345Z,1755878976.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.25 m.
2025-08-22T16:09:36.348Z,1755878976.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.252983 m,
      nav range: 102.048225 m,
      bearing: 316.003349 deg,
      approach rate: -0.548666 m/s,
      LOS rate: -0.066871 deg/s,
      cmd heading: 334.965318 deg,
      new cmd heading: 334.916170 deg.

2025-08-22T16:09:36.349Z,1755878976.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.845390 target range: 105.252983 and range: 105.90 m.
2025-08-22T16:09:36.389Z,1755878976.389 [DAT](INFO): DAT read: 16:09:36.3945 LVL= 25232, 31505, 17810, 32755, AGC= 63, IDX= 406, 0.29,-3.100, 1.830,-2.213,-2.822, PHS=-0.176,-1.586, 0.565, RAW= 169.8,  12.6, CAL= 170.1,  15.1, ROT= 339.9, -15.1

2025-08-22T16:09:36.391Z,1755878976.391 [DAT](INFO): got valid direction response:
 16:09:36.3945 LVL= 25232, 31505, 17810, 32755, AGC= 63, IDX= 406, 0.29,-3.100, 1.830,-2.213,-2.822, PHS=-0.176,-1.586, 0.565, RAW= 169.8,  12.6, CAL= 170.1,  15.1, ROT= 339.9, -15.1

2025-08-22T16:09:36.392Z,1755878976.392 [DAT](INFO): DAT read: Bearing 154.8, -20.3 (Local)

2025-08-22T16:09:36.393Z,1755878976.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.8, -20.3 (Local)

2025-08-22T16:09:36.403Z,1755878976.403 [DAT](INFO): DAT read: Range 11 to 50 : 103.8 m  (Round-trip  138.4 ms) speed  0.7 m/s

2025-08-22T16:09:36.404Z,1755878976.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:36.408Z,1755878976.408 [DAT](INFO): direction in FSK: [0.906670,-0.331794,0.260505]
2025-08-22T16:09:36.410Z,1755878976.410 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:36.424Z,1755878976.424 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:36.424Z,1755878976.424 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:36.424Z,1755878976.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:36.623Z,1755878976.623 [DAT](INFO): DAT read: user:64>

2025-08-22T16:09:36.623Z,1755878976.623 [DAT](INFO): DAT read: Tx time:16:09:37.7019

2025-08-22T16:09:36.624Z,1755878976.624 [DAT](INFO): Ping request sent.
2025-08-22T16:09:36.624Z,1755878976.624 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:36.624Z,1755878976.624 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:36.624Z,1755878976.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-08-22T16:09:36.770Z,1755878976.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.800003 m,
      deltaT: 3.780308 s,
      deltaX: -2.099998 m,
      approachRate: -0.555510 m/s,
      rangeRepo size: 4

2025-08-22T16:09:36.772Z,1755878976.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.165924 m,
      bearing: 317.341329 deg,
      lat: 36.779418 deg,
      lon: -121.859642 deg,
      deltaT: 3.780308 s,
      deltaX: -2.087059 m,
      approachRate: -0.552087 m/s,
      posRepo size: 4

2025-08-22T16:09:36.773Z,1755878976.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:36.776Z,1755878976.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 100.643387 m,
      bearing: 317.083135 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.066871 deg/s,
      cmd heading: 334.916168 deg,
      new cmd heading: 334.859457 deg.

2025-08-22T16:09:36.776Z,1755878976.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.844400 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:36.875Z,1755878976.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250893
2025-08-22T16:09:37.130Z,1755878977.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505939
2025-08-22T16:09:37.280Z,1755878977.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:37.286Z,1755878977.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 100.380920 m,
      bearing: 317.055935 deg,
      approach rate: -0.513778 m/s,
      LOS rate: -0.053385 deg/s,
      cmd heading: 334.859450 deg,
      new cmd heading: 334.804906 deg.

2025-08-22T16:09:37.287Z,1755878977.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.843448 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:37.379Z,1755878977.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755671
2025-08-22T16:09:37.631Z,1755878977.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853
2025-08-22T16:09:37.717Z,1755878977.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:37.720Z,1755878977.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:37.722Z,1755878977.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 100.139923 m,
      bearing: 317.029969 deg,
      approach rate: -0.548512 m/s,
      LOS rate: -0.059240 deg/s,
      cmd heading: 334.804917 deg,
      new cmd heading: 334.752861 deg.

2025-08-22T16:09:37.723Z,1755878977.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.842540 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:37.884Z,1755878977.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259892
2025-08-22T16:09:38.132Z,1755878978.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:38.135Z,1755878978.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511009
2025-08-22T16:09:38.137Z,1755878978.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 99.923233 m,
      bearing: 317.006893 deg,
      approach rate: -0.525155 m/s,
      LOS rate: -0.056047 deg/s,
      cmd heading: 334.752871 deg,
      new cmd heading: 334.706619 deg.

2025-08-22T16:09:38.138Z,1755878978.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.841733 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:38.386Z,1755878978.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729
2025-08-22T16:09:38.524Z,1755878978.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:38.532Z,1755878978.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 99.715500 m,
      bearing: 316.984838 deg,
      approach rate: -0.530205 m/s,
      LOS rate: -0.056409 deg/s,
      cmd heading: 334.706617 deg,
      new cmd heading: 334.662416 deg.

2025-08-22T16:09:38.536Z,1755878978.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840961 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:38.640Z,1755878978.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016024
2025-08-22T16:09:38.891Z,1755878978.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266770
2025-08-22T16:09:38.980Z,1755878978.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:38.983Z,1755878978.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 99.470749 m,
      bearing: 316.961075 deg,
      approach rate: -0.536775 m/s,
      LOS rate: -0.052243 deg/s,
      cmd heading: 334.662412 deg,
      new cmd heading: 334.614771 deg.

2025-08-22T16:09:38.984Z,1755878978.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.840129 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:39.142Z,1755878979.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518759
2025-08-22T16:09:39.354Z,1755878979.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:39.356Z,1755878979.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 99.272362 m,
      bearing: 316.942038 deg,
      approach rate: -0.531163 m/s,
      LOS rate: -0.051072 deg/s,
      cmd heading: 334.614765 deg,
      new cmd heading: 334.576614 deg.

2025-08-22T16:09:39.357Z,1755878979.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.839464 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:39.395Z,1755878979.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771072
2025-08-22T16:09:39.647Z,1755878979.647 [DAT](INFO): DAT read: Rx Time:16:09:40.2419

2025-08-22T16:09:39.647Z,1755878979.647 [DAT](INFO): Rx dataTimestamp_ set to:1755878979.646751
2025-08-22T16:09:39.648Z,1755878979.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023862
2025-08-22T16:09:39.775Z,1755878979.775 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:39.777Z,1755878979.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.17 m.
2025-08-22T16:09:39.780Z,1755878979.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.165924 m,
      nav range: 99.050667 m,
      bearing: 316.921502 deg,
      approach rate: -0.523351 m/s,
      LOS rate: -0.048589 deg/s,
      cmd heading: 334.576625 deg,
      new cmd heading: 334.535460 deg.

2025-08-22T16:09:39.781Z,1755878979.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.838745 target range: 103.165924 and range: 103.80 m.
2025-08-22T16:09:39.899Z,1755878979.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274816
2025-08-22T16:09:40.156Z,1755878980.156 [DAT](INFO): DAT read: 16:09:40.2419 LVL= 25632, 32673, 20098, 32755, AGC= 64, IDX= 412,-0.23,-2.493, 2.455,-1.574,-2.174, PHS=-0.217,-1.609, 0.556, RAW= 170.6,  13.3, CAL= 170.9,  16.1, ROT= 339.1, -16.1

2025-08-22T16:09:40.158Z,1755878980.158 [DAT](INFO): got valid direction response:
 16:09:40.2419 LVL= 25632, 32673, 20098, 32755, AGC= 64, IDX= 412,-0.23,-2.493, 2.455,-1.574,-2.174, PHS=-0.217,-1.609, 0.556, RAW= 170.6,  13.3, CAL= 170.9,  16.1, ROT= 339.1, -16.1

2025-08-22T16:09:40.159Z,1755878980.159 [DAT](INFO): DAT read: Bearing 155.9, -23.5 (Local)

2025-08-22T16:09:40.159Z,1755878980.159 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.9, -23.5 (Local)

2025-08-22T16:09:40.161Z,1755878980.161 [DAT](INFO): DAT read: Range 11 to 50 : 101.9 m  (Round-trip  135.9 ms) speed  0.4 m/s

2025-08-22T16:09:40.162Z,1755878980.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:40.164Z,1755878980.164 [DAT](INFO): direction in FSK: [0.897564,-0.342746,0.277315]
2025-08-22T16:09:40.165Z,1755878980.165 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:40.180Z,1755878980.180 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:40.180Z,1755878980.180 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:40.180Z,1755878980.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:40.290Z,1755878980.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.900002 m,
      deltaT: 3.780433 s,
      deltaX: -1.900002 m,
      approachRate: -0.502588 m/s,
      rangeRepo size: 4

2025-08-22T16:09:40.292Z,1755878980.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.276405 m,
      bearing: 316.145882 deg,
      lat: 36.779418 deg,
      lon: -121.859642 deg,
      deltaT: 3.780433 s,
      deltaX: -1.889519 m,
      approachRate: -0.499815 m/s,
      posRepo size: 4

2025-08-22T16:09:40.292Z,1755878980.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:40.303Z,1755878980.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 98.809639 m,
      bearing: 316.899325 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048589 deg/s,
      cmd heading: 334.535453 deg,
      new cmd heading: 334.486499 deg.

2025-08-22T16:09:40.304Z,1755878980.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837891 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:40.403Z,1755878980.403 [DAT](INFO): DAT read: user:65>

2025-08-22T16:09:40.403Z,1755878980.403 [DAT](INFO): DAT read: Tx time:16:09:41.4519

2025-08-22T16:09:40.404Z,1755878980.404 [DAT](INFO): Ping request sent.
2025-08-22T16:09:40.404Z,1755878980.404 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:40.404Z,1755878980.404 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:40.404Z,1755878980.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-08-22T16:09:40.654Z,1755878980.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250620
2025-08-22T16:09:40.732Z,1755878980.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:40.735Z,1755878980.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 98.554283 m,
      bearing: 316.879831 deg,
      approach rate: -0.566163 m/s,
      LOS rate: -0.043334 deg/s,
      cmd heading: 334.486494 deg,
      new cmd heading: 334.447405 deg.

2025-08-22T16:09:40.736Z,1755878980.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.837208 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:40.907Z,1755878980.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998
2025-08-22T16:09:41.066Z,1755878981.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:41.068Z,1755878981.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 98.382042 m,
      bearing: 316.866748 deg,
      approach rate: -0.515834 m/s,
      LOS rate: -0.039250 deg/s,
      cmd heading: 334.447398 deg,
      new cmd heading: 334.421186 deg.

2025-08-22T16:09:41.070Z,1755878981.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836751 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:41.160Z,1755878981.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756177
2025-08-22T16:09:41.410Z,1755878981.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006741
2025-08-22T16:09:41.481Z,1755878981.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:41.483Z,1755878981.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 98.175919 m,
      bearing: 316.851139 deg,
      approach rate: -0.496709 m/s,
      LOS rate: -0.037693 deg/s,
      cmd heading: 334.421197 deg,
      new cmd heading: 334.389914 deg.

2025-08-22T16:09:41.484Z,1755878981.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.836205 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:41.664Z,1755878981.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260248
2025-08-22T16:09:41.914Z,1755878981.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510713
2025-08-22T16:09:41.975Z,1755878981.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:41.977Z,1755878981.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:41.991Z,1755878981.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 97.910789 m,
      bearing: 316.835662 deg,
      approach rate: -0.534580 m/s,
      LOS rate: -0.031290 deg/s,
      cmd heading: 334.389915 deg,
      new cmd heading: 334.358878 deg.

2025-08-22T16:09:41.992Z,1755878981.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835663 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:42.168Z,1755878982.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763616
2025-08-22T16:09:42.354Z,1755878982.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:42.356Z,1755878982.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 97.714874 m,
      bearing: 316.824328 deg,
      approach rate: -0.520039 m/s,
      LOS rate: -0.030146 deg/s,
      cmd heading: 334.358879 deg,
      new cmd heading: 334.336165 deg.

2025-08-22T16:09:42.357Z,1755878982.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.835267 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:42.419Z,1755878982.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014916
2025-08-22T16:09:42.672Z,1755878982.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268201
2025-08-22T16:09:42.871Z,1755878982.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:42.874Z,1755878982.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 97.440109 m,
      bearing: 316.806115 deg,
      approach rate: -0.530521 m/s,
      LOS rate: -0.035266 deg/s,
      cmd heading: 334.336175 deg,
      new cmd heading: 334.299646 deg.

2025-08-22T16:09:42.875Z,1755878982.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834630 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:42.924Z,1755878982.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519992
2025-08-22T16:09:43.175Z,1755878983.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771112
2025-08-22T16:09:43.224Z,1755878983.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:43.227Z,1755878983.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 97.252579 m,
      bearing: 316.793860 deg,
      approach rate: -0.531707 m/s,
      LOS rate: -0.034812 deg/s,
      cmd heading: 334.299647 deg,
      new cmd heading: 334.275091 deg.

2025-08-22T16:09:43.228Z,1755878983.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.834201 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:43.427Z,1755878983.427 [DAT](INFO): DAT read: Rx Time:16:09:43.9893

2025-08-22T16:09:43.427Z,1755878983.427 [DAT](INFO): Rx dataTimestamp_ set to:1755878983.426746
2025-08-22T16:09:43.428Z,1755878983.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023828
2025-08-22T16:09:43.683Z,1755878983.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278238
2025-08-22T16:09:43.690Z,1755878983.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.28 m.
2025-08-22T16:09:43.693Z,1755878983.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.276405 m,
      nav range: 97.037834 m,
      bearing: 316.779849 deg,
      approach rate: -0.460414 m/s,
      LOS rate: -0.030107 deg/s,
      cmd heading: 334.275086 deg,
      new cmd heading: 334.247001 deg.

2025-08-22T16:09:43.698Z,1755878983.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833711 target range: 101.276405 and range: 101.90 m.
2025-08-22T16:09:43.940Z,1755878983.940 [DAT](INFO): DAT read: 16:09:43.9893 LVL= 23488, 32753, 21586, 32755, AGC= 64, IDX= 417, 0.34, 1.217,-0.161, 2.113, 1.534, PHS=-0.214,-1.650, 0.535, RAW= 169.7,  13.7, CAL= 170.1,  16.7, ROT= 339.9, -16.7

2025-08-22T16:09:43.941Z,1755878983.941 [DAT](INFO): got valid direction response:
 16:09:43.9893 LVL= 23488, 32753, 21586, 32755, AGC= 64, IDX= 417, 0.34, 1.217,-0.161, 2.113, 1.534, PHS=-0.214,-1.650, 0.535, RAW= 169.7,  13.7, CAL= 170.1,  16.7, ROT= 339.9, -16.7

2025-08-22T16:09:43.943Z,1755878983.943 [DAT](INFO): DAT read: Bearing 156.1, -24.2 (Local)

2025-08-22T16:09:43.943Z,1755878983.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.1, -24.2 (Local)

2025-08-22T16:09:43.945Z,1755878983.945 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m  (Round-trip  133.3 ms) speed  0.4 m/s

2025-08-22T16:09:43.948Z,1755878983.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:43.970Z,1755878983.970 [DAT](INFO): direction in FSK: [0.899486,-0.329165,0.287361]
2025-08-22T16:09:43.970Z,1755878983.970 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:43.978Z,1755878983.978 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:43.979Z,1755878983.979 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:43.979Z,1755878983.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:44.163Z,1755878984.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.900002 m,
      deltaT: 3.780224 s,
      deltaX: -2.000000 m,
      approachRate: -0.529069 m/s,
      rangeRepo size: 4

2025-08-22T16:09:44.172Z,1755878984.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.289543 m,
      bearing: 316.422500 deg,
      lat: 36.779421 deg,
      lon: -121.859642 deg,
      deltaT: 3.780224 s,
      deltaX: -1.986862 m,
      approachRate: -0.525594 m/s,
      posRepo size: 4

2025-08-22T16:09:44.173Z,1755878984.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:44.183Z,1755878984.183 [DAT](INFO): DAT read: user:66>

2025-08-22T16:09:44.185Z,1755878984.185 [DAT](INFO): DAT read: Tx time:16:09:45.2519

2025-08-22T16:09:44.186Z,1755878984.186 [DAT](INFO): Ping request sent.
2025-08-22T16:09:44.186Z,1755878984.186 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:44.186Z,1755878984.186 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:44.187Z,1755878984.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000891
2025-08-22T16:09:44.191Z,1755878984.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 97.000359 m,
      bearing: 316.885542 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030107 deg/s,
      cmd heading: 334.247000 deg,
      new cmd heading: 334.219197 deg.

2025-08-22T16:09:44.192Z,1755878984.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.833225 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:44.434Z,1755878984.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248546
2025-08-22T16:09:44.454Z,1755878984.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:44.456Z,1755878984.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:44.459Z,1755878984.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 96.831032 m,
      bearing: 316.874916 deg,
      approach rate: -0.556864 m/s,
      LOS rate: -0.035007 deg/s,
      cmd heading: 334.219188 deg,
      new cmd heading: 334.197898 deg.

2025-08-22T16:09:44.460Z,1755878984.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832854 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:44.689Z,1755878984.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503102
2025-08-22T16:09:44.908Z,1755878984.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:44.915Z,1755878984.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 96.603668 m,
      bearing: 316.860209 deg,
      approach rate: -0.503670 m/s,
      LOS rate: -0.032657 deg/s,
      cmd heading: 334.197905 deg,
      new cmd heading: 334.168421 deg.

2025-08-22T16:09:44.915Z,1755878984.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.832339 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:44.940Z,1755878984.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753746
2025-08-22T16:09:45.191Z,1755878985.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005281
2025-08-22T16:09:45.269Z,1755878985.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:45.272Z,1755878985.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 96.414673 m,
      bearing: 316.847998 deg,
      approach rate: -0.523247 m/s,
      LOS rate: -0.033874 deg/s,
      cmd heading: 334.168426 deg,
      new cmd heading: 334.143955 deg.

2025-08-22T16:09:45.273Z,1755878985.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831912 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:45.442Z,1755878985.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256658
2025-08-22T16:09:45.697Z,1755878985.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510218
2025-08-22T16:09:45.764Z,1755878985.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:45.767Z,1755878985.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 96.157448 m,
      bearing: 316.826784 deg,
      approach rate: -0.519740 m/s,
      LOS rate: -0.042978 deg/s,
      cmd heading: 334.143946 deg,
      new cmd heading: 334.101405 deg.

2025-08-22T16:09:45.768Z,1755878985.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.831170 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:45.946Z,1755878985.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760642
2025-08-22T16:09:46.091Z,1755878986.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:46.094Z,1755878986.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 95.987190 m,
      bearing: 316.812737 deg,
      approach rate: -0.519982 m/s,
      LOS rate: -0.042978 deg/s,
      cmd heading: 334.101408 deg,
      new cmd heading: 334.073264 deg.

2025-08-22T16:09:46.095Z,1755878986.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830678 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:46.199Z,1755878986.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013443
2025-08-22T16:09:46.451Z,1755878986.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264711
2025-08-22T16:09:46.493Z,1755878986.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:46.495Z,1755878986.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:46.498Z,1755878986.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 95.777588 m,
      bearing: 316.795463 deg,
      approach rate: -0.518402 m/s,
      LOS rate: -0.042815 deg/s,
      cmd heading: 334.073268 deg,
      new cmd heading: 334.038645 deg.

2025-08-22T16:09:46.499Z,1755878986.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.830074 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:46.705Z,1755878986.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518696
2025-08-22T16:09:46.932Z,1755878986.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:46.938Z,1755878986.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 95.552116 m,
      bearing: 316.776099 deg,
      approach rate: -0.517705 m/s,
      LOS rate: -0.044567 deg/s,
      cmd heading: 334.038652 deg,
      new cmd heading: 333.999833 deg.

2025-08-22T16:09:46.941Z,1755878986.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.829397 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:46.955Z,1755878986.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768678
2025-08-22T16:09:47.208Z,1755878987.208 [DAT](INFO): DAT read: Rx Time:16:09:47.7867

2025-08-22T16:09:47.208Z,1755878987.208 [DAT](INFO): Rx dataTimestamp_ set to:1755878987.207781
2025-08-22T16:09:47.209Z,1755878987.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023111
2025-08-22T16:09:47.301Z,1755878987.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.29 m.
2025-08-22T16:09:47.303Z,1755878987.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.289543 m,
      nav range: 95.359489 m,
      bearing: 316.759568 deg,
      approach rate: -0.521237 m/s,
      LOS rate: -0.044822 deg/s,
      cmd heading: 333.999829 deg,
      new cmd heading: 333.966701 deg.

2025-08-22T16:09:47.304Z,1755878987.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.828818 target range: 99.289543 and range: 99.90 m.
2025-08-22T16:09:47.458Z,1755878987.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272658
2025-08-22T16:09:47.753Z,1755878987.753 [DAT](INFO): DAT read: 16:09:47.7867 LVL= 26848, 32753, 21362, 32755, AGC= 65, IDX= 422,-0.08, 0.711,-0.628, 1.615, 1.024, PHS=-0.211,-1.607, 0.548, RAW= 170.3,  13.3, CAL= 170.6,  16.2, ROT= 339.4, -16.2

2025-08-22T16:09:47.762Z,1755878987.762 [DAT](INFO): got valid direction response:
 16:09:47.7867 LVL= 26848, 32753, 21362, 32755, AGC= 65, IDX= 422,-0.08, 0.711,-0.628, 1.615, 1.024, PHS=-0.211,-1.607, 0.548, RAW= 170.3,  13.3, CAL= 170.6,  16.2, ROT= 339.4, -16.2

2025-08-22T16:09:47.763Z,1755878987.763 [DAT](INFO): DAT read: Bearing 155.5, -25.5 (Local)

2025-08-22T16:09:47.764Z,1755878987.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 155.5, -25.5 (Local)

2025-08-22T16:09:47.765Z,1755878987.765 [DAT](INFO): DAT read: Range 11 to 50 : 97.9 m  (Round-trip  130.6 ms) speed  0.4 m/s

2025-08-22T16:09:47.770Z,1755878987.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:47.771Z,1755878987.771 [DAT](INFO): direction in FSK: [0.898892,-0.337871,0.278991]
2025-08-22T16:09:47.771Z,1755878987.771 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:47.779Z,1755878987.779 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:47.779Z,1755878987.779 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:47.779Z,1755878987.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:47.895Z,1755878987.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.900002 m,
      deltaT: 3.783965 s,
      deltaX: -2.000000 m,
      approachRate: -0.528546 m/s,
      rangeRepo size: 4

2025-08-22T16:09:47.909Z,1755878987.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.302040 m,
      bearing: 315.628146 deg,
      lat: 36.779418 deg,
      lon: -121.859654 deg,
      deltaT: 3.783965 s,
      deltaX: -1.987503 m,
      approachRate: -0.525244 m/s,
      posRepo size: 4

2025-08-22T16:09:47.914Z,1755878987.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:47.917Z,1755878987.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 95.586540 m,
      bearing: 316.136303 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044822 deg/s,
      cmd heading: 333.966689 deg,
      new cmd heading: 333.913419 deg.

2025-08-22T16:09:47.922Z,1755878987.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827888 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:47.963Z,1755878987.963 [DAT](INFO): DAT read: user:67>

2025-08-22T16:09:47.964Z,1755878987.964 [DAT](INFO): DAT read: Tx time:16:09:49.0519

2025-08-22T16:09:47.965Z,1755878987.965 [DAT](INFO): Ping request sent.
2025-08-22T16:09:47.965Z,1755878987.965 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:47.965Z,1755878987.965 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:47.966Z,1755878987.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001162
2025-08-22T16:09:48.215Z,1755878988.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250166
2025-08-22T16:09:48.269Z,1755878988.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:48.275Z,1755878988.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 95.393379 m,
      bearing: 316.117808 deg,
      approach rate: -0.516711 m/s,
      LOS rate: -0.049576 deg/s,
      cmd heading: 333.913414 deg,
      new cmd heading: 333.876348 deg.

2025-08-22T16:09:48.276Z,1755878988.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.827241 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:48.467Z,1755878988.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502643
2025-08-22T16:09:48.722Z,1755878988.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756053
2025-08-22T16:09:48.815Z,1755878988.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:48.817Z,1755878988.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:48.820Z,1755878988.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 95.101295 m,
      bearing: 316.087624 deg,
      approach rate: -0.532432 m/s,
      LOS rate: -0.055190 deg/s,
      cmd heading: 333.876340 deg,
      new cmd heading: 333.815787 deg.

2025-08-22T16:09:48.821Z,1755878988.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.826185 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:48.971Z,1755878988.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005775
2025-08-22T16:09:49.208Z,1755878989.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:49.211Z,1755878989.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 94.899025 m,
      bearing: 316.066653 deg,
      approach rate: -0.517536 m/s,
      LOS rate: -0.053773 deg/s,
      cmd heading: 333.815797 deg,
      new cmd heading: 333.773764 deg.

2025-08-22T16:09:49.212Z,1755878989.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.825451 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:49.223Z,1755878989.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257851
2025-08-22T16:09:49.475Z,1755878989.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509786
2025-08-22T16:09:49.613Z,1755878989.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:49.616Z,1755878989.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 94.689156 m,
      bearing: 316.044802 deg,
      approach rate: -0.518060 m/s,
      LOS rate: -0.054058 deg/s,
      cmd heading: 333.773777 deg,
      new cmd heading: 333.729979 deg.

2025-08-22T16:09:49.617Z,1755878989.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.824687 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:49.729Z,1755878989.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764064
2025-08-22T16:09:49.979Z,1755878989.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013947
2025-08-22T16:09:50.038Z,1755878990.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:50.040Z,1755878990.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 94.467064 m,
      bearing: 316.022312 deg,
      approach rate: -0.523150 m/s,
      LOS rate: -0.053100 deg/s,
      cmd heading: 333.729982 deg,
      new cmd heading: 333.684898 deg.

2025-08-22T16:09:50.042Z,1755878990.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823900 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:50.231Z,1755878990.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265771
2025-08-22T16:09:50.417Z,1755878990.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:50.420Z,1755878990.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 94.268738 m,
      bearing: 316.002253 deg,
      approach rate: -0.523215 m/s,
      LOS rate: -0.053030 deg/s,
      cmd heading: 333.684903 deg,
      new cmd heading: 333.644701 deg.

2025-08-22T16:09:50.420Z,1755878990.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.823199 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:50.484Z,1755878990.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518675
2025-08-22T16:09:50.737Z,1755878990.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771974
2025-08-22T16:09:50.842Z,1755878990.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:50.844Z,1755878990.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:50.847Z,1755878990.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 94.048271 m,
      bearing: 315.978428 deg,
      approach rate: -0.515682 m/s,
      LOS rate: -0.055860 deg/s,
      cmd heading: 333.644714 deg,
      new cmd heading: 333.596951 deg.

2025-08-22T16:09:50.848Z,1755878990.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822365 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:50.987Z,1755878990.987 [DAT](INFO): DAT read: Rx Time:16:09:51.5841

2025-08-22T16:09:50.987Z,1755878990.987 [DAT](INFO): Rx dataTimestamp_ set to:1755878990.986753
2025-08-22T16:09:50.988Z,1755878990.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022840
2025-08-22T16:09:51.226Z,1755878991.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.30 m.
2025-08-22T16:09:51.229Z,1755878991.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.302040 m,
      nav range: 93.850586 m,
      bearing: 315.957003 deg,
      approach rate: -0.517357 m/s,
      LOS rate: -0.056188 deg/s,
      cmd heading: 333.596958 deg,
      new cmd heading: 333.554018 deg.

2025-08-22T16:09:51.230Z,1755878991.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.821616 target range: 97.302040 and range: 97.90 m.
2025-08-22T16:09:51.239Z,1755878991.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273820
2025-08-22T16:09:51.500Z,1755878991.500 [DAT](INFO): DAT read: 16:09:51.5841 LVL= 27840, 32753, 22866, 32755, AGC= 65, IDX= 412,-0.16, 2.554, 1.210,-2.845, 2.894, PHS=-0.238,-1.640, 0.500, RAW= 169.9,  14.5, CAL= 170.3,  17.9, ROT= 339.7, -17.9

2025-08-22T16:09:51.501Z,1755878991.501 [DAT](INFO): got valid direction response:
 16:09:51.5841 LVL= 27840, 32753, 22866, 32755, AGC= 65, IDX= 412,-0.16, 2.554, 1.210,-2.845, 2.894, PHS=-0.238,-1.640, 0.500, RAW= 169.9,  14.5, CAL= 170.3,  17.9, ROT= 339.7, -17.9

2025-08-22T16:09:51.502Z,1755878991.502 [DAT](INFO): DAT read: Bearing 156.6, -25.1 (Local)

2025-08-22T16:09:51.502Z,1755878991.502 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.6, -25.1 (Local)

2025-08-22T16:09:51.504Z,1755878991.504 [DAT](INFO): DAT read: Range 11 to 50 : 96.0 m  (Round-trip  128.1 ms) speed  0.4 m/s

2025-08-22T16:09:51.504Z,1755878991.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:51.505Z,1755878991.505 [DAT](INFO): direction in FSK: [0.892490,-0.330142,0.307357]
2025-08-22T16:09:51.506Z,1755878991.506 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:51.509Z,1755878991.509 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:51.509Z,1755878991.509 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:51.509Z,1755878991.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:51.683Z,1755878991.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.000000 m,
      deltaT: 3.776667 s,
      deltaX: -1.900002 m,
      approachRate: -0.503089 m/s,
      rangeRepo size: 4

2025-08-22T16:09:51.685Z,1755878991.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.414162 m,
      bearing: 315.589969 deg,
      lat: 36.779417 deg,
      lon: -121.859657 deg,
      deltaT: 3.776667 s,
      deltaX: -1.887878 m,
      approachRate: -0.499880 m/s,
      posRepo size: 4

2025-08-22T16:09:51.690Z,1755878991.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:51.692Z,1755878991.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 93.685570 m,
      bearing: 315.725511 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056188 deg/s,
      cmd heading: 333.554009 deg,
      new cmd heading: 333.502774 deg.

2025-08-22T16:09:51.693Z,1755878991.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.820722 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:51.747Z,1755878991.747 [DAT](INFO): DAT read: user:68>

2025-08-22T16:09:51.750Z,1755878991.750 [DAT](INFO): DAT read: Tx time:16:09:52.7519

2025-08-22T16:09:51.751Z,1755878991.751 [DAT](INFO): Ping request sent.
2025-08-22T16:09:51.751Z,1755878991.751 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:51.752Z,1755878991.752 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:51.755Z,1755878991.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002438
2025-08-22T16:09:51.994Z,1755878991.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243516
2025-08-22T16:09:52.071Z,1755878992.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:52.073Z,1755878992.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 93.469727 m,
      bearing: 315.703760 deg,
      approach rate: -0.555803 m/s,
      LOS rate: -0.056140 deg/s,
      cmd heading: 333.502783 deg,
      new cmd heading: 333.459180 deg.

2025-08-22T16:09:52.074Z,1755878992.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819961 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:52.247Z,1755878992.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495805
2025-08-22T16:09:52.459Z,1755878992.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:52.461Z,1755878992.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 93.269951 m,
      bearing: 315.683537 deg,
      approach rate: -0.514934 m/s,
      LOS rate: -0.052236 deg/s,
      cmd heading: 333.459179 deg,
      new cmd heading: 333.418648 deg.

2025-08-22T16:09:52.463Z,1755878992.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.819253 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:52.499Z,1755878992.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747838
2025-08-22T16:09:52.754Z,1755878992.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002603
2025-08-22T16:09:52.866Z,1755878992.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:52.868Z,1755878992.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:52.871Z,1755878992.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 93.056442 m,
      bearing: 315.662919 deg,
      approach rate: -0.521707 m/s,
      LOS rate: -0.050496 deg/s,
      cmd heading: 333.418635 deg,
      new cmd heading: 333.377304 deg.

2025-08-22T16:09:52.872Z,1755878992.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.818532 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:53.002Z,1755878993.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251485
2025-08-22T16:09:53.248Z,1755878993.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:53.251Z,1755878993.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 92.857506 m,
      bearing: 315.643731 deg,
      approach rate: -0.522868 m/s,
      LOS rate: -0.050540 deg/s,
      cmd heading: 333.377299 deg,
      new cmd heading: 333.338841 deg.

2025-08-22T16:09:53.252Z,1755878993.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817860 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:53.255Z,1755878993.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503710
2025-08-22T16:09:53.506Z,1755878993.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755501
2025-08-22T16:09:53.673Z,1755878993.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:53.676Z,1755878993.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 92.636353 m,
      bearing: 315.622428 deg,
      approach rate: -0.520962 m/s,
      LOS rate: -0.050303 deg/s,
      cmd heading: 333.338831 deg,
      new cmd heading: 333.296123 deg.

2025-08-22T16:09:53.677Z,1755878993.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.817115 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:53.761Z,1755878993.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010004
2025-08-22T16:09:54.011Z,1755878994.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259592
2025-08-22T16:09:54.098Z,1755878994.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:54.100Z,1755878994.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 92.423599 m,
      bearing: 315.605058 deg,
      approach rate: -0.525918 m/s,
      LOS rate: -0.043036 deg/s,
      cmd heading: 333.296129 deg,
      new cmd heading: 333.261309 deg.

2025-08-22T16:09:54.101Z,1755878994.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.816507 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:54.266Z,1755878994.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515357
2025-08-22T16:09:54.490Z,1755878994.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:54.493Z,1755878994.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 92.218010 m,
      bearing: 315.588328 deg,
      approach rate: -0.497959 m/s,
      LOS rate: -0.040613 deg/s,
      cmd heading: 333.261322 deg,
      new cmd heading: 333.227787 deg.

2025-08-22T16:09:54.503Z,1755878994.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815922 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:54.519Z,1755878994.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767692
2025-08-22T16:09:54.772Z,1755878994.772 [DAT](INFO): DAT read: Rx Time:16:09:55.2816

2025-08-22T16:09:54.774Z,1755878994.774 [DAT](INFO): Rx dataTimestamp_ set to:1755878994.772434
2025-08-22T16:09:54.776Z,1755878994.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023971
2025-08-22T16:09:54.928Z,1755878994.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:54.935Z,1755878994.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.41 m.
2025-08-22T16:09:54.937Z,1755878994.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.414162 m,
      nav range: 91.980431 m,
      bearing: 315.570604 deg,
      approach rate: -0.534763 m/s,
      LOS rate: -0.039997 deg/s,
      cmd heading: 333.227799 deg,
      new cmd heading: 333.192261 deg.

2025-08-22T16:09:54.944Z,1755878994.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.815302 target range: 95.414162 and range: 96.00 m.
2025-08-22T16:09:55.023Z,1755878995.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272240
2025-08-22T16:09:55.280Z,1755878995.280 [DAT](INFO): DAT read: 16:09:55.2816 LVL= 22496, 25265, 18162, 29411, AGC= 63, IDX= 418,-0.34,-0.916,-2.283,-0.018,-0.540, PHS=-0.274,-1.697, 0.478, RAW= 169.9,  15.4, CAL= 170.5,  19.3, ROT= 339.5, -19.3

2025-08-22T16:09:55.281Z,1755878995.281 [DAT](INFO): got valid direction response:
 16:09:55.2816 LVL= 22496, 25265, 18162, 29411, AGC= 63, IDX= 418,-0.34,-0.916,-2.283,-0.018,-0.540, PHS=-0.274,-1.697, 0.478, RAW= 169.9,  15.4, CAL= 170.5,  19.3, ROT= 339.5, -19.3

2025-08-22T16:09:55.282Z,1755878995.282 [DAT](INFO): DAT read: Bearing 157.6, -24.5 (Local)

2025-08-22T16:09:55.282Z,1755878995.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 157.6, -24.5 (Local)

2025-08-22T16:09:55.284Z,1755878995.284 [DAT](INFO): DAT read: Range 11 to 50 : 94.1 m  (Round-trip  125.5 ms) speed  0.4 m/s

2025-08-22T16:09:55.284Z,1755878995.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:09:55.285Z,1755878995.285 [DAT](INFO): direction in FSK: [0.884032,-0.330526,0.330514]
2025-08-22T16:09:55.286Z,1755878995.286 [DAT](INFO): publishing direction and range info
2025-08-22T16:09:55.289Z,1755878995.289 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:55.289Z,1755878995.289 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:55.289Z,1755878995.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:55.319Z,1755878995.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.099998 m,
      deltaT: 3.782468 s,
      deltaX: -1.900002 m,
      approachRate: -0.502318 m/s,
      rangeRepo size: 4

2025-08-22T16:09:55.320Z,1755878995.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.528915 m,
      bearing: 314.901249 deg,
      lat: 36.779416 deg,
      lon: -121.859660 deg,
      deltaT: 3.782468 s,
      deltaX: -1.885246 m,
      approachRate: -0.498417 m/s,
      posRepo size: 4

2025-08-22T16:09:55.321Z,1755878995.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:55.352Z,1755878995.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 91.904152 m,
      bearing: 315.417617 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039997 deg/s,
      cmd heading: 333.192255 deg,
      new cmd heading: 333.161649 deg.

2025-08-22T16:09:55.366Z,1755878995.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.814768 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:55.527Z,1755878995.527 [DAT](INFO): DAT read: user:69>

2025-08-22T16:09:55.527Z,1755878995.527 [DAT](INFO): DAT read: Tx time:16:09:56.5519

2025-08-22T16:09:55.528Z,1755878995.528 [DAT](INFO): Ping request sent.
2025-08-22T16:09:55.528Z,1755878995.528 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:55.528Z,1755878995.528 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:55.529Z,1755878995.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-08-22T16:09:55.779Z,1755878995.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250706
2025-08-22T16:09:55.887Z,1755878995.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:55.894Z,1755878995.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 91.606956 m,
      bearing: 315.395564 deg,
      approach rate: -0.521353 m/s,
      LOS rate: -0.038812 deg/s,
      cmd heading: 333.161656 deg,
      new cmd heading: 333.117407 deg.

2025-08-22T16:09:55.895Z,1755878995.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813995 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:56.031Z,1755878996.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502891
2025-08-22T16:09:56.287Z,1755878996.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758699
2025-08-22T16:09:56.396Z,1755878996.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:56.399Z,1755878996.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 91.327415 m,
      bearing: 315.381421 deg,
      approach rate: -0.549402 m/s,
      LOS rate: -0.027880 deg/s,
      cmd heading: 333.117396 deg,
      new cmd heading: 333.089025 deg.

2025-08-22T16:09:56.400Z,1755878996.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.813500 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:56.535Z,1755878996.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006647
2025-08-22T16:09:56.790Z,1755878996.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262185
2025-08-22T16:09:56.923Z,1755878996.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:56.926Z,1755878996.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 91.040443 m,
      bearing: 315.365822 deg,
      approach rate: -0.544079 m/s,
      LOS rate: -0.029669 deg/s,
      cmd heading: 333.089037 deg,
      new cmd heading: 333.057739 deg.

2025-08-22T16:09:56.927Z,1755878996.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812954 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:57.039Z,1755878997.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511252
2025-08-22T16:09:57.291Z,1755878997.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762711
2025-08-22T16:09:57.293Z,1755878997.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:57.295Z,1755878997.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:57.298Z,1755878997.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 90.838692 m,
      bearing: 315.354975 deg,
      approach rate: -0.543069 m/s,
      LOS rate: -0.029260 deg/s,
      cmd heading: 333.057728 deg,
      new cmd heading: 333.035987 deg.

2025-08-22T16:09:57.299Z,1755878997.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812574 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:57.543Z,1755878997.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014921
2025-08-22T16:09:57.704Z,1755878997.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:57.707Z,1755878997.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 90.620483 m,
      bearing: 315.343234 deg,
      approach rate: -0.533759 m/s,
      LOS rate: -0.028791 deg/s,
      cmd heading: 333.035980 deg,
      new cmd heading: 333.012440 deg.

2025-08-22T16:09:57.708Z,1755878997.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.812163 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:57.796Z,1755878997.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267739
2025-08-22T16:09:58.046Z,1755878998.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518612
2025-08-22T16:09:58.149Z,1755878998.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:58.157Z,1755878998.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 90.392693 m,
      bearing: 315.329809 deg,
      approach rate: -0.514245 m/s,
      LOS rate: -0.030382 deg/s,
      cmd heading: 333.012430 deg,
      new cmd heading: 332.985513 deg.

2025-08-22T16:09:58.163Z,1755878998.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811694 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:58.299Z,1755878998.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770942
2025-08-22T16:09:58.553Z,1755878998.553 [DAT](INFO): DAT read: Rx Time:16:09:59.0789

2025-08-22T16:09:58.554Z,1755878998.554 [DAT](INFO): Rx dataTimestamp_ set to:1755878998.553192
2025-08-22T16:09:58.554Z,1755878998.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026268
2025-08-22T16:09:58.561Z,1755878998.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:58.564Z,1755878998.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 90.164429 m,
      bearing: 315.316289 deg,
      approach rate: -0.551377 m/s,
      LOS rate: -0.032741 deg/s,
      cmd heading: 332.985519 deg,
      new cmd heading: 332.958410 deg.

2025-08-22T16:09:58.564Z,1755878998.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.811221 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:58.802Z,1755878998.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274585
2025-08-22T16:09:59.033Z,1755878999.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:59.040Z,1755878999.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 89.896828 m,
      bearing: 315.300909 deg,
      approach rate: -0.566732 m/s,
      LOS rate: -0.032670 deg/s,
      cmd heading: 332.958417 deg,
      new cmd heading: 332.927565 deg.

2025-08-22T16:09:59.041Z,1755878999.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810682 target range: 93.528915 and range: 94.10 m.
2025-08-22T16:09:59.059Z,1755878999.059 [DAT](INFO): DAT read: 16:09:59.0789 LVL= 25744, 32753, 19906, 32755, AGC= 62, IDX= 406,-0.46, 1.132,-0.234, 2.003, 1.411, PHS=1.601, 0.547, RAW= 169.4,  12.9, CAL= 169.6,  15.5, ROT= 340.4, -15.5

2025-08-22T16:09:59.060Z,1755878999.060 [DAT](INFO): unknown deviceResponse_: 16:09:59.0789 LVL= 25744, 32753, 19906, 32755, AGC= 62, IDX= 406,-0.46, 1.132,-0.234, 2.003, 1.411, PHS=1.601, 0.547, RAW= 169.4,  12.9, CAL= 169.6,  15.5, ROT= 340.4, -15.5

2025-08-22T16:09:59.062Z,1755878999.062 [DAT](INFO): DAT read: Bearing 153.0, -23.4 (Local)

2025-08-22T16:09:59.062Z,1755878999.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.0, -23.4 (Local)

2025-08-22T16:09:59.063Z,1755878999.063 [DAT](INFO): DAT read: Range 11 to 50 : 92.1 m  (Round-trip  122.8 ms) speed  0.4 m/s

2025-08-22T16:09:59.064Z,1755878999.064 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:09:59.064Z,1755878999.064 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:09:59.064Z,1755878999.064 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:09:59.065Z,1755878999.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:09:59.306Z,1755878999.306 [DAT](INFO): DAT read: user:70>

2025-08-22T16:09:59.307Z,1755878999.307 [DAT](INFO): DAT read: Tx time:16:10:00.3519

2025-08-22T16:09:59.307Z,1755878999.307 [DAT](INFO): Ping request sent.
2025-08-22T16:09:59.308Z,1755878999.308 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:09:59.308Z,1755878999.308 [DAT](INFO): publishing transmit ping time
2025-08-22T16:09:59.308Z,1755878999.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-22T16:09:59.423Z,1755878999.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:09:59.426Z,1755878999.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.099998 m,
      deltaT: 3.779973 s,
      deltaX: -2.000000 m,
      approachRate: -0.529104 m/s,
      rangeRepo size: 4

2025-08-22T16:09:59.427Z,1755878999.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:59.429Z,1755878999.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 89.673523 m,
      bearing: 315.288269 deg,
      approach rate: -0.569350 m/s,
      LOS rate: -0.032308 deg/s,
      cmd heading: 332.927572 deg,
      new cmd heading: 332.902229 deg.

2025-08-22T16:09:59.430Z,1755878999.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.810240 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:09:59.559Z,1755878999.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251109
2025-08-22T16:09:59.811Z,1755878999.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026
2025-08-22T16:09:59.820Z,1755878999.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:09:59.843Z,1755878999.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 89.452927 m,
      bearing: 315.275811 deg,
      approach rate: -0.558983 m/s,
      LOS rate: -0.031645 deg/s,
      cmd heading: 332.902218 deg,
      new cmd heading: 332.877241 deg.

2025-08-22T16:09:59.844Z,1755878999.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809804 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:00.063Z,1755879000.063 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754993
2025-08-22T16:10:00.245Z,1755879000.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:00.248Z,1755879000.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 89.226982 m,
      bearing: 315.258691 deg,
      approach rate: -0.531672 m/s,
      LOS rate: -0.040386 deg/s,
      cmd heading: 332.877247 deg,
      new cmd heading: 332.842921 deg.

2025-08-22T16:10:00.249Z,1755879000.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.809205 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:00.315Z,1755879000.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007723
2025-08-22T16:10:00.567Z,1755879000.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258909
2025-08-22T16:10:00.634Z,1755879000.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:00.654Z,1755879000.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 89.025032 m,
      bearing: 315.243397 deg,
      approach rate: -0.520427 m/s,
      LOS rate: -0.039504 deg/s,
      cmd heading: 332.842932 deg,
      new cmd heading: 332.812273 deg.

2025-08-22T16:10:00.655Z,1755879000.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808670 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:00.819Z,1755879000.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511882
2025-08-22T16:10:01.056Z,1755879001.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:01.059Z,1755879001.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 88.795898 m,
      bearing: 315.224306 deg,
      approach rate: -0.541640 m/s,
      LOS rate: -0.045245 deg/s,
      cmd heading: 332.812278 deg,
      new cmd heading: 332.773998 deg.

2025-08-22T16:10:01.060Z,1755879001.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.808002 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:01.071Z,1755879001.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762938
2025-08-22T16:10:01.323Z,1755879001.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014929
2025-08-22T16:10:01.436Z,1755879001.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:01.439Z,1755879001.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:01.442Z,1755879001.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 88.592659 m,
      bearing: 315.207291 deg,
      approach rate: -0.530222 m/s,
      LOS rate: -0.044491 deg/s,
      cmd heading: 332.774002 deg,
      new cmd heading: 332.739894 deg.

2025-08-22T16:10:01.443Z,1755879001.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.807407 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:01.575Z,1755879001.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266936
2025-08-22T16:10:01.827Z,1755879001.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320
2025-08-22T16:10:01.841Z,1755879001.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:01.844Z,1755879001.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 88.378822 m,
      bearing: 315.189267 deg,
      approach rate: -0.532252 m/s,
      LOS rate: -0.044971 deg/s,
      cmd heading: 332.739905 deg,
      new cmd heading: 332.703771 deg.

2025-08-22T16:10:01.845Z,1755879001.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.806776 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:02.078Z,1755879002.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770896
2025-08-22T16:10:02.261Z,1755879002.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:02.264Z,1755879002.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 88.156479 m,
      bearing: 315.167036 deg,
      approach rate: -0.529789 m/s,
      LOS rate: -0.053105 deg/s,
      cmd heading: 332.703760 deg,
      new cmd heading: 332.659185 deg.

2025-08-22T16:10:02.265Z,1755879002.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805998 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:02.332Z,1755879002.332 [DAT](INFO): DAT read: Rx Time:16:10:02.8761

2025-08-22T16:10:02.332Z,1755879002.332 [DAT](INFO): Rx dataTimestamp_ set to:1755879002.331867
2025-08-22T16:10:02.333Z,1755879002.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025467
2025-08-22T16:10:02.582Z,1755879002.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878
2025-08-22T16:10:02.669Z,1755879002.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.53 m.
2025-08-22T16:10:02.676Z,1755879002.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.528915 m,
      nav range: 87.946327 m,
      bearing: 315.145867 deg,
      approach rate: -0.514300 m/s,
      LOS rate: -0.051930 deg/s,
      cmd heading: 332.659173 deg,
      new cmd heading: 332.616734 deg.

2025-08-22T16:10:02.677Z,1755879002.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.805257 target range: 93.528915 and range: 92.10 m.
2025-08-22T16:10:02.840Z,1755879002.840 [DAT](INFO): DAT read: 16:10:02.8761 LVL= 26192, 29537, 21266, 32755, AGC= 65, IDX= 410,-0.02, 2.347, 0.948,-3.063, 2.668, PHS=-0.219,-1.675, 0.508, RAW= 169.1,  14.3, CAL= 169.5,  17.5, ROT= 340.5, -17.5

2025-08-22T16:10:02.841Z,1755879002.841 [DAT](INFO): got valid direction response:
 16:10:02.8761 LVL= 26192, 29537, 21266, 32755, AGC= 65, IDX= 410,-0.02, 2.347, 0.948,-3.063, 2.668, PHS=-0.219,-1.675, 0.508, RAW= 169.1,  14.3, CAL= 169.5,  17.5, ROT= 340.5, -17.5

2025-08-22T16:10:02.842Z,1755879002.842 [DAT](INFO): DAT read: Bearing 154.7, -21.8 (Local)

2025-08-22T16:10:02.842Z,1755879002.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing 154.7, -21.8 (Local)

2025-08-22T16:10:02.843Z,1755879002.843 [DAT](INFO): DAT read: Range 11 to 50 : 90.0 m  (Round-trip  120.1 ms) speed  0.4 m/s

2025-08-22T16:10:02.844Z,1755879002.844 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:02.845Z,1755879002.845 [DAT](INFO): direction in FSK: [0.899013,-0.318357,0.300706]
2025-08-22T16:10:02.845Z,1755879002.845 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:02.855Z,1755879002.855 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:02.855Z,1755879002.855 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:02.856Z,1755879002.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:03.087Z,1755879003.087 [DAT](INFO): DAT read: user:71>

2025-08-22T16:10:03.088Z,1755879003.088 [DAT](INFO): DAT read: Tx time:16:10:04.1019

2025-08-22T16:10:03.088Z,1755879003.088 [DAT](INFO): Ping request sent.
2025-08-22T16:10:03.088Z,1755879003.088 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:03.089Z,1755879003.089 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:03.089Z,1755879003.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-22T16:10:03.127Z,1755879003.127 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:10:03.253Z,1755879003.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.000000 m,
      deltaT: 3.779930 s,
      deltaX: -2.099998 m,
      approachRate: -0.555565 m/s,
      rangeRepo size: 4

2025-08-22T16:10:03.255Z,1755879003.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.455978 m,
      bearing: 314.852235 deg,
      lat: 36.779416 deg,
      lon: -121.859660 deg,
      deltaT: 7.559903 s,
      deltaX: -4.072937 m,
      approachRate: -0.538755 m/s,
      posRepo size: 4

2025-08-22T16:10:03.256Z,1755879003.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:03.258Z,1755879003.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 87.626648 m,
      bearing: 315.115055 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051930 deg/s,
      cmd heading: 332.616743 deg,
      new cmd heading: 332.556206 deg.

2025-08-22T16:10:03.259Z,1755879003.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.804201 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:03.339Z,1755879003.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250923
2025-08-22T16:10:03.590Z,1755879003.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501997
2025-08-22T16:10:03.779Z,1755879003.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:03.781Z,1755879003.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:03.784Z,1755879003.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 87.338669 m,
      bearing: 315.087253 deg,
      approach rate: -0.544649 m/s,
      LOS rate: -0.052755 deg/s,
      cmd heading: 332.556201 deg,
      new cmd heading: 332.500413 deg.

2025-08-22T16:10:03.784Z,1755879003.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.803227 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:03.843Z,1755879003.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754263
2025-08-22T16:10:04.094Z,1755879004.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006035
2025-08-22T16:10:04.132Z,1755879004.132 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:10:04.248Z,1755879004.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:04.251Z,1755879004.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 87.085716 m,
      bearing: 315.062746 deg,
      approach rate: -0.541541 m/s,
      LOS rate: -0.052618 deg/s,
      cmd heading: 332.500412 deg,
      new cmd heading: 332.451256 deg.

2025-08-22T16:10:04.252Z,1755879004.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.802369 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:04.347Z,1755879004.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258868
2025-08-22T16:10:04.603Z,1755879004.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514157
2025-08-22T16:10:04.663Z,1755879004.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:04.670Z,1755879004.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 86.871086 m,
      bearing: 315.041893 deg,
      approach rate: -0.516666 m/s,
      LOS rate: -0.050324 deg/s,
      cmd heading: 332.451262 deg,
      new cmd heading: 332.409451 deg.

2025-08-22T16:10:04.671Z,1755879004.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801640 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:04.856Z,1755879004.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767091
2025-08-22T16:10:05.068Z,1755879005.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:05.071Z,1755879005.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 86.644249 m,
      bearing: 315.020380 deg,
      approach rate: -0.560460 m/s,
      LOS rate: -0.053292 deg/s,
      cmd heading: 332.409461 deg,
      new cmd heading: 332.366323 deg.

2025-08-22T16:10:05.072Z,1755879005.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800887 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:05.107Z,1755879005.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018502
2025-08-22T16:10:05.360Z,1755879005.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271943
2025-08-22T16:10:05.439Z,1755879005.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:05.442Z,1755879005.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 86.445320 m,
      bearing: 315.001499 deg,
      approach rate: -0.536355 m/s,
      LOS rate: -0.051023 deg/s,
      cmd heading: 332.366321 deg,
      new cmd heading: 332.328473 deg.

2025-08-22T16:10:05.443Z,1755879005.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.800226 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:05.612Z,1755879005.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523028
2025-08-22T16:10:05.845Z,1755879005.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:05.847Z,1755879005.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:05.850Z,1755879005.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 86.226830 m,
      bearing: 314.980741 deg,
      approach rate: -0.535499 m/s,
      LOS rate: -0.051006 deg/s,
      cmd heading: 332.328482 deg,
      new cmd heading: 332.286860 deg.

2025-08-22T16:10:05.851Z,1755879005.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.799500 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:05.863Z,1755879005.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774421
2025-08-22T16:10:06.116Z,1755879006.116 [DAT](INFO): DAT read: Rx Time:16:10:06.6235

2025-08-22T16:10:06.116Z,1755879006.116 [DAT](INFO): Rx dataTimestamp_ set to:1755879006.115917
2025-08-22T16:10:06.117Z,1755879006.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028313
2025-08-22T16:10:06.291Z,1755879006.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.46 m.
2025-08-22T16:10:06.299Z,1755879006.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.455978 m,
      nav range: 85.994377 m,
      bearing: 314.964262 deg,
      approach rate: -0.523203 m/s,
      LOS rate: -0.037190 deg/s,
      cmd heading: 332.286873 deg,
      new cmd heading: 332.253827 deg.

2025-08-22T16:10:06.300Z,1755879006.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798923 target range: 89.455978 and range: 90.00 m.
2025-08-22T16:10:06.367Z,1755879006.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278896
2025-08-22T16:10:06.627Z,1755879006.627 [DAT](INFO): DAT read: 16:10:06.6235 LVL= 28272, 32753, 22770, 32755, AGC= 64, IDX= 415, 0.05, 0.132,-1.289, 0.972, 0.399, PHS=-0.165,-1.643, 0.529, RAW= 168.2,  13.2, CAL= 168.6,  15.9, ROT= 341.4, -15.9

2025-08-22T16:10:06.629Z,1755879006.629 [DAT](INFO): got valid direction response:
 16:10:06.6235 LVL= 28272, 32753, 22770, 32755, AGC= 64, IDX= 415, 0.05, 0.132,-1.289, 0.972, 0.399, PHS=-0.165,-1.643, 0.529, RAW= 168.2,  13.2, CAL= 168.6,  15.9, ROT= 341.4, -15.9

2025-08-22T16:10:06.630Z,1755879006.630 [DAT](INFO): DAT read: Bearing 152.4, -19.8 (Local)

2025-08-22T16:10:06.631Z,1755879006.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -19.8 (Local)

2025-08-22T16:10:06.633Z,1755879006.633 [DAT](INFO): DAT read: Range 11 to 50 : 88.0 m  (Round-trip  117.4 ms) speed  0.4 m/s

2025-08-22T16:10:06.642Z,1755879006.642 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:06.643Z,1755879006.643 [DAT](INFO): direction in FSK: [0.911508,-0.306757,0.273959]
2025-08-22T16:10:06.643Z,1755879006.643 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:06.647Z,1755879006.647 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:06.647Z,1755879006.647 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:06.647Z,1755879006.647 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:06.737Z,1755879006.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.000000 m,
      deltaT: 3.784210 s,
      deltaX: -2.000000 m,
      approachRate: -0.528512 m/s,
      rangeRepo size: 4

2025-08-22T16:10:06.743Z,1755879006.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.469116 m,
      bearing: 315.434448 deg,
      lat: 36.779416 deg,
      lon: -121.859660 deg,
      deltaT: 3.784210 s,
      deltaX: -1.986862 m,
      approachRate: -0.525040 m/s,
      posRepo size: 4

2025-08-22T16:10:06.744Z,1755879006.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:06.751Z,1755879006.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 85.748398 m,
      bearing: 314.946727 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037190 deg/s,
      cmd heading: 332.253815 deg,
      new cmd heading: 332.220690 deg.

2025-08-22T16:10:06.752Z,1755879006.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.798345 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:06.871Z,1755879006.871 [DAT](INFO): DAT read: user:72>

2025-08-22T16:10:06.871Z,1755879006.871 [DAT](INFO): DAT read: Tx time:16:10:07.9019

2025-08-22T16:10:06.872Z,1755879006.872 [DAT](INFO): Ping request sent.
2025-08-22T16:10:06.872Z,1755879006.872 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:06.872Z,1755879006.872 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:06.872Z,1755879006.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:10:07.124Z,1755879007.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251770
2025-08-22T16:10:07.148Z,1755879007.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:07.151Z,1755879007.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 85.527740 m,
      bearing: 314.934479 deg,
      approach rate: -0.535983 m/s,
      LOS rate: -0.029827 deg/s,
      cmd heading: 332.220702 deg,
      new cmd heading: 332.196143 deg.

2025-08-22T16:10:07.152Z,1755879007.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797916 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:07.375Z,1755879007.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502836
2025-08-22T16:10:07.478Z,1755879007.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:07.481Z,1755879007.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 85.331291 m,
      bearing: 314.923880 deg,
      approach rate: -0.595294 m/s,
      LOS rate: -0.032193 deg/s,
      cmd heading: 332.196140 deg,
      new cmd heading: 332.174893 deg.

2025-08-22T16:10:07.482Z,1755879007.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797545 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:07.627Z,1755879007.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755125
2025-08-22T16:10:07.879Z,1755879007.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006861
2025-08-22T16:10:07.891Z,1755879007.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:07.893Z,1755879007.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:07.895Z,1755879007.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 85.103424 m,
      bearing: 314.911703 deg,
      approach rate: -0.549826 m/s,
      LOS rate: -0.029461 deg/s,
      cmd heading: 332.174885 deg,
      new cmd heading: 332.150466 deg.

2025-08-22T16:10:07.896Z,1755879007.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.797119 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:08.132Z,1755879008.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260054
2025-08-22T16:10:08.338Z,1755879008.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:08.340Z,1755879008.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 84.867233 m,
      bearing: 314.899033 deg,
      approach rate: -0.535126 m/s,
      LOS rate: -0.028785 deg/s,
      cmd heading: 332.150460 deg,
      new cmd heading: 332.125050 deg.

2025-08-22T16:10:08.342Z,1755879008.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796676 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:08.383Z,1755879008.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511056
2025-08-22T16:10:08.635Z,1755879008.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763029
2025-08-22T16:10:08.811Z,1755879008.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:08.830Z,1755879008.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 84.595367 m,
      bearing: 314.884546 deg,
      approach rate: -0.569677 m/s,
      LOS rate: -0.030455 deg/s,
      cmd heading: 332.125052 deg,
      new cmd heading: 332.095984 deg.

2025-08-22T16:10:08.831Z,1755879008.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.796168 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:08.887Z,1755879008.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014948
2025-08-22T16:10:09.143Z,1755879009.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270558
2025-08-22T16:10:09.270Z,1755879009.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:09.272Z,1755879009.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 84.335426 m,
      bearing: 314.870720 deg,
      approach rate: -0.567260 m/s,
      LOS rate: -0.030264 deg/s,
      cmd heading: 332.095983 deg,
      new cmd heading: 332.068246 deg.

2025-08-22T16:10:09.273Z,1755879009.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795684 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:09.391Z,1755879009.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518779
2025-08-22T16:10:09.642Z,1755879009.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770740
2025-08-22T16:10:09.660Z,1755879009.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:09.663Z,1755879009.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 84.114319 m,
      bearing: 314.859217 deg,
      approach rate: -0.566588 m/s,
      LOS rate: -0.029553 deg/s,
      cmd heading: 332.068252 deg,
      new cmd heading: 332.045186 deg.

2025-08-22T16:10:09.664Z,1755879009.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.795282 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:09.895Z,1755879009.895 [DAT](INFO): DAT read: Rx Time:16:10:10.4208

2025-08-22T16:10:09.895Z,1755879009.895 [DAT](INFO): Rx dataTimestamp_ set to:1755879009.894804
2025-08-22T16:10:09.896Z,1755879009.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023912
2025-08-22T16:10:10.146Z,1755879010.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274741
2025-08-22T16:10:10.172Z,1755879010.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:10.184Z,1755879010.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.47 m.
2025-08-22T16:10:10.192Z,1755879010.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.469116 m,
      nav range: 83.849312 m,
      bearing: 314.848258 deg,
      approach rate: -0.506072 m/s,
      LOS rate: -0.020995 deg/s,
      cmd heading: 332.045193 deg,
      new cmd heading: 332.023204 deg.

2025-08-22T16:10:10.194Z,1755879010.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794898 target range: 87.469116 and range: 88.00 m.
2025-08-22T16:10:10.404Z,1755879010.404 [DAT](INFO): DAT read: 16:10:10.4208 LVL= 24400, 32753, 20770, 32755, AGC= 63, IDX= 419,-0.18,-0.722,-2.113, 0.080,-0.456, PHS=-0.164,-1.612, 0.492, RAW= 167.7,  13.7, CAL= 168.2,  16.5, ROT= 341.8, -16.5

2025-08-22T16:10:10.405Z,1755879010.405 [DAT](INFO): got valid direction response:
 16:10:10.4208 LVL= 24400, 32753, 20770, 32755, AGC= 63, IDX= 419,-0.18,-0.722,-2.113, 0.080,-0.456, PHS=-0.164,-1.612, 0.492, RAW= 167.7,  13.7, CAL= 168.2,  16.5, ROT= 341.8, -16.5

2025-08-22T16:10:10.406Z,1755879010.406 [DAT](INFO): DAT read: Bearing 152.4, -17.7 (Local)

2025-08-22T16:10:10.406Z,1755879010.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.4, -17.7 (Local)

2025-08-22T16:10:10.407Z,1755879010.407 [DAT](INFO): DAT read: Range 11 to 50 : 86.0 m  (Round-trip  114.7 ms) speed  0.4 m/s

2025-08-22T16:10:10.408Z,1755879010.408 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:10.409Z,1755879010.409 [DAT](INFO): direction in FSK: [0.910852,-0.299473,0.284015]
2025-08-22T16:10:10.409Z,1755879010.409 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:10.416Z,1755879010.416 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:10.416Z,1755879010.416 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:10.416Z,1755879010.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:10.587Z,1755879010.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.000000 m,
      deltaT: 3.779727 s,
      deltaX: -2.000000 m,
      approachRate: -0.529139 m/s,
      rangeRepo size: 4

2025-08-22T16:10:10.589Z,1755879010.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.482178 m,
      bearing: 315.133994 deg,
      lat: 36.779413 deg,
      lon: -121.859660 deg,
      deltaT: 3.779727 s,
      deltaX: -1.986938 m,
      approachRate: -0.525683 m/s,
      posRepo size: 4

2025-08-22T16:10:10.594Z,1755879010.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:10.596Z,1755879010.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 83.337379 m,
      bearing: 314.669331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020995 deg/s,
      cmd heading: 332.023200 deg,
      new cmd heading: 332.006284 deg.

2025-08-22T16:10:10.603Z,1755879010.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794603 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:10.650Z,1755879010.650 [DAT](INFO): DAT read: user:73>

2025-08-22T16:10:10.651Z,1755879010.651 [DAT](INFO): DAT read: Tx time:16:10:11.7019

2025-08-22T16:10:10.652Z,1755879010.652 [DAT](INFO): Ping request sent.
2025-08-22T16:10:10.652Z,1755879010.652 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:10.652Z,1755879010.652 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:10.652Z,1755879010.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000720
2025-08-22T16:10:10.903Z,1755879010.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251264
2025-08-22T16:10:10.985Z,1755879010.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:10.988Z,1755879010.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 83.102196 m,
      bearing: 314.659138 deg,
      approach rate: -0.589545 m/s,
      LOS rate: -0.025625 deg/s,
      cmd heading: 332.006288 deg,
      new cmd heading: 331.985843 deg.

2025-08-22T16:10:10.989Z,1755879010.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.794246 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:11.155Z,1755879011.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502883
2025-08-22T16:10:11.388Z,1755879011.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:11.391Z,1755879011.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 82.880554 m,
      bearing: 314.649731 deg,
      approach rate: -0.549686 m/s,
      LOS rate: -0.023391 deg/s,
      cmd heading: 331.985853 deg,
      new cmd heading: 331.966990 deg.

2025-08-22T16:10:11.392Z,1755879011.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793917 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:11.407Z,1755879011.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943
2025-08-22T16:10:11.659Z,1755879011.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006831
2025-08-22T16:10:11.799Z,1755879011.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:11.806Z,1755879011.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 82.665688 m,
      bearing: 314.640739 deg,
      approach rate: -0.523241 m/s,
      LOS rate: -0.021955 deg/s,
      cmd heading: 331.967001 deg,
      new cmd heading: 331.948970 deg.

2025-08-22T16:10:11.807Z,1755879011.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793602 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:11.911Z,1755879011.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259505
2025-08-22T16:10:12.168Z,1755879012.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516273
2025-08-22T16:10:12.234Z,1755879012.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:12.236Z,1755879012.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:12.243Z,1755879012.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 82.414513 m,
      bearing: 314.625447 deg,
      approach rate: -0.575161 m/s,
      LOS rate: -0.035124 deg/s,
      cmd heading: 331.948970 deg,
      new cmd heading: 331.918292 deg.

2025-08-22T16:10:12.244Z,1755879012.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.793067 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:12.419Z,1755879012.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766890
2025-08-22T16:10:12.647Z,1755879012.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:12.654Z,1755879012.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 82.190247 m,
      bearing: 314.611841 deg,
      approach rate: -0.545205 m/s,
      LOS rate: -0.033168 deg/s,
      cmd heading: 331.918288 deg,
      new cmd heading: 331.891002 deg.

2025-08-22T16:10:12.655Z,1755879012.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792591 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:12.671Z,1755879012.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018883
2025-08-22T16:10:12.923Z,1755879012.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271117
2025-08-22T16:10:12.987Z,1755879012.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:12.990Z,1755879012.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 81.988777 m,
      bearing: 314.599770 deg,
      approach rate: -0.592545 m/s,
      LOS rate: -0.035588 deg/s,
      cmd heading: 331.890995 deg,
      new cmd heading: 331.866795 deg.

2025-08-22T16:10:12.991Z,1755879012.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.792168 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:13.177Z,1755879013.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524889
2025-08-22T16:10:13.427Z,1755879013.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775144
2025-08-22T16:10:13.441Z,1755879013.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:13.444Z,1755879013.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 81.739578 m,
      bearing: 314.584800 deg,
      approach rate: -0.548963 m/s,
      LOS rate: -0.033078 deg/s,
      cmd heading: 331.866789 deg,
      new cmd heading: 331.836757 deg.

2025-08-22T16:10:13.445Z,1755879013.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791644 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:13.679Z,1755879013.679 [DAT](INFO): DAT read: Rx Time:16:10:14.2178

2025-08-22T16:10:13.679Z,1755879013.679 [DAT](INFO): Rx dataTimestamp_ set to:1755879013.678770
2025-08-22T16:10:13.680Z,1755879013.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027930
2025-08-22T16:10:13.818Z,1755879013.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.48 m.
2025-08-22T16:10:13.820Z,1755879013.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.482178 m,
      nav range: 81.533028 m,
      bearing: 314.572419 deg,
      approach rate: -0.548941 m/s,
      LOS rate: -0.032987 deg/s,
      cmd heading: 331.836763 deg,
      new cmd heading: 331.811939 deg.

2025-08-22T16:10:13.821Z,1755879013.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.791211 target range: 85.482178 and range: 86.00 m.
2025-08-22T16:10:13.931Z,1755879013.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278903
2025-08-22T16:10:14.194Z,1755879014.194 [DAT](INFO): DAT read: 16:10:14.2178 LVL= 23920, 29745, 18786, 32755, AGC= 62, IDX= 405, 0.26, 1.424, 0.003, 2.194, 1.627, PHS=-0.101,-1.580, 0.523, RAW= 166.8,  12.3, CAL= 167.0,  14.4, ROT= 343.0, -14.4

2025-08-22T16:10:14.196Z,1755879014.196 [DAT](INFO): got valid direction response:
 16:10:14.2178 LVL= 23920, 29745, 18786, 32755, AGC= 62, IDX= 405, 0.26, 1.424, 0.003, 2.194, 1.627, PHS=-0.101,-1.580, 0.523, RAW= 166.8,  12.3, CAL= 167.0,  14.4, ROT= 343.0, -14.4

2025-08-22T16:10:14.197Z,1755879014.197 [DAT](INFO): DAT read: Bearing 149.6, -14.7 (Local)

2025-08-22T16:10:14.198Z,1755879014.198 [DAT](INFO): Local bearing/azimuth received:
 Bearing 149.6, -14.7 (Local)

2025-08-22T16:10:14.199Z,1755879014.199 [DAT](INFO): DAT read: Range 11 to 50 : 83.8 m  (Round-trip  111.8 ms) speed  0.4 m/s

2025-08-22T16:10:14.200Z,1755879014.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:14.201Z,1755879014.201 [DAT](INFO): direction in FSK: [0.926261,-0.283186,0.248690]
2025-08-22T16:10:14.202Z,1755879014.202 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:14.205Z,1755879014.205 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:14.205Z,1755879014.205 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:14.205Z,1755879014.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:14.354Z,1755879014.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.800003 m,
      deltaT: 3.788623 s,
      deltaX: -2.199997 m,
      approachRate: -0.580685 m/s,
      rangeRepo size: 4

2025-08-22T16:10:14.356Z,1755879014.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 83.295921 m,
      bearing: 315.710240 deg,
      lat: 36.779413 deg,
      lon: -121.859652 deg,
      deltaT: 3.788623 s,
      deltaX: -2.186256 m,
      approachRate: -0.577058 m/s,
      posRepo size: 4

2025-08-22T16:10:14.357Z,1755879014.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:14.364Z,1755879014.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 80.732239 m,
      bearing: 314.911544 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032987 deg/s,
      cmd heading: 331.811929 deg,
      new cmd heading: 331.776861 deg.

2025-08-22T16:10:14.365Z,1755879014.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790598 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:14.439Z,1755879014.439 [DAT](INFO): DAT read: user:74>

2025-08-22T16:10:14.440Z,1755879014.440 [DAT](INFO): DAT read: Tx time:16:10:15.4519

2025-08-22T16:10:14.440Z,1755879014.440 [DAT](INFO): Ping request sent.
2025-08-22T16:10:14.441Z,1755879014.441 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:14.441Z,1755879014.441 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:14.441Z,1755879014.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T16:10:14.691Z,1755879014.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249972
2025-08-22T16:10:14.704Z,1755879014.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:14.706Z,1755879014.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:14.709Z,1755879014.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 80.524429 m,
      bearing: 314.897208 deg,
      approach rate: -0.581676 m/s,
      LOS rate: -0.040231 deg/s,
      cmd heading: 331.776849 deg,
      new cmd heading: 331.748103 deg.

2025-08-22T16:10:14.710Z,1755879014.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.790097 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:14.943Z,1755879014.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501947
2025-08-22T16:10:15.195Z,1755879015.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754632
2025-08-22T16:10:15.216Z,1755879015.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:15.227Z,1755879015.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 80.241005 m,
      bearing: 314.877423 deg,
      approach rate: -0.555607 m/s,
      LOS rate: -0.038922 deg/s,
      cmd heading: 331.748107 deg,
      new cmd heading: 331.708397 deg.

2025-08-22T16:10:15.228Z,1755879015.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.789404 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:15.446Z,1755879015.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005862
2025-08-22T16:10:15.516Z,1755879015.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:15.518Z,1755879015.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 80.074806 m,
      bearing: 314.865800 deg,
      approach rate: -0.555301 m/s,
      LOS rate: -0.038916 deg/s,
      cmd heading: 331.708410 deg,
      new cmd heading: 331.685116 deg.

2025-08-22T16:10:15.519Z,1755879015.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788997 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:15.699Z,1755879015.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257907
2025-08-22T16:10:15.913Z,1755879015.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:15.916Z,1755879015.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 79.854218 m,
      bearing: 314.850399 deg,
      approach rate: -0.554971 m/s,
      LOS rate: -0.038853 deg/s,
      cmd heading: 331.685106 deg,
      new cmd heading: 331.654219 deg.

2025-08-22T16:10:15.918Z,1755879015.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.788458 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:15.951Z,1755879015.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510030
2025-08-22T16:10:16.203Z,1755879016.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761951
2025-08-22T16:10:16.344Z,1755879016.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:16.347Z,1755879016.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 79.612999 m,
      bearing: 314.832207 deg,
      approach rate: -0.559582 m/s,
      LOS rate: -0.042330 deg/s,
      cmd heading: 331.654206 deg,
      new cmd heading: 331.617712 deg.

2025-08-22T16:10:16.348Z,1755879016.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787821 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:16.455Z,1755879016.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886
2025-08-22T16:10:16.707Z,1755879016.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266022
2025-08-22T16:10:16.721Z,1755879016.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:16.723Z,1755879016.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:16.742Z,1755879016.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 79.400833 m,
      bearing: 314.816228 deg,
      approach rate: -0.559311 m/s,
      LOS rate: -0.042239 deg/s,
      cmd heading: 331.617705 deg,
      new cmd heading: 331.585660 deg.

2025-08-22T16:10:16.743Z,1755879016.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.787261 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:16.959Z,1755879016.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518578
2025-08-22T16:10:17.211Z,1755879017.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770366
2025-08-22T16:10:17.259Z,1755879017.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:17.262Z,1755879017.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 79.100662 m,
      bearing: 314.794646 deg,
      approach rate: -0.560150 m/s,
      LOS rate: -0.040427 deg/s,
      cmd heading: 331.585658 deg,
      new cmd heading: 331.542331 deg.

2025-08-22T16:10:17.263Z,1755879017.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786505 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:17.463Z,1755879017.463 [DAT](INFO): DAT read: Rx Time:16:10:17.9651

2025-08-22T16:10:17.463Z,1755879017.463 [DAT](INFO): Rx dataTimestamp_ set to:1755879017.462740
2025-08-22T16:10:17.464Z,1755879017.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022964
2025-08-22T16:10:17.582Z,1755879017.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.30 m.
2025-08-22T16:10:17.588Z,1755879017.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 83.295921 m,
      nav range: 78.920433 m,
      bearing: 314.781734 deg,
      approach rate: -0.559798 m/s,
      LOS rate: -0.040197 deg/s,
      cmd heading: 331.542327 deg,
      new cmd heading: 331.516444 deg.

2025-08-22T16:10:17.592Z,1755879017.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.786054 target range: 83.295921 and range: 83.80 m.
2025-08-22T16:10:17.715Z,1755879017.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274512
2025-08-22T16:10:17.977Z,1755879017.977 [DAT](INFO): DAT read: 16:10:17.9651 LVL= 27952, 32753, 20850, 32755, AGC= 61, IDX= 409, 0.04, 2.962, 1.548,-2.558, 3.133, PHS=-0.069,-1.540, 0.548, RAW= 166.7,  11.4, CAL= 166.9,  13.1, ROT= 343.1, -13.1

2025-08-22T16:10:17.989Z,1755879017.989 [DAT](INFO): got valid direction response:
 16:10:17.9651 LVL= 27952, 32753, 20850, 32755, AGC= 61, IDX= 409, 0.04, 2.962, 1.548,-2.558, 3.133, PHS=-0.069,-1.540, 0.548, RAW= 166.7,  11.4, CAL= 166.9,  13.1, ROT= 343.1, -13.1

2025-08-22T16:10:17.990Z,1755879017.990 [DAT](INFO): DAT read: Bearing 147.6, -12.7 (Local)

2025-08-22T16:10:17.990Z,1755879017.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 147.6, -12.7 (Local)

2025-08-22T16:10:17.992Z,1755879017.992 [DAT](INFO): DAT read: Range 11 to 50 : 81.7 m  (Round-trip  109.0 ms) speed  0.6 m/s

2025-08-22T16:10:17.992Z,1755879017.992 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:17.994Z,1755879017.994 [DAT](INFO): direction in FSK: [0.931914,-0.283137,0.226651]
2025-08-22T16:10:17.994Z,1755879017.994 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:17.997Z,1755879017.997 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:17.997Z,1755879017.997 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:17.999Z,1755879017.999 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:18.099Z,1755879018.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.699997 m,
      deltaT: 3.781759 s,
      deltaX: -2.100006 m,
      approachRate: -0.555299 m/s,
      rangeRepo size: 4

2025-08-22T16:10:18.108Z,1755879018.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.208977 m,
      bearing: 315.430006 deg,
      lat: 36.779417 deg,
      lon: -121.859649 deg,
      deltaT: 3.781759 s,
      deltaX: -2.086945 m,
      approachRate: -0.551845 m/s,
      posRepo size: 4

2025-08-22T16:10:18.108Z,1755879018.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:18.125Z,1755879018.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 78.813736 m,
      bearing: 315.119384 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040197 deg/s,
      cmd heading: 331.516455 deg,
      new cmd heading: 331.475587 deg.

2025-08-22T16:10:18.130Z,1755879018.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.785340 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:18.218Z,1755879018.218 [DAT](INFO): DAT read: user:75>

2025-08-22T16:10:18.219Z,1755879018.219 [DAT](INFO): DAT read: Tx time:16:10:19.2519

2025-08-22T16:10:18.219Z,1755879018.219 [DAT](INFO): Ping request sent.
2025-08-22T16:10:18.220Z,1755879018.220 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:18.220Z,1755879018.220 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:18.220Z,1755879018.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:10:18.471Z,1755879018.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898
2025-08-22T16:10:18.552Z,1755879018.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:18.554Z,1755879018.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 78.540375 m,
      bearing: 315.097964 deg,
      approach rate: -0.591697 m/s,
      LOS rate: -0.046525 deg/s,
      cmd heading: 331.475583 deg,
      new cmd heading: 331.432594 deg.

2025-08-22T16:10:18.555Z,1755879018.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784590 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:18.723Z,1755879018.723 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968
2025-08-22T16:10:18.932Z,1755879018.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:18.941Z,1755879018.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:18.944Z,1755879018.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 78.335358 m,
      bearing: 315.081897 deg,
      approach rate: -0.526787 m/s,
      LOS rate: -0.041393 deg/s,
      cmd heading: 331.432607 deg,
      new cmd heading: 331.400388 deg.

2025-08-22T16:10:18.945Z,1755879018.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.784028 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:18.975Z,1755879018.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755516
2025-08-22T16:10:19.226Z,1755879019.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885
2025-08-22T16:10:19.346Z,1755879019.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:19.348Z,1755879019.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 78.095215 m,
      bearing: 315.066885 deg,
      approach rate: -0.593350 m/s,
      LOS rate: -0.037205 deg/s,
      cmd heading: 331.400396 deg,
      new cmd heading: 331.370280 deg.

2025-08-22T16:10:19.349Z,1755879019.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.783503 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:19.479Z,1755879019.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259179
2025-08-22T16:10:19.731Z,1755879019.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511016
2025-08-22T16:10:19.821Z,1755879019.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:19.823Z,1755879019.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 77.828606 m,
      bearing: 315.050223 deg,
      approach rate: -0.561085 m/s,
      LOS rate: -0.035185 deg/s,
      cmd heading: 331.370289 deg,
      new cmd heading: 331.336851 deg.

2025-08-22T16:10:19.824Z,1755879019.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782919 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:19.982Z,1755879019.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762801
2025-08-22T16:10:20.235Z,1755879020.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014936
2025-08-22T16:10:20.287Z,1755879020.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:20.289Z,1755879020.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 77.568680 m,
      bearing: 315.037717 deg,
      approach rate: -0.557902 m/s,
      LOS rate: -0.026934 deg/s,
      cmd heading: 331.336848 deg,
      new cmd heading: 331.311751 deg.

2025-08-22T16:10:20.290Z,1755879020.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782481 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:20.487Z,1755879020.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267253
2025-08-22T16:10:20.667Z,1755879020.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:20.670Z,1755879020.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 77.356636 m,
      bearing: 315.027594 deg,
      approach rate: -0.557677 m/s,
      LOS rate: -0.026696 deg/s,
      cmd heading: 331.311740 deg,
      new cmd heading: 331.291439 deg.

2025-08-22T16:10:20.671Z,1755879020.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.782126 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:20.739Z,1755879020.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519785
2025-08-22T16:10:20.991Z,1755879020.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771164
2025-08-22T16:10:21.078Z,1755879021.078 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:21.083Z,1755879021.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:21.088Z,1755879021.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 77.127342 m,
      bearing: 315.016630 deg,
      approach rate: -0.551337 m/s,
      LOS rate: -0.026442 deg/s,
      cmd heading: 331.291441 deg,
      new cmd heading: 331.269447 deg.

2025-08-22T16:10:21.090Z,1755879021.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781743 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:21.243Z,1755879021.243 [DAT](INFO): DAT read: Rx Time:16:10:21.7622

2025-08-22T16:10:21.243Z,1755879021.243 [DAT](INFO): Rx dataTimestamp_ set to:1755879021.242815
2025-08-22T16:10:21.244Z,1755879021.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024040
2025-08-22T16:10:21.494Z,1755879021.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274762
2025-08-22T16:10:21.511Z,1755879021.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.21 m.
2025-08-22T16:10:21.513Z,1755879021.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.208977 m,
      nav range: 76.898193 m,
      bearing: 315.005154 deg,
      approach rate: -0.535560 m/s,
      LOS rate: -0.026901 deg/s,
      cmd heading: 331.269448 deg,
      new cmd heading: 331.246428 deg.

2025-08-22T16:10:21.518Z,1755879021.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.781341 target range: 81.208977 and range: 81.70 m.
2025-08-22T16:10:21.757Z,1755879021.757 [DAT](INFO): DAT read: 16:10:21.7622 LVL= 23072, 26161, 21298, 32083, AGC= 60, IDX= 411, 0.23,-2.354, 2.501,-1.613,-2.235, PHS=-0.017,-1.502, 0.578, RAW= 166.1,  10.2, CAL= 166.1,  11.3, ROT= 343.9, -11.3

2025-08-22T16:10:21.759Z,1755879021.759 [DAT](INFO): got valid direction response:
 16:10:21.7622 LVL= 23072, 26161, 21298, 32083, AGC= 60, IDX= 411, 0.23,-2.354, 2.501,-1.613,-2.235, PHS=-0.017,-1.502, 0.578, RAW= 166.1,  10.2, CAL= 166.1,  11.3, ROT= 343.9, -11.3

2025-08-22T16:10:21.760Z,1755879021.760 [DAT](INFO): DAT read: Bearing 145.4,  -9.9 (Local)

2025-08-22T16:10:21.760Z,1755879021.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4,  -9.9 (Local)

2025-08-22T16:10:21.762Z,1755879021.762 [DAT](INFO): DAT read: Range 11 to 50 : 79.5 m  (Round-trip  106.1 ms) speed  0.4 m/s

2025-08-22T16:10:21.763Z,1755879021.763 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:21.764Z,1755879021.764 [DAT](INFO): direction in FSK: [0.942154,-0.271939,0.195946]
2025-08-22T16:10:21.764Z,1755879021.764 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:21.767Z,1755879021.767 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:21.767Z,1755879021.767 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:21.768Z,1755879021.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:21.914Z,1755879021.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.500000 m,
      deltaT: 3.778939 s,
      deltaX: -2.199997 m,
      approachRate: -0.582173 m/s,
      rangeRepo size: 4

2025-08-22T16:10:21.916Z,1755879021.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.022476 m,
      bearing: 315.946031 deg,
      lat: 36.779419 deg,
      lon: -121.859642 deg,
      deltaT: 3.778939 s,
      deltaX: -2.186501 m,
      approachRate: -0.578602 m/s,
      posRepo size: 4

2025-08-22T16:10:21.917Z,1755879021.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:21.923Z,1755879021.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 76.387230 m,
      bearing: 315.413755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026901 deg/s,
      cmd heading: 331.246416 deg,
      new cmd heading: 331.224972 deg.

2025-08-22T16:10:21.924Z,1755879021.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780966 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:21.999Z,1755879021.999 [DAT](INFO): DAT read: user:76>

2025-08-22T16:10:22.000Z,1755879022.000 [DAT](INFO): DAT read: Tx time:16:10:23.0519

2025-08-22T16:10:22.000Z,1755879022.000 [DAT](INFO): Ping request sent.
2025-08-22T16:10:22.000Z,1755879022.000 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:22.001Z,1755879022.001 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:22.001Z,1755879022.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-22T16:10:22.253Z,1755879022.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252268
2025-08-22T16:10:22.332Z,1755879022.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:22.338Z,1755879022.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 76.149826 m,
      bearing: 315.403597 deg,
      approach rate: -0.562044 m/s,
      LOS rate: -0.024122 deg/s,
      cmd heading: 331.224969 deg,
      new cmd heading: 331.204591 deg.

2025-08-22T16:10:22.339Z,1755879022.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780611 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:22.502Z,1755879022.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501999
2025-08-22T16:10:22.714Z,1755879022.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:22.717Z,1755879022.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 75.935204 m,
      bearing: 315.394431 deg,
      approach rate: -0.560616 m/s,
      LOS rate: -0.024011 deg/s,
      cmd heading: 331.204588 deg,
      new cmd heading: 331.186204 deg.

2025-08-22T16:10:22.722Z,1755879022.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.780290 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:22.755Z,1755879022.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754274
2025-08-22T16:10:23.007Z,1755879023.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006081
2025-08-22T16:10:23.158Z,1755879023.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:23.160Z,1755879023.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:23.168Z,1755879023.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 75.688385 m,
      bearing: 315.383889 deg,
      approach rate: -0.553621 m/s,
      LOS rate: -0.023723 deg/s,
      cmd heading: 331.186201 deg,
      new cmd heading: 331.165048 deg.

2025-08-22T16:10:23.174Z,1755879023.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779921 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:23.259Z,1755879023.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258087
2025-08-22T16:10:23.512Z,1755879023.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511206
2025-08-22T16:10:23.626Z,1755879023.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:23.629Z,1755879023.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 75.413132 m,
      bearing: 315.371516 deg,
      approach rate: -0.590515 m/s,
      LOS rate: -0.026640 deg/s,
      cmd heading: 331.165055 deg,
      new cmd heading: 331.140220 deg.

2025-08-22T16:10:23.630Z,1755879023.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779487 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:23.762Z,1755879023.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762029
2025-08-22T16:10:24.015Z,1755879024.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014277
2025-08-22T16:10:24.023Z,1755879024.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:24.026Z,1755879024.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 75.195236 m,
      bearing: 315.361668 deg,
      approach rate: -0.548551 m/s,
      LOS rate: -0.024866 deg/s,
      cmd heading: 331.140220 deg,
      new cmd heading: 331.120466 deg.

2025-08-22T16:10:24.027Z,1755879024.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.779142 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:24.269Z,1755879024.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268018
2025-08-22T16:10:24.402Z,1755879024.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:24.404Z,1755879024.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 74.974869 m,
      bearing: 315.353758 deg,
      approach rate: -0.582778 m/s,
      LOS rate: -0.020978 deg/s,
      cmd heading: 331.120468 deg,
      new cmd heading: 331.104602 deg.

2025-08-22T16:10:24.426Z,1755879024.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778865 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:24.519Z,1755879024.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518557
2025-08-22T16:10:24.771Z,1755879024.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770135
2025-08-22T16:10:24.788Z,1755879024.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:24.791Z,1755879024.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 74.756676 m,
      bearing: 315.345911 deg,
      approach rate: -0.564881 m/s,
      LOS rate: -0.020376 deg/s,
      cmd heading: 331.104594 deg,
      new cmd heading: 331.088853 deg.

2025-08-22T16:10:24.792Z,1755879024.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778591 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:25.023Z,1755879025.023 [DAT](INFO): DAT read: Rx Time:16:10:25.5593

2025-08-22T16:10:25.023Z,1755879025.023 [DAT](INFO): Rx dataTimestamp_ set to:1755879025.023025
2025-08-22T16:10:25.024Z,1755879025.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023420
2025-08-22T16:10:25.247Z,1755879025.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:25.264Z,1755879025.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.02 m.
2025-08-22T16:10:25.277Z,1755879025.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276293
2025-08-22T16:10:25.285Z,1755879025.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.022476 m,
      nav range: 74.512451 m,
      bearing: 315.337148 deg,
      approach rate: -0.514517 m/s,
      LOS rate: -0.018521 deg/s,
      cmd heading: 331.088857 deg,
      new cmd heading: 331.071275 deg.

2025-08-22T16:10:25.290Z,1755879025.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.778284 target range: 79.022476 and range: 79.50 m.
2025-08-22T16:10:25.532Z,1755879025.532 [DAT](INFO): DAT read: 16:10:25.5593 LVL= 24544, 32753, 22002, 32755, AGC= 60, IDX= 414,-0.35, 0.971,-0.414, 1.724, 1.059, PHS= 0.014,-1.427, 0.621, RAW= 166.8,   8.7, CAL= 166.5,   9.2, ROT= 343.5,  -9.2

2025-08-22T16:10:25.533Z,1755879025.533 [DAT](INFO): got valid direction response:
 16:10:25.5593 LVL= 24544, 32753, 22002, 32755, AGC= 60, IDX= 414,-0.35, 0.971,-0.414, 1.724, 1.059, PHS= 0.014,-1.427, 0.621, RAW= 166.8,   8.7, CAL= 166.5,   9.2, ROT= 343.5,  -9.2

2025-08-22T16:10:25.534Z,1755879025.534 [DAT](INFO): DAT read: Bearing 143.3,  -8.9 (Local)

2025-08-22T16:10:25.534Z,1755879025.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3,  -8.9 (Local)

2025-08-22T16:10:25.535Z,1755879025.535 [DAT](INFO): DAT read: Range 11 to 50 : 77.4 m  (Round-trip  103.3 ms) speed  0.4 m/s

2025-08-22T16:10:25.536Z,1755879025.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:25.537Z,1755879025.537 [DAT](INFO): direction in FSK: [0.946486,-0.280362,0.159881]
2025-08-22T16:10:25.537Z,1755879025.537 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:25.540Z,1755879025.540 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:25.541Z,1755879025.541 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:25.541Z,1755879025.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:25.727Z,1755879025.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 77.400002 m,
      deltaT: 3.778746 s,
      deltaX: -2.099998 m,
      approachRate: -0.555740 m/s,
      rangeRepo size: 4

2025-08-22T16:10:25.734Z,1755879025.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.934547 m,
      bearing: 315.432898 deg,
      lat: 36.779419 deg,
      lon: -121.859642 deg,
      deltaT: 3.778746 s,
      deltaX: -2.087929 m,
      approachRate: -0.552545 m/s,
      posRepo size: 4

2025-08-22T16:10:25.734Z,1755879025.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:25.737Z,1755879025.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 74.219757 m,
      bearing: 315.378398 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.018521 deg/s,
      cmd heading: 331.071263 deg,
      new cmd heading: 331.054069 deg.

2025-08-22T16:10:25.742Z,1755879025.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777984 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:25.782Z,1755879025.782 [DAT](INFO): DAT read: user:77>

2025-08-22T16:10:25.783Z,1755879025.783 [DAT](INFO): DAT read: Tx time:16:10:26.8019

2025-08-22T16:10:25.783Z,1755879025.783 [DAT](INFO): Ping request sent.
2025-08-22T16:10:25.783Z,1755879025.783 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:25.783Z,1755879025.783 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:25.785Z,1755879025.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001860
2025-08-22T16:10:26.031Z,1755879026.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247460
2025-08-22T16:10:26.053Z,1755879026.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:26.055Z,1755879026.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 74.024094 m,
      bearing: 315.371994 deg,
      approach rate: -0.600377 m/s,
      LOS rate: -0.019704 deg/s,
      cmd heading: 331.054078 deg,
      new cmd heading: 331.041235 deg.

2025-08-22T16:10:26.056Z,1755879026.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777760 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:26.286Z,1755879026.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502509
2025-08-22T16:10:26.470Z,1755879026.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:26.472Z,1755879026.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 73.794228 m,
      bearing: 315.360098 deg,
      approach rate: -0.551666 m/s,
      LOS rate: -0.028639 deg/s,
      cmd heading: 331.041237 deg,
      new cmd heading: 331.017371 deg.

2025-08-22T16:10:26.473Z,1755879026.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.777343 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:26.536Z,1755879026.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752416
2025-08-22T16:10:26.787Z,1755879026.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003417
2025-08-22T16:10:26.861Z,1755879026.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:26.864Z,1755879026.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 73.578003 m,
      bearing: 315.348762 deg,
      approach rate: -0.551731 m/s,
      LOS rate: -0.029011 deg/s,
      cmd heading: 331.017359 deg,
      new cmd heading: 330.994620 deg.

2025-08-22T16:10:26.865Z,1755879026.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776946 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:27.038Z,1755879027.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255350
2025-08-22T16:10:27.294Z,1755879027.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509722
2025-08-22T16:10:27.324Z,1755879027.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:27.330Z,1755879027.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:27.333Z,1755879027.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 73.341461 m,
      bearing: 315.336271 deg,
      approach rate: -0.504173 m/s,
      LOS rate: -0.026709 deg/s,
      cmd heading: 330.994628 deg,
      new cmd heading: 330.969566 deg.

2025-08-22T16:10:27.338Z,1755879027.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776509 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:27.543Z,1755879027.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759445
2025-08-22T16:10:27.703Z,1755879027.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:27.710Z,1755879027.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 73.126228 m,
      bearing: 315.325001 deg,
      approach rate: -0.577273 m/s,
      LOS rate: -0.030316 deg/s,
      cmd heading: 330.969575 deg,
      new cmd heading: 330.946969 deg.

2025-08-22T16:10:27.711Z,1755879027.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.776114 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:27.796Z,1755879027.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012461
2025-08-22T16:10:28.047Z,1755879028.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263517
2025-08-22T16:10:28.087Z,1755879028.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:28.092Z,1755879028.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 72.909050 m,
      bearing: 315.313492 deg,
      approach rate: -0.566569 m/s,
      LOS rate: -0.030113 deg/s,
      cmd heading: 330.946981 deg,
      new cmd heading: 330.923894 deg.

2025-08-22T16:10:28.094Z,1755879028.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775712 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:28.301Z,1755879028.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517458
2025-08-22T16:10:28.498Z,1755879028.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:28.500Z,1755879028.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 72.673050 m,
      bearing: 315.298268 deg,
      approach rate: -0.574341 m/s,
      LOS rate: -0.037172 deg/s,
      cmd heading: 330.923895 deg,
      new cmd heading: 330.893346 deg.

2025-08-22T16:10:28.501Z,1755879028.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.775178 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:28.551Z,1755879028.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768185
2025-08-22T16:10:28.803Z,1755879028.803 [DAT](INFO): DAT read: Rx Time:16:10:29.3066

2025-08-22T16:10:28.803Z,1755879028.803 [DAT](INFO): Rx dataTimestamp_ set to:1755879028.802699
2025-08-22T16:10:28.804Z,1755879028.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020446
2025-08-22T16:10:28.889Z,1755879028.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:28.892Z,1755879028.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 72.451790 m,
      bearing: 315.283887 deg,
      approach rate: -0.565028 m/s,
      LOS rate: -0.036836 deg/s,
      cmd heading: 330.893350 deg,
      new cmd heading: 330.864501 deg.

2025-08-22T16:10:28.893Z,1755879028.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774675 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:29.054Z,1755879029.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271399
2025-08-22T16:10:29.351Z,1755879029.351 [DAT](INFO): DAT read: 16:10:29.3066 LVL= 28544, 29585, 19666, 32435, AGC= 59, IDX= 417, 0.46,-1.698,-3.107,-0.940,-1.618, PHS= 0.022,-1.444, 0.634, RAW= 166.7,   8.6, CAL= 166.4,   9.0, ROT= 343.6,  -9.0

2025-08-22T16:10:29.352Z,1755879029.352 [DAT](INFO): got valid direction response:
 16:10:29.3066 LVL= 28544, 29585, 19666, 32435, AGC= 59, IDX= 417, 0.46,-1.698,-3.107,-0.940,-1.618, PHS= 0.022,-1.444, 0.634, RAW= 166.7,   8.6, CAL= 166.4,   9.0, ROT= 343.6,  -9.0

2025-08-22T16:10:29.352Z,1755879029.352 [DAT](INFO): DAT read: Bearing 143.0,  -7.6 (Local)

2025-08-22T16:10:29.353Z,1755879029.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.0,  -7.6 (Local)

2025-08-22T16:10:29.359Z,1755879029.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:29.362Z,1755879029.362 [DAT](INFO): DAT read: Range 11 to 50 : 75.3 m  (Round-trip  100.5 ms) speed  0.5 m/s

2025-08-22T16:10:29.363Z,1755879029.363 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:29.364Z,1755879029.364 [DAT](INFO): direction in FSK: [0.947503,-0.278865,0.156434]
2025-08-22T16:10:29.364Z,1755879029.364 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:29.370Z,1755879029.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.93 m.
2025-08-22T16:10:29.372Z,1755879029.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.934547 m,
      nav range: 72.215988 m,
      bearing: 315.268464 deg,
      approach rate: -0.499273 m/s,
      LOS rate: -0.032762 deg/s,
      cmd heading: 330.864499 deg,
      new cmd heading: 330.833553 deg.

2025-08-22T16:10:29.373Z,1755879029.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.774135 target range: 76.934547 and range: 77.40 m.
2025-08-22T16:10:29.376Z,1755879029.376 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:29.376Z,1755879029.376 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:29.376Z,1755879029.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:29.560Z,1755879029.560 [DAT](INFO): DAT read: user:78>

2025-08-22T16:10:29.562Z,1755879029.562 [DAT](INFO): DAT read: Tx time:16:10:30.6519

2025-08-22T16:10:29.562Z,1755879029.562 [DAT](INFO): Ping request sent.
2025-08-22T16:10:29.562Z,1755879029.562 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:29.563Z,1755879029.563 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:29.564Z,1755879029.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001635
2025-08-22T16:10:29.733Z,1755879029.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.300003 m,
      deltaT: 3.781649 s,
      deltaX: -2.099998 m,
      approachRate: -0.555313 m/s,
      rangeRepo size: 4

2025-08-22T16:10:29.735Z,1755879029.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.847450 m,
      bearing: 315.610062 deg,
      lat: 36.779420 deg,
      lon: -121.859642 deg,
      deltaT: 3.781649 s,
      deltaX: -2.087097 m,
      approachRate: -0.551901 m/s,
      posRepo size: 4

2025-08-22T16:10:29.736Z,1755879029.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:29.739Z,1755879029.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 72.041916 m,
      bearing: 315.316265 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032762 deg/s,
      cmd heading: 330.833545 deg,
      new cmd heading: 330.809226 deg.

2025-08-22T16:10:29.740Z,1755879029.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773710 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:29.812Z,1755879029.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248923
2025-08-22T16:10:30.064Z,1755879030.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501369
2025-08-22T16:10:30.115Z,1755879030.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:30.118Z,1755879030.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 71.824509 m,
      bearing: 315.302016 deg,
      approach rate: -0.567917 m/s,
      LOS rate: -0.037335 deg/s,
      cmd heading: 330.809230 deg,
      new cmd heading: 330.780645 deg.

2025-08-22T16:10:30.119Z,1755879030.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.773211 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:30.318Z,1755879030.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754647
2025-08-22T16:10:30.524Z,1755879030.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:30.528Z,1755879030.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 71.599770 m,
      bearing: 315.288784 deg,
      approach rate: -0.549463 m/s,
      LOS rate: -0.032454 deg/s,
      cmd heading: 330.780652 deg,
      new cmd heading: 330.754104 deg.

2025-08-22T16:10:30.529Z,1755879030.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772748 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:30.568Z,1755879030.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005343
2025-08-22T16:10:30.819Z,1755879030.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256380
2025-08-22T16:10:30.921Z,1755879030.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:30.924Z,1755879030.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 71.387939 m,
      bearing: 315.276456 deg,
      approach rate: -0.534059 m/s,
      LOS rate: -0.031173 deg/s,
      cmd heading: 330.754096 deg,
      new cmd heading: 330.729367 deg.

2025-08-22T16:10:30.925Z,1755879030.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.772316 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:31.072Z,1755879031.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509197
2025-08-22T16:10:31.326Z,1755879031.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762618
2025-08-22T16:10:31.396Z,1755879031.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:31.398Z,1755879031.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:31.400Z,1755879031.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 71.126900 m,
      bearing: 315.261162 deg,
      approach rate: -0.547606 m/s,
      LOS rate: -0.032199 deg/s,
      cmd heading: 330.729371 deg,
      new cmd heading: 330.698673 deg.

2025-08-22T16:10:31.402Z,1755879031.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771780 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:31.576Z,1755879031.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012936
2025-08-22T16:10:31.744Z,1755879031.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:31.747Z,1755879031.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 70.922577 m,
      bearing: 315.247336 deg,
      approach rate: -0.589503 m/s,
      LOS rate: -0.040008 deg/s,
      cmd heading: 330.698662 deg,
      new cmd heading: 330.670929 deg.

2025-08-22T16:10:31.748Z,1755879031.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.771297 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:31.828Z,1755879031.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265525
2025-08-22T16:10:32.079Z,1755879032.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516682
2025-08-22T16:10:32.138Z,1755879032.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:32.140Z,1755879032.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 70.698822 m,
      bearing: 315.232102 deg,
      approach rate: -0.568859 m/s,
      LOS rate: -0.038850 deg/s,
      cmd heading: 330.670932 deg,
      new cmd heading: 330.640369 deg.

2025-08-22T16:10:32.141Z,1755879032.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770763 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:32.331Z,1755879032.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768714
2025-08-22T16:10:32.570Z,1755879032.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:32.579Z,1755879032.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 70.466927 m,
      bearing: 315.219982 deg,
      approach rate: -0.542052 m/s,
      LOS rate: -0.028426 deg/s,
      cmd heading: 330.640360 deg,
      new cmd heading: 330.616038 deg.

2025-08-22T16:10:32.581Z,1755879032.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.770339 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:32.586Z,1755879032.586 [DAT](INFO): DAT read: Rx Time:16:10:33.1536

2025-08-22T16:10:32.588Z,1755879032.588 [DAT](INFO): Rx dataTimestamp_ set to:1755879032.586859
2025-08-22T16:10:32.589Z,1755879032.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026754
2025-08-22T16:10:32.834Z,1755879032.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272114
2025-08-22T16:10:32.938Z,1755879032.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.85 m.
2025-08-22T16:10:32.941Z,1755879032.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.847450 m,
      nav range: 70.246552 m,
      bearing: 315.208701 deg,
      approach rate: -0.591813 m/s,
      LOS rate: -0.030388 deg/s,
      cmd heading: 330.616044 deg,
      new cmd heading: 330.593413 deg.

2025-08-22T16:10:32.942Z,1755879032.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769944 target range: 74.847450 and range: 75.30 m.
2025-08-22T16:10:33.096Z,1755879033.096 [DAT](INFO): DAT read: 16:10:33.1536 LVL= 26448, 31137, 24178, 32755, AGC= 59, IDX= 403, 0.31,-1.943, 2.938,-1.238,-1.929, PHS= 0.088,-1.371, 0.646, RAW= 165.6,   7.1, CAL= 165.0,   6.9, ROT= 345.0,  -6.9

2025-08-22T16:10:33.097Z,1755879033.097 [DAT](INFO): got valid direction response:
 16:10:33.1536 LVL= 26448, 31137, 24178, 32755, AGC= 59, IDX= 403, 0.31,-1.943, 2.938,-1.238,-1.929, PHS= 0.088,-1.371, 0.646, RAW= 165.6,   7.1, CAL= 165.0,   6.9, ROT= 345.0,  -6.9

2025-08-22T16:10:33.098Z,1755879033.098 [DAT](INFO): DAT read: Bearing 140.1,  -5.6 (Local)

2025-08-22T16:10:33.099Z,1755879033.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.1,  -5.6 (Local)

2025-08-22T16:10:33.100Z,1755879033.100 [DAT](INFO): DAT read: Range 11 to 50 : 73.1 m  (Round-trip  97.5 ms) speed  0.4 m/s

2025-08-22T16:10:33.100Z,1755879033.100 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:33.111Z,1755879033.111 [DAT](INFO): direction in FSK: [0.958930,-0.256944,0.120137]
2025-08-22T16:10:33.112Z,1755879033.112 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:33.119Z,1755879033.119 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:33.119Z,1755879033.119 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:33.119Z,1755879033.119 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:33.338Z,1755879033.338 [DAT](INFO): DAT read: user:79>

2025-08-22T16:10:33.339Z,1755879033.339 [DAT](INFO): DAT read: Tx time:16:10:34.4019

2025-08-22T16:10:33.340Z,1755879033.340 [DAT](INFO): Ping request sent.
2025-08-22T16:10:33.340Z,1755879033.340 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:33.340Z,1755879033.340 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:33.342Z,1755879033.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001927
2025-08-22T16:10:33.446Z,1755879033.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.099998 m,
      deltaT: 3.779282 s,
      deltaX: -2.200005 m,
      approachRate: -0.582122 m/s,
      rangeRepo size: 4

2025-08-22T16:10:33.448Z,1755879033.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.661201 m,
      bearing: 316.548058 deg,
      lat: 36.779421 deg,
      lon: -121.859637 deg,
      deltaT: 3.779282 s,
      deltaX: -2.186249 m,
      approachRate: -0.578483 m/s,
      posRepo size: 4

2025-08-22T16:10:33.449Z,1755879033.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:33.459Z,1755879033.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 69.822815 m,
      bearing: 315.497526 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030388 deg/s,
      cmd heading: 330.593423 deg,
      new cmd heading: 330.562806 deg.

2025-08-22T16:10:33.460Z,1755879033.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.769409 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:33.591Z,1755879033.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250981
2025-08-22T16:10:33.831Z,1755879033.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:33.833Z,1755879033.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:33.836Z,1755879033.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 69.590469 m,
      bearing: 315.485623 deg,
      approach rate: -0.593133 m/s,
      LOS rate: -0.030488 deg/s,
      cmd heading: 330.562796 deg,
      new cmd heading: 330.538911 deg.

2025-08-22T16:10:33.837Z,1755879033.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768992 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:33.843Z,1755879033.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502951
2025-08-22T16:10:34.095Z,1755879034.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-08-22T16:10:34.214Z,1755879034.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:34.216Z,1755879034.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 69.378502 m,
      bearing: 315.475095 deg,
      approach rate: -0.557444 m/s,
      LOS rate: -0.027770 deg/s,
      cmd heading: 330.538918 deg,
      new cmd heading: 330.517799 deg.

2025-08-22T16:10:34.217Z,1755879034.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768624 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:34.250Z,1755879034.250 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:10:34.346Z,1755879034.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812
2025-08-22T16:10:34.599Z,1755879034.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258948
2025-08-22T16:10:34.652Z,1755879034.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:34.659Z,1755879034.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 69.140060 m,
      bearing: 315.464470 deg,
      approach rate: -0.544210 m/s,
      LOS rate: -0.024335 deg/s,
      cmd heading: 330.517799 deg,
      new cmd heading: 330.496474 deg.

2025-08-22T16:10:34.659Z,1755879034.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.768251 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:34.853Z,1755879034.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513691
2025-08-22T16:10:35.022Z,1755879035.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:35.024Z,1755879035.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 68.917801 m,
      bearing: 315.454499 deg,
      approach rate: -0.600567 m/s,
      LOS rate: -0.027029 deg/s,
      cmd heading: 330.496461 deg,
      new cmd heading: 330.476455 deg.

2025-08-22T16:10:35.050Z,1755879035.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767902 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:35.103Z,1755879035.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762970
2025-08-22T16:10:35.255Z,1755879035.255 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:10:35.355Z,1755879035.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014826
2025-08-22T16:10:35.486Z,1755879035.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:35.489Z,1755879035.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 68.657974 m,
      bearing: 315.443248 deg,
      approach rate: -0.559866 m/s,
      LOS rate: -0.024334 deg/s,
      cmd heading: 330.476463 deg,
      new cmd heading: 330.453876 deg.

2025-08-22T16:10:35.490Z,1755879035.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767508 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:35.607Z,1755879035.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266948
2025-08-22T16:10:35.822Z,1755879035.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:35.825Z,1755879035.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 68.469734 m,
      bearing: 315.435105 deg,
      approach rate: -0.559248 m/s,
      LOS rate: -0.024259 deg/s,
      cmd heading: 330.453868 deg,
      new cmd heading: 330.437537 deg.

2025-08-22T16:10:35.826Z,1755879035.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.767223 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:35.859Z,1755879035.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518936
2025-08-22T16:10:36.112Z,1755879036.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772054
2025-08-22T16:10:36.226Z,1755879036.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:36.228Z,1755879036.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:36.231Z,1755879036.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 68.243324 m,
      bearing: 315.425283 deg,
      approach rate: -0.558499 m/s,
      LOS rate: -0.024308 deg/s,
      cmd heading: 330.437531 deg,
      new cmd heading: 330.417822 deg.

2025-08-22T16:10:36.231Z,1755879036.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766879 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:36.363Z,1755879036.363 [DAT](INFO): DAT read: Rx Time:16:10:36.9008

2025-08-22T16:10:36.363Z,1755879036.363 [DAT](INFO): Rx dataTimestamp_ set to:1755879036.362751
2025-08-22T16:10:36.364Z,1755879036.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023912
2025-08-22T16:10:36.615Z,1755879036.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274874
2025-08-22T16:10:36.659Z,1755879036.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.66 m.
2025-08-22T16:10:36.666Z,1755879036.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.661201 m,
      nav range: 68.012817 m,
      bearing: 315.415162 deg,
      approach rate: -0.534501 m/s,
      LOS rate: -0.023548 deg/s,
      cmd heading: 330.417832 deg,
      new cmd heading: 330.397522 deg.

2025-08-22T16:10:36.667Z,1755879036.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766525 target range: 72.661201 and range: 73.10 m.
2025-08-22T16:10:36.877Z,1755879036.877 [DAT](INFO): DAT read: 16:10:36.9008 LVL= 24352, 27121, 21218, 32755, AGC= 57, IDX= 407, 0.15,-0.546,-1.942, 0.155,-0.541, PHS= 0.098,-1.356, 0.652, RAW= 165.5,   6.8, CAL= 164.9,   6.5, ROT= 345.1,  -6.5

2025-08-22T16:10:36.883Z,1755879036.883 [DAT](INFO): got valid direction response:
 16:10:36.9008 LVL= 24352, 27121, 21218, 32755, AGC= 57, IDX= 407, 0.15,-0.546,-1.942, 0.155,-0.541, PHS= 0.098,-1.356, 0.652, RAW= 165.5,   6.8, CAL= 164.9,   6.5, ROT= 345.1,  -6.5

2025-08-22T16:10:36.884Z,1755879036.884 [DAT](INFO): DAT read: Bearing 139.6,  -4.5 (Local)

2025-08-22T16:10:36.885Z,1755879036.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.6,  -4.5 (Local)

2025-08-22T16:10:36.887Z,1755879036.887 [DAT](INFO): DAT read: Range 11 to 50 : 71.1 m  (Round-trip  94.8 ms) speed  0.4 m/s

2025-08-22T16:10:36.888Z,1755879036.888 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:36.889Z,1755879036.889 [DAT](INFO): direction in FSK: [0.960164,-0.255480,0.113203]
2025-08-22T16:10:36.891Z,1755879036.891 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:36.896Z,1755879036.896 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:36.896Z,1755879036.896 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:36.897Z,1755879036.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:37.091Z,1755879037.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.099998 m,
      deltaT: 3.779545 s,
      deltaX: -2.000000 m,
      approachRate: -0.529164 m/s,
      rangeRepo size: 4

2025-08-22T16:10:37.098Z,1755879037.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.672882 m,
      bearing: 316.227941 deg,
      lat: 36.779422 deg,
      lon: -121.859635 deg,
      deltaT: 3.779545 s,
      deltaX: -1.988319 m,
      approachRate: -0.526074 m/s,
      posRepo size: 4

2025-08-22T16:10:37.099Z,1755879037.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:37.106Z,1755879037.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 67.664230 m,
      bearing: 315.569001 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023548 deg/s,
      cmd heading: 330.397533 deg,
      new cmd heading: 330.377199 deg.

2025-08-22T16:10:37.107Z,1755879037.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.766170 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:37.119Z,1755879037.119 [DAT](INFO): DAT read: user:80>

2025-08-22T16:10:37.119Z,1755879037.119 [DAT](INFO): DAT read: Tx time:16:10:38.1519

2025-08-22T16:10:37.120Z,1755879037.120 [DAT](INFO): Ping request sent.
2025-08-22T16:10:37.120Z,1755879037.120 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:37.120Z,1755879037.120 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:37.120Z,1755879037.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734
2025-08-22T16:10:37.374Z,1755879037.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254267
2025-08-22T16:10:37.536Z,1755879037.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:37.539Z,1755879037.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 67.411346 m,
      bearing: 315.557078 deg,
      approach rate: -0.568203 m/s,
      LOS rate: -0.026890 deg/s,
      cmd heading: 330.377206 deg,
      new cmd heading: 330.353271 deg.

2025-08-22T16:10:37.540Z,1755879037.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765752 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:37.623Z,1755879037.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503150
2025-08-22T16:10:37.875Z,1755879037.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754917
2025-08-22T16:10:37.902Z,1755879037.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:37.904Z,1755879037.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 67.204582 m,
      bearing: 315.547278 deg,
      approach rate: -0.571835 m/s,
      LOS rate: -0.027185 deg/s,
      cmd heading: 330.353273 deg,
      new cmd heading: 330.333614 deg.

2025-08-22T16:10:37.909Z,1755879037.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765409 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:38.128Z,1755879038.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008349
2025-08-22T16:10:38.281Z,1755879038.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:38.283Z,1755879038.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:38.302Z,1755879038.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 66.975121 m,
      bearing: 315.536379 deg,
      approach rate: -0.594371 m/s,
      LOS rate: -0.028330 deg/s,
      cmd heading: 330.333602 deg,
      new cmd heading: 330.311729 deg.

2025-08-22T16:10:38.303Z,1755879038.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.765027 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:38.380Z,1755879038.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260220
2025-08-22T16:10:38.631Z,1755879038.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797
2025-08-22T16:10:38.730Z,1755879038.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:38.733Z,1755879038.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 66.740189 m,
      bearing: 315.529905 deg,
      approach rate: -0.525697 m/s,
      LOS rate: -0.014538 deg/s,
      cmd heading: 330.311719 deg,
      new cmd heading: 330.298725 deg.

2025-08-22T16:10:38.738Z,1755879038.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764800 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:38.885Z,1755879038.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765151
2025-08-22T16:10:39.114Z,1755879039.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:39.116Z,1755879039.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 66.524658 m,
      bearing: 315.523930 deg,
      approach rate: -0.562713 m/s,
      LOS rate: -0.015649 deg/s,
      cmd heading: 330.298714 deg,
      new cmd heading: 330.286726 deg.

2025-08-22T16:10:39.117Z,1755879039.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764591 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:39.139Z,1755879039.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018836
2025-08-22T16:10:39.395Z,1755879039.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274369
2025-08-22T16:10:39.559Z,1755879039.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:39.563Z,1755879039.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 66.272255 m,
      bearing: 315.514008 deg,
      approach rate: -0.568376 m/s,
      LOS rate: -0.022428 deg/s,
      cmd heading: 330.286720 deg,
      new cmd heading: 330.266801 deg.

2025-08-22T16:10:39.565Z,1755879039.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.764243 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:39.643Z,1755879039.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523387
2025-08-22T16:10:39.895Z,1755879039.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775177
2025-08-22T16:10:39.929Z,1755879039.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:39.936Z,1755879039.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 66.067780 m,
      bearing: 315.505831 deg,
      approach rate: -0.550568 m/s,
      LOS rate: -0.022085 deg/s,
      cmd heading: 330.266803 deg,
      new cmd heading: 330.250399 deg.

2025-08-22T16:10:39.937Z,1755879039.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763957 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:40.147Z,1755879040.147 [DAT](INFO): DAT read: Rx Time:16:10:40.6479

2025-08-22T16:10:40.147Z,1755879040.147 [DAT](INFO): Rx dataTimestamp_ set to:1755879040.146748
2025-08-22T16:10:40.148Z,1755879040.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027870
2025-08-22T16:10:40.308Z,1755879040.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:40.314Z,1755879040.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.67 m.
2025-08-22T16:10:40.316Z,1755879040.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.672882 m,
      nav range: 65.844711 m,
      bearing: 315.496848 deg,
      approach rate: -0.585682 m/s,
      LOS rate: -0.023666 deg/s,
      cmd heading: 330.250411 deg,
      new cmd heading: 330.232383 deg.

2025-08-22T16:10:40.317Z,1755879040.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763642 target range: 70.672882 and range: 71.10 m.
2025-08-22T16:10:40.399Z,1755879040.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278967
2025-08-22T16:10:40.656Z,1755879040.656 [DAT](INFO): DAT read: 16:10:40.6479 LVL= 24304, 28081, 18050, 32755, AGC= 58, IDX= 409, 0.22, 0.161,-1.223, 0.882, 0.136, PHS= 0.127,-1.315, 0.702, RAW= 166.1,   5.5, CAL= 165.3,   4.6, ROT= 344.7,  -4.6

2025-08-22T16:10:40.657Z,1755879040.657 [DAT](INFO): got valid direction response:
 16:10:40.6479 LVL= 24304, 28081, 18050, 32755, AGC= 58, IDX= 409, 0.22, 0.161,-1.223, 0.882, 0.136, PHS= 0.127,-1.315, 0.702, RAW= 166.1,   5.5, CAL= 165.3,   4.6, ROT= 344.7,  -4.6

2025-08-22T16:10:40.658Z,1755879040.658 [DAT](INFO): DAT read: Bearing 138.1,  -3.9 (Local)

2025-08-22T16:10:40.659Z,1755879040.659 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.1,  -3.9 (Local)

2025-08-22T16:10:40.660Z,1755879040.660 [DAT](INFO): DAT read: Range 11 to 50 : 68.8 m  (Round-trip  91.8 ms) speed  0.5 m/s

2025-08-22T16:10:40.661Z,1755879040.661 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:40.662Z,1755879040.662 [DAT](INFO): direction in FSK: [0.961450,-0.263023,0.080199]
2025-08-22T16:10:40.662Z,1755879040.662 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:40.665Z,1755879040.665 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:40.665Z,1755879040.665 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:40.670Z,1755879040.670 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:40.839Z,1755879040.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.800003 m,
      deltaT: 3.783509 s,
      deltaX: -2.299995 m,
      approachRate: -0.607900 m/s,
      rangeRepo size: 4

2025-08-22T16:10:40.841Z,1755879040.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.386536 m,
      bearing: 315.875354 deg,
      lat: 36.779428 deg,
      lon: -121.859636 deg,
      deltaT: 3.783509 s,
      deltaX: -2.286346 m,
      approachRate: -0.604293 m/s,
      posRepo size: 4

2025-08-22T16:10:40.841Z,1755879040.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:40.868Z,1755879040.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 66.183434 m,
      bearing: 315.875590 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023666 deg/s,
      cmd heading: 330.232379 deg,
      new cmd heading: 330.207576 deg.

2025-08-22T16:10:40.869Z,1755879040.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.763209 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:40.902Z,1755879040.902 [DAT](INFO): DAT read: user:81>

2025-08-22T16:10:40.903Z,1755879040.903 [DAT](INFO): DAT read: Tx time:16:10:41.9519

2025-08-22T16:10:40.903Z,1755879040.903 [DAT](INFO): Ping request sent.
2025-08-22T16:10:40.904Z,1755879040.904 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:40.904Z,1755879040.904 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:40.904Z,1755879040.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-22T16:10:41.155Z,1755879041.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251507
2025-08-22T16:10:41.229Z,1755879041.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:41.231Z,1755879041.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 65.945038 m,
      bearing: 315.865819 deg,
      approach rate: -0.603795 m/s,
      LOS rate: -0.024835 deg/s,
      cmd heading: 330.207572 deg,
      new cmd heading: 330.187960 deg.

2025-08-22T16:10:41.232Z,1755879041.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762867 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:41.407Z,1755879041.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503210
2025-08-22T16:10:41.637Z,1755879041.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:41.639Z,1755879041.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 65.714798 m,
      bearing: 315.854354 deg,
      approach rate: -0.564273 m/s,
      LOS rate: -0.028196 deg/s,
      cmd heading: 330.187955 deg,
      new cmd heading: 330.164946 deg.

2025-08-22T16:10:41.640Z,1755879041.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762465 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:41.662Z,1755879041.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758277
2025-08-22T16:10:41.915Z,1755879041.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010968
2025-08-22T16:10:42.030Z,1755879042.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:42.035Z,1755879042.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 65.492577 m,
      bearing: 315.843262 deg,
      approach rate: -0.564453 m/s,
      LOS rate: -0.028271 deg/s,
      cmd heading: 330.164951 deg,
      new cmd heading: 330.142691 deg.

2025-08-22T16:10:42.038Z,1755879042.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.762077 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:42.169Z,1755879042.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265783
2025-08-22T16:10:42.419Z,1755879042.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515105
2025-08-22T16:10:42.447Z,1755879042.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:42.450Z,1755879042.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:42.452Z,1755879042.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 65.267708 m,
      bearing: 315.831918 deg,
      approach rate: -0.536627 m/s,
      LOS rate: -0.027165 deg/s,
      cmd heading: 330.142685 deg,
      new cmd heading: 330.119919 deg.

2025-08-22T16:10:42.453Z,1755879042.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761680 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:42.670Z,1755879042.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766874
2025-08-22T16:10:42.923Z,1755879042.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019066
2025-08-22T16:10:42.933Z,1755879042.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:42.936Z,1755879042.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 64.989983 m,
      bearing: 315.816299 deg,
      approach rate: -0.574005 m/s,
      LOS rate: -0.032420 deg/s,
      cmd heading: 330.119927 deg,
      new cmd heading: 330.088555 deg.

2025-08-22T16:10:42.937Z,1755879042.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.761132 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:43.176Z,1755879043.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271979
2025-08-22T16:10:43.306Z,1755879043.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:43.309Z,1755879043.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 64.784325 m,
      bearing: 315.804687 deg,
      approach rate: -0.552566 m/s,
      LOS rate: -0.031298 deg/s,
      cmd heading: 330.088563 deg,
      new cmd heading: 330.065265 deg.

2025-08-22T16:10:43.326Z,1755879043.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760725 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:43.427Z,1755879043.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523218
2025-08-22T16:10:43.679Z,1755879043.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775214
2025-08-22T16:10:43.738Z,1755879043.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:43.740Z,1755879043.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 64.546654 m,
      bearing: 315.789141 deg,
      approach rate: -0.550291 m/s,
      LOS rate: -0.036127 deg/s,
      cmd heading: 330.065258 deg,
      new cmd heading: 330.034052 deg.

2025-08-22T16:10:43.741Z,1755879043.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.760181 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:43.931Z,1755879043.931 [DAT](INFO): DAT read: Rx Time:16:10:44.4451

2025-08-22T16:10:43.931Z,1755879043.931 [DAT](INFO): Rx dataTimestamp_ set to:1755879043.930718
2025-08-22T16:10:43.932Z,1755879043.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028017
2025-08-22T16:10:44.114Z,1755879044.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.39 m.
2025-08-22T16:10:44.116Z,1755879044.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.386536 m,
      nav range: 64.339508 m,
      bearing: 315.775413 deg,
      approach rate: -0.550578 m/s,
      LOS rate: -0.036605 deg/s,
      cmd heading: 330.034058 deg,
      new cmd heading: 330.006514 deg.

2025-08-22T16:10:44.117Z,1755879044.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759700 target range: 68.386536 and range: 68.80 m.
2025-08-22T16:10:44.184Z,1755879044.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279629
2025-08-22T16:10:44.440Z,1755879044.440 [DAT](INFO): DAT read: 16:10:44.4451 LVL= 21296, 26417, 18162, 30755, AGC= 57, IDX= 412, 0.03,-1.355,-2.707,-0.627,-1.389, PHS= 0.136,-1.273, 0.719, RAW= 166.5,   4.8, CAL= 165.7,   3.6, ROT= 344.3,  -3.6

2025-08-22T16:10:44.441Z,1755879044.441 [DAT](INFO): got valid direction response:
 16:10:44.4451 LVL= 21296, 26417, 18162, 30755, AGC= 57, IDX= 412, 0.03,-1.355,-2.707,-0.627,-1.389, PHS= 0.136,-1.273, 0.719, RAW= 166.5,   4.8, CAL= 165.7,   3.6, ROT= 344.3,  -3.6

2025-08-22T16:10:44.442Z,1755879044.442 [DAT](INFO): DAT read: Bearing 137.4,  -3.6 (Local)

2025-08-22T16:10:44.442Z,1755879044.442 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.4,  -3.6 (Local)

2025-08-22T16:10:44.443Z,1755879044.443 [DAT](INFO): DAT read: Range 11 to 50 : 66.7 m  (Round-trip  89.0 ms) speed  0.4 m/s

2025-08-22T16:10:44.444Z,1755879044.444 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:44.445Z,1755879044.445 [DAT](INFO): direction in FSK: [0.960792,-0.270066,0.062791]
2025-08-22T16:10:44.445Z,1755879044.445 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:44.448Z,1755879044.448 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:44.448Z,1755879044.448 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:44.449Z,1755879044.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:44.651Z,1755879044.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.699997 m,
      deltaT: 3.784020 s,
      deltaX: -2.100006 m,
      approachRate: -0.554967 m/s,
      rangeRepo size: 4

2025-08-22T16:10:44.653Z,1755879044.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.297844 m,
      bearing: 315.591290 deg,
      lat: 36.779429 deg,
      lon: -121.859636 deg,
      deltaT: 3.784020 s,
      deltaX: -2.088692 m,
      approachRate: -0.551977 m/s,
      posRepo size: 4

2025-08-22T16:10:44.658Z,1755879044.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:44.661Z,1755879044.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 64.069969 m,
      bearing: 315.770180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.036605 deg/s,
      cmd heading: 330.006518 deg,
      new cmd heading: 329.967207 deg.

2025-08-22T16:10:44.666Z,1755879044.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.759014 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:44.686Z,1755879044.686 [DAT](INFO): DAT read: user:82>

2025-08-22T16:10:44.687Z,1755879044.687 [DAT](INFO): DAT read: Tx time:16:10:45.7019

2025-08-22T16:10:44.688Z,1755879044.688 [DAT](INFO): Ping request sent.
2025-08-22T16:10:44.688Z,1755879044.688 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:44.688Z,1755879044.688 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:44.688Z,1755879044.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-08-22T16:10:44.939Z,1755879044.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891
2025-08-22T16:10:44.953Z,1755879044.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:44.955Z,1755879044.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:44.978Z,1755879044.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 63.893822 m,
      bearing: 315.754288 deg,
      approach rate: -0.578082 m/s,
      LOS rate: -0.052297 deg/s,
      cmd heading: 329.967204 deg,
      new cmd heading: 329.935333 deg.

2025-08-22T16:10:44.979Z,1755879044.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.758458 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:45.192Z,1755879045.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503858
2025-08-22T16:10:45.346Z,1755879045.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:45.349Z,1755879045.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 63.688999 m,
      bearing: 315.735711 deg,
      approach rate: -0.546753 m/s,
      LOS rate: -0.049750 deg/s,
      cmd heading: 329.935320 deg,
      new cmd heading: 329.898046 deg.

2025-08-22T16:10:45.354Z,1755879045.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757807 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:45.443Z,1755879045.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755387
2025-08-22T16:10:45.694Z,1755879045.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790
2025-08-22T16:10:45.772Z,1755879045.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:45.775Z,1755879045.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 63.448280 m,
      bearing: 315.718826 deg,
      approach rate: -0.544442 m/s,
      LOS rate: -0.038335 deg/s,
      cmd heading: 329.898055 deg,
      new cmd heading: 329.864157 deg.

2025-08-22T16:10:45.776Z,1755879045.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.757215 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:45.947Z,1755879045.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259490
2025-08-22T16:10:46.203Z,1755879046.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514713
2025-08-22T16:10:46.239Z,1755879046.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:46.242Z,1755879046.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 63.194302 m,
      bearing: 315.701018 deg,
      approach rate: -0.543909 m/s,
      LOS rate: -0.038289 deg/s,
      cmd heading: 329.864150 deg,
      new cmd heading: 329.828392 deg.

2025-08-22T16:10:46.243Z,1755879046.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.756591 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:46.451Z,1755879046.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762848
2025-08-22T16:10:46.675Z,1755879046.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:46.679Z,1755879046.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 62.958134 m,
      bearing: 315.682912 deg,
      approach rate: -0.541141 m/s,
      LOS rate: -0.041644 deg/s,
      cmd heading: 329.828387 deg,
      new cmd heading: 329.792038 deg.

2025-08-22T16:10:46.680Z,1755879046.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755957 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:46.702Z,1755879046.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014735
2025-08-22T16:10:46.955Z,1755879046.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266849
2025-08-22T16:10:47.106Z,1755879047.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:47.108Z,1755879047.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:47.131Z,1755879047.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 62.724102 m,
      bearing: 315.665058 deg,
      approach rate: -0.540654 m/s,
      LOS rate: -0.041399 deg/s,
      cmd heading: 329.792050 deg,
      new cmd heading: 329.756210 deg.

2025-08-22T16:10:47.132Z,1755879047.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.755332 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:47.207Z,1755879047.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519557
2025-08-22T16:10:47.459Z,1755879047.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771071
2025-08-22T16:10:47.520Z,1755879047.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:47.527Z,1755879047.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 62.500984 m,
      bearing: 315.648054 deg,
      approach rate: -0.541684 m/s,
      LOS rate: -0.041428 deg/s,
      cmd heading: 329.756206 deg,
      new cmd heading: 329.722077 deg.

2025-08-22T16:10:47.529Z,1755879047.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754736 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:47.711Z,1755879047.711 [DAT](INFO): DAT read: Rx Time:16:10:48.1922

2025-08-22T16:10:47.711Z,1755879047.711 [DAT](INFO): Rx dataTimestamp_ set to:1755879047.710755
2025-08-22T16:10:47.712Z,1755879047.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023913
2025-08-22T16:10:47.951Z,1755879047.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.30 m.
2025-08-22T16:10:47.958Z,1755879047.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.297844 m,
      nav range: 62.257904 m,
      bearing: 315.635072 deg,
      approach rate: -0.563668 m/s,
      LOS rate: -0.030222 deg/s,
      cmd heading: 329.722082 deg,
      new cmd heading: 329.696016 deg.

2025-08-22T16:10:47.959Z,1755879047.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.754281 target range: 66.297844 and range: 66.70 m.
2025-08-22T16:10:47.963Z,1755879047.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274920
2025-08-22T16:10:48.220Z,1755879048.220 [DAT](INFO): DAT read: 16:10:48.1922 LVL= 23392, 26993, 18162, 32755, AGC= 56, IDX= 416,-0.00,-0.072,-1.366, 0.666,-0.104, PHS= 0.135,-1.216, 0.727, RAW= 167.3,   4.2, CAL= 166.4,   2.7, ROT= 343.6,  -2.7

2025-08-22T16:10:48.221Z,1755879048.221 [DAT](INFO): got valid direction response:
 16:10:48.1922 LVL= 23392, 26993, 18162, 32755, AGC= 56, IDX= 416,-0.00,-0.072,-1.366, 0.666,-0.104, PHS= 0.135,-1.216, 0.727, RAW= 167.3,   4.2, CAL= 166.4,   2.7, ROT= 343.6,  -2.7

2025-08-22T16:10:48.222Z,1755879048.222 [DAT](INFO): DAT read: Bearing 136.8,  -3.9 (Local)

2025-08-22T16:10:48.222Z,1755879048.222 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.8,  -3.9 (Local)

2025-08-22T16:10:48.223Z,1755879048.223 [DAT](INFO): DAT read: Range 11 to 50 : 64.7 m  (Round-trip  86.3 ms) speed  0.5 m/s

2025-08-22T16:10:48.224Z,1755879048.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:48.225Z,1755879048.225 [DAT](INFO): direction in FSK: [0.958249,-0.282028,0.047106]
2025-08-22T16:10:48.225Z,1755879048.225 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:48.229Z,1755879048.229 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:48.229Z,1755879048.229 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:48.229Z,1755879048.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:48.356Z,1755879048.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.699997 m,
      deltaT: 3.779978 s,
      deltaX: -2.000000 m,
      approachRate: -0.529104 m/s,
      rangeRepo size: 4

2025-08-22T16:10:48.370Z,1755879048.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.307060 m,
      bearing: 314.767690 deg,
      lat: 36.779429 deg,
      lon: -121.859636 deg,
      deltaT: 3.779978 s,
      deltaX: -1.990784 m,
      approachRate: -0.526665 m/s,
      posRepo size: 4

2025-08-22T16:10:48.371Z,1755879048.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:48.378Z,1755879048.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 62.037243 m,
      bearing: 315.623296 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030222 deg/s,
      cmd heading: 329.696018 deg,
      new cmd heading: 329.671591 deg.

2025-08-22T16:10:48.379Z,1755879048.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753855 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:48.467Z,1755879048.467 [DAT](INFO): DAT read: user:83>

2025-08-22T16:10:48.467Z,1755879048.467 [DAT](INFO): DAT read: Tx time:16:10:49.5018

2025-08-22T16:10:48.468Z,1755879048.468 [DAT](INFO): Ping request sent.
2025-08-22T16:10:48.468Z,1755879048.468 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:48.468Z,1755879048.468 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:48.468Z,1755879048.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-22T16:10:48.718Z,1755879048.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250733
2025-08-22T16:10:48.779Z,1755879048.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:48.786Z,1755879048.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 61.796795 m,
      bearing: 315.616453 deg,
      approach rate: -0.567251 m/s,
      LOS rate: -0.016205 deg/s,
      cmd heading: 329.671593 deg,
      new cmd heading: 329.657855 deg.

2025-08-22T16:10:48.787Z,1755879048.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753615 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:48.973Z,1755879048.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505611
2025-08-22T16:10:49.144Z,1755879049.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:49.146Z,1755879049.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:49.149Z,1755879049.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 61.573959 m,
      bearing: 315.610064 deg,
      approach rate: -0.608122 m/s,
      LOS rate: -0.017499 deg/s,
      cmd heading: 329.657851 deg,
      new cmd heading: 329.645027 deg.

2025-08-22T16:10:49.150Z,1755879049.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753391 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:49.224Z,1755879049.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755744
2025-08-22T16:10:49.474Z,1755879049.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006763
2025-08-22T16:10:49.571Z,1755879049.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:49.574Z,1755879049.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 61.343212 m,
      bearing: 315.604175 deg,
      approach rate: -0.542117 m/s,
      LOS rate: -0.013888 deg/s,
      cmd heading: 329.645037 deg,
      new cmd heading: 329.633215 deg.

2025-08-22T16:10:49.575Z,1755879049.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.753185 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:49.727Z,1755879049.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259121
2025-08-22T16:10:49.979Z,1755879049.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510912
2025-08-22T16:10:50.015Z,1755879050.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:50.025Z,1755879050.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 61.081436 m,
      bearing: 315.598209 deg,
      approach rate: -0.590395 m/s,
      LOS rate: -0.013513 deg/s,
      cmd heading: 329.633208 deg,
      new cmd heading: 329.621224 deg.

2025-08-22T16:10:50.027Z,1755879050.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752975 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:50.230Z,1755879050.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762715
2025-08-22T16:10:50.381Z,1755879050.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:50.384Z,1755879050.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 60.865032 m,
      bearing: 315.593524 deg,
      approach rate: -0.590687 m/s,
      LOS rate: -0.012832 deg/s,
      cmd heading: 329.621214 deg,
      new cmd heading: 329.611811 deg.

2025-08-22T16:10:50.385Z,1755879050.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752811 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:50.483Z,1755879050.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014917
2025-08-22T16:10:50.735Z,1755879050.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266995
2025-08-22T16:10:50.810Z,1755879050.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:50.813Z,1755879050.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 60.614746 m,
      bearing: 315.584952 deg,
      approach rate: -0.583302 m/s,
      LOS rate: -0.020062 deg/s,
      cmd heading: 329.611815 deg,
      new cmd heading: 329.594599 deg.

2025-08-22T16:10:50.814Z,1755879050.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752511 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:50.986Z,1755879050.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518777
2025-08-22T16:10:51.196Z,1755879051.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:51.199Z,1755879051.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:51.218Z,1755879051.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 60.390686 m,
      bearing: 315.577304 deg,
      approach rate: -0.576059 m/s,
      LOS rate: -0.019735 deg/s,
      cmd heading: 329.594603 deg,
      new cmd heading: 329.579251 deg.

2025-08-22T16:10:51.219Z,1755879051.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.752243 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:51.239Z,1755879051.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770966
2025-08-22T16:10:51.491Z,1755879051.491 [DAT](INFO): DAT read: Rx Time:16:10:51.9893

2025-08-22T16:10:51.491Z,1755879051.491 [DAT](INFO): Rx dataTimestamp_ set to:1755879051.490743
2025-08-22T16:10:51.492Z,1755879051.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023892
2025-08-22T16:10:51.604Z,1755879051.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.31 m.
2025-08-22T16:10:51.607Z,1755879051.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.307060 m,
      nav range: 60.154331 m,
      bearing: 315.569251 deg,
      approach rate: -0.583768 m/s,
      LOS rate: -0.019968 deg/s,
      cmd heading: 329.579249 deg,
      new cmd heading: 329.563080 deg.

2025-08-22T16:10:51.608Z,1755879051.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751961 target range: 64.307060 and range: 64.70 m.
2025-08-22T16:10:51.744Z,1755879051.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276299
2025-08-22T16:10:51.000Z,1755879052.000 [DAT](INFO): DAT read: 16:10:51.9893 LVL= 24448, 32753, 18290, 32755, AGC= 57, IDX= 418,-0.12,-1.856, 3.126,-1.127,-1.910, PHS= 0.156,-1.202, 0.739, RAW= 167.0,   3.6, CAL= 166.0,   1.9, ROT= 344.0,  -1.9

2025-08-22T16:10:52.001Z,1755879052.001 [DAT](INFO): got valid direction response:
 16:10:51.9893 LVL= 24448, 32753, 18290, 32755, AGC= 57, IDX= 418,-0.12,-1.856, 3.126,-1.127,-1.910, PHS= 0.156,-1.202, 0.739, RAW= 167.0,   3.6, CAL= 166.0,   1.9, ROT= 344.0,  -1.9

2025-08-22T16:10:52.002Z,1755879052.002 [DAT](INFO): DAT read: Bearing 136.1,  -3.7 (Local)

2025-08-22T16:10:52.002Z,1755879052.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.1,  -3.7 (Local)

2025-08-22T16:10:52.004Z,1755879052.004 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m  (Round-trip  83.3 ms) speed  0.5 m/s

2025-08-22T16:10:52.004Z,1755879052.004 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:52.005Z,1755879052.005 [DAT](INFO): direction in FSK: [0.960733,-0.275486,0.033155]
2025-08-22T16:10:52.006Z,1755879052.006 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:52.009Z,1755879052.009 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:52.009Z,1755879052.009 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:52.009Z,1755879052.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:52.121Z,1755879052.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.400002 m,
      deltaT: 3.780071 s,
      deltaX: -2.299995 m,
      approachRate: -0.608453 m/s,
      rangeRepo size: 4

2025-08-22T16:10:52.127Z,1755879052.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.019634 m,
      bearing: 314.845170 deg,
      lat: 36.779428 deg,
      lon: -121.859639 deg,
      deltaT: 3.780071 s,
      deltaX: -2.287426 m,
      approachRate: -0.605128 m/s,
      posRepo size: 4

2025-08-22T16:10:52.127Z,1755879052.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:52.143Z,1755879052.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 60.051556 m,
      bearing: 315.355198 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019968 deg/s,
      cmd heading: 329.563075 deg,
      new cmd heading: 329.542476 deg.

2025-08-22T16:10:52.144Z,1755879052.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751601 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:52.247Z,1755879052.247 [DAT](INFO): DAT read: user:84>

2025-08-22T16:10:52.247Z,1755879052.247 [DAT](INFO): DAT read: Tx time:16:10:53.2534

2025-08-22T16:10:52.248Z,1755879052.248 [DAT](INFO): Ping request sent.
2025-08-22T16:10:52.248Z,1755879052.248 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:52.248Z,1755879052.248 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:52.248Z,1755879052.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:10:52.414Z,1755879052.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:52.416Z,1755879052.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 59.875641 m,
      bearing: 315.349260 deg,
      approach rate: -0.599020 m/s,
      LOS rate: -0.020281 deg/s,
      cmd heading: 329.542475 deg,
      new cmd heading: 329.530564 deg.

2025-08-22T16:10:52.417Z,1755879052.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.751393 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:52.499Z,1755879052.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251569
2025-08-22T16:10:52.750Z,1755879052.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502726
2025-08-22T16:10:52.825Z,1755879052.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:52.828Z,1755879052.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 59.642021 m,
      bearing: 315.335985 deg,
      approach rate: -0.567592 m/s,
      LOS rate: -0.032379 deg/s,
      cmd heading: 329.530563 deg,
      new cmd heading: 329.503909 deg.

2025-08-22T16:10:52.829Z,1755879052.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750928 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:53.003Z,1755879053.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754805
2025-08-22T16:10:53.213Z,1755879053.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:53.215Z,1755879053.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:53.218Z,1755879053.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 59.422306 m,
      bearing: 315.323458 deg,
      approach rate: -0.563190 m/s,
      LOS rate: -0.032229 deg/s,
      cmd heading: 329.503898 deg,
      new cmd heading: 329.478752 deg.

2025-08-22T16:10:53.219Z,1755879053.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750489 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:53.255Z,1755879053.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007187
2025-08-22T16:10:53.506Z,1755879053.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258723
2025-08-22T16:10:53.619Z,1755879053.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:53.621Z,1755879053.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 59.195175 m,
      bearing: 315.310601 deg,
      approach rate: -0.563187 m/s,
      LOS rate: -0.032003 deg/s,
      cmd heading: 329.478763 deg,
      new cmd heading: 329.452950 deg.

2025-08-22T16:10:53.622Z,1755879053.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.750039 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:53.759Z,1755879053.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510964
2025-08-22T16:10:54.012Z,1755879054.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763923
2025-08-22T16:10:54.084Z,1755879054.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:54.087Z,1755879054.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 58.935535 m,
      bearing: 315.290659 deg,
      approach rate: -0.557959 m/s,
      LOS rate: -0.043042 deg/s,
      cmd heading: 329.452945 deg,
      new cmd heading: 329.412887 deg.

2025-08-22T16:10:54.088Z,1755879054.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.749340 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:54.266Z,1755879054.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018033
2025-08-22T16:10:54.418Z,1755879054.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:54.421Z,1755879054.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 58.748508 m,
      bearing: 315.276217 deg,
      approach rate: -0.560286 m/s,
      LOS rate: -0.043403 deg/s,
      cmd heading: 329.412893 deg,
      new cmd heading: 329.383916 deg.

2025-08-22T16:10:54.426Z,1755879054.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748834 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:54.516Z,1755879054.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268249
2025-08-22T16:10:54.766Z,1755879054.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518689
2025-08-22T16:10:54.850Z,1755879054.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:54.852Z,1755879054.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 58.510029 m,
      bearing: 315.254863 deg,
      approach rate: -0.552184 m/s,
      LOS rate: -0.049647 deg/s,
      cmd heading: 329.383906 deg,
      new cmd heading: 329.341022 deg.

2025-08-22T16:10:54.854Z,1755879054.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.748085 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:55.021Z,1755879055.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773182
2025-08-22T16:10:55.242Z,1755879055.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:55.244Z,1755879055.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:55.255Z,1755879055.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 58.301041 m,
      bearing: 315.236209 deg,
      approach rate: -0.529828 m/s,
      LOS rate: -0.047460 deg/s,
      cmd heading: 329.341012 deg,
      new cmd heading: 329.303572 deg.

2025-08-22T16:10:55.256Z,1755879055.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747432 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:55.271Z,1755879055.271 [DAT](INFO): DAT read: Rx Time:16:10:55.7381

2025-08-22T16:10:55.271Z,1755879055.271 [DAT](INFO): Rx dataTimestamp_ set to:1755879055.270914
2025-08-22T16:10:55.272Z,1755879055.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024017
2025-08-22T16:10:55.524Z,1755879055.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275921
2025-08-22T16:10:55.701Z,1755879055.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.02 m.
2025-08-22T16:10:55.727Z,1755879055.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.019634 m,
      nav range: 58.052513 m,
      bearing: 315.214038 deg,
      approach rate: -0.548055 m/s,
      LOS rate: -0.049101 deg/s,
      cmd heading: 329.303583 deg,
      new cmd heading: 329.259051 deg.

2025-08-22T16:10:55.737Z,1755879055.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.746655 target range: 62.019634 and range: 62.40 m.
2025-08-22T16:10:55.780Z,1755879055.780 [DAT](INFO): DAT read: 16:10:55.7381 LVL= 22768, 30161, 19618, 32755, AGC= 55, IDX= 406,-0.14, 0.411,-0.914, 1.122, 0.340, PHS= 0.173,-1.209, 0.738, RAW= 166.4,   3.5, CAL= 165.3,   1.8, ROT= 344.7,  -1.8

2025-08-22T16:10:55.781Z,1755879055.781 [DAT](INFO): got valid direction response:
 16:10:55.7381 LVL= 22768, 30161, 19618, 32755, AGC= 55, IDX= 406,-0.14, 0.411,-0.914, 1.122, 0.340, PHS= 0.173,-1.209, 0.738, RAW= 166.4,   3.5, CAL= 165.3,   1.8, ROT= 344.7,  -1.8

2025-08-22T16:10:55.782Z,1755879055.782 [DAT](INFO): DAT read: Bearing 136.0,  -3.3 (Local)

2025-08-22T16:10:55.782Z,1755879055.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.0,  -3.3 (Local)

2025-08-22T16:10:55.784Z,1755879055.784 [DAT](INFO): DAT read: Range 11 to 50 : 60.4 m  (Round-trip  80.6 ms) speed  0.4 m/s

2025-08-22T16:10:55.784Z,1755879055.784 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:55.785Z,1755879055.785 [DAT](INFO): direction in FSK: [0.964081,-0.263743,0.031411]
2025-08-22T16:10:55.786Z,1755879055.786 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:55.789Z,1755879055.789 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:55.789Z,1755879055.789 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:55.789Z,1755879055.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:56.027Z,1755879056.027 [DAT](INFO): DAT read: user:85>

2025-08-22T16:10:56.029Z,1755879056.029 [DAT](INFO): DAT read: Tx time:16:10:57.0518

2025-08-22T16:10:56.029Z,1755879056.029 [DAT](INFO): Ping request sent.
2025-08-22T16:10:56.029Z,1755879056.029 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:56.029Z,1755879056.029 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:56.031Z,1755879056.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001174
2025-08-22T16:10:56.170Z,1755879056.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.400002 m,
      deltaT: 3.780153 s,
      deltaX: -2.000000 m,
      approachRate: -0.529079 m/s,
      rangeRepo size: 4

2025-08-22T16:10:56.178Z,1755879056.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.032162 m,
      bearing: 315.251354 deg,
      lat: 36.779428 deg,
      lon: -121.859645 deg,
      deltaT: 3.780153 s,
      deltaX: -1.987473 m,
      approachRate: -0.525765 m/s,
      posRepo size: 4

2025-08-22T16:10:56.179Z,1755879056.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:56.187Z,1755879056.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 58.173138 m,
      bearing: 314.827153 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.049101 deg/s,
      cmd heading: 329.259050 deg,
      new cmd heading: 329.213149 deg.

2025-08-22T16:10:56.188Z,1755879056.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745853 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:56.279Z,1755879056.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250037
2025-08-22T16:10:56.532Z,1755879056.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502091
2025-08-22T16:10:56.561Z,1755879056.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:56.564Z,1755879056.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 57.944542 m,
      bearing: 314.807595 deg,
      approach rate: -0.577422 m/s,
      LOS rate: -0.049597 deg/s,
      cmd heading: 329.213151 deg,
      new cmd heading: 329.173881 deg.

2025-08-22T16:10:56.565Z,1755879056.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.745168 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:56.783Z,1755879056.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753291
2025-08-22T16:10:56.995Z,1755879056.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:57.035Z,1755879057.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005838
2025-08-22T16:10:56.997Z,1755879056.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 57.698868 m,
      bearing: 314.782792 deg,
      approach rate: -0.566303 m/s,
      LOS rate: -0.057417 deg/s,
      cmd heading: 329.173891 deg,
      new cmd heading: 329.124074 deg.

2025-08-22T16:10:57.039Z,1755879057.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.744299 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:57.286Z,1755879057.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257208
2025-08-22T16:10:57.358Z,1755879057.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:10:57.360Z,1755879057.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:57.363Z,1755879057.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 57.492001 m,
      bearing: 314.761991 deg,
      approach rate: -0.566066 m/s,
      LOS rate: -0.057125 deg/s,
      cmd heading: 329.124085 deg,
      new cmd heading: 329.082333 deg.

2025-08-22T16:10:57.364Z,1755879057.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.743570 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:57.539Z,1755879057.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509416
2025-08-22T16:10:57.791Z,1755879057.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761295
2025-08-22T16:10:57.811Z,1755879057.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:57.848Z,1755879057.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 57.242393 m,
      bearing: 314.742269 deg,
      approach rate: -0.555315 m/s,
      LOS rate: -0.044067 deg/s,
      cmd heading: 329.082339 deg,
      new cmd heading: 329.042724 deg.

2025-08-22T16:10:57.849Z,1755879057.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742879 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:58.044Z,1755879058.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013914
2025-08-22T16:10:58.171Z,1755879058.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:58.175Z,1755879058.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 57.044098 m,
      bearing: 314.726658 deg,
      approach rate: -0.549046 m/s,
      LOS rate: -0.043375 deg/s,
      cmd heading: 329.042724 deg,
      new cmd heading: 329.011393 deg.

2025-08-22T16:10:58.177Z,1755879058.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.742332 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:58.295Z,1755879058.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265294
2025-08-22T16:10:58.547Z,1755879058.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517665
2025-08-22T16:10:58.661Z,1755879058.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:58.664Z,1755879058.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 56.769794 m,
      bearing: 314.705481 deg,
      approach rate: -0.559545 m/s,
      LOS rate: -0.043406 deg/s,
      cmd heading: 329.011387 deg,
      new cmd heading: 328.968829 deg.

2025-08-22T16:10:58.665Z,1755879058.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.741589 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:58.800Z,1755879058.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770660
2025-08-22T16:10:59.051Z,1755879059.051 [DAT](INFO): DAT read: Rx Time:16:10:59.5337

2025-08-22T16:10:59.051Z,1755879059.051 [DAT](INFO): Rx dataTimestamp_ set to:1755879059.050827
2025-08-22T16:10:59.052Z,1755879059.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022436
2025-08-22T16:10:59.139Z,1755879059.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.03 m.
2025-08-22T16:10:59.142Z,1755879059.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.032162 m,
      nav range: 56.502007 m,
      bearing: 314.686215 deg,
      approach rate: -0.559921 m/s,
      LOS rate: -0.040475 deg/s,
      cmd heading: 328.968821 deg,
      new cmd heading: 328.930106 deg.

2025-08-22T16:10:59.143Z,1755879059.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740913 target range: 60.032162 and range: 60.40 m.
2025-08-22T16:10:59.303Z,1755879059.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273267
2025-08-22T16:10:59.560Z,1755879059.560 [DAT](INFO): DAT read: 16:10:59.5337 LVL= 22672, 26673, 17842, 32755, AGC= 55, IDX= 409, 0.29,-2.658, 2.257,-1.971,-2.747, PHS= 0.191,-1.234, 0.732, RAW= 165.4,   3.6, CAL= 164.4,   2.0, ROT= 345.6,  -2.0

2025-08-22T16:10:59.561Z,1755879059.561 [DAT](INFO): got valid direction response:
 16:10:59.5337 LVL= 22672, 26673, 17842, 32755, AGC= 55, IDX= 409, 0.29,-2.658, 2.257,-1.971,-2.747, PHS= 0.191,-1.234, 0.732, RAW= 165.4,   3.6, CAL= 164.4,   2.0, ROT= 345.6,  -2.0

2025-08-22T16:10:59.562Z,1755879059.562 [DAT](INFO): DAT read: Bearing 135.5,  -2.7 (Local)

2025-08-22T16:10:59.562Z,1755879059.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.5,  -2.7 (Local)

2025-08-22T16:10:59.564Z,1755879059.564 [DAT](INFO): DAT read: Range 11 to 50 : 58.3 m  (Round-trip  77.8 ms) speed  0.4 m/s

2025-08-22T16:10:59.564Z,1755879059.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:10:59.565Z,1755879059.565 [DAT](INFO): direction in FSK: [0.967993,-0.248538,0.034899]
2025-08-22T16:10:59.569Z,1755879059.569 [DAT](INFO): publishing direction and range info
2025-08-22T16:10:59.572Z,1755879059.572 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:10:59.572Z,1755879059.572 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:10:59.572Z,1755879059.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:10:59.686Z,1755879059.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.299999 m,
      deltaT: 3.780133 s,
      deltaX: -2.100002 m,
      approachRate: -0.555537 m/s,
      rangeRepo size: 4

2025-08-22T16:10:59.688Z,1755879059.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.945190 m,
      bearing: 315.575782 deg,
      lat: 36.779429 deg,
      lon: -121.859645 deg,
      deltaT: 3.780133 s,
      deltaX: -2.086971 m,
      approachRate: -0.552089 m/s,
      posRepo size: 4

2025-08-22T16:10:59.689Z,1755879059.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:10:59.689Z,1755879059.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:10:59.696Z,1755879059.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 56.223057 m,
      bearing: 314.681579 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040475 deg/s,
      cmd heading: 328.930108 deg,
      new cmd heading: 328.886243 deg.

2025-08-22T16:10:59.702Z,1755879059.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.740148 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:10:59.735Z,1755879059.735 [DockingStepper](INFO): Changing to mode: 2
2025-08-22T16:10:59.808Z,1755879059.808 [DAT](INFO): DAT read: user:86>

2025-08-22T16:10:59.808Z,1755879059.808 [DAT](INFO): DAT read: Tx time:16:11:00.8518

2025-08-22T16:10:59.809Z,1755879059.809 [DAT](INFO): Ping request sent.
2025-08-22T16:10:59.809Z,1755879059.809 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:10:59.809Z,1755879059.809 [DAT](INFO): publishing transmit ping time
2025-08-22T16:10:59.810Z,1755879059.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001678
2025-08-22T16:11:00.059Z,1755879060.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249805
2025-08-22T16:11:00.094Z,1755879060.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:00.096Z,1755879060.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:00.097Z,1755879060.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:00.100Z,1755879060.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 55.971985 m,
      bearing: 314.665530 deg,
      approach rate: -0.604800 m/s,
      LOS rate: -0.038835 deg/s,
      cmd heading: 328.886231 deg,
      new cmd heading: 328.853988 deg.

2025-08-22T16:11:00.101Z,1755879060.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739585 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:00.312Z,1755879060.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503558
2025-08-22T16:11:00.469Z,1755879060.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:00.474Z,1755879060.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:00.476Z,1755879060.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 55.754131 m,
      bearing: 314.651287 deg,
      approach rate: -0.584077 m/s,
      LOS rate: -0.038336 deg/s,
      cmd heading: 328.853992 deg,
      new cmd heading: 328.825394 deg.

2025-08-22T16:11:00.478Z,1755879060.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.739086 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:00.564Z,1755879060.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755188
2025-08-22T16:11:00.818Z,1755879060.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007949
2025-08-22T16:11:00.901Z,1755879060.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:00.901Z,1755879060.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:00.904Z,1755879060.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 55.511932 m,
      bearing: 314.642487 deg,
      approach rate: -0.561498 m/s,
      LOS rate: -0.020490 deg/s,
      cmd heading: 328.825387 deg,
      new cmd heading: 328.807711 deg.

2025-08-22T16:11:00.905Z,1755879060.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738777 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:01.067Z,1755879061.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258040
2025-08-22T16:11:01.293Z,1755879061.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:01.294Z,1755879061.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:01.297Z,1755879061.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 55.291409 m,
      bearing: 314.634407 deg,
      approach rate: -0.561784 m/s,
      LOS rate: -0.020665 deg/s,
      cmd heading: 328.807711 deg,
      new cmd heading: 328.791487 deg.

2025-08-22T16:11:01.298Z,1755879061.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738494 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:01.319Z,1755879061.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510064
2025-08-22T16:11:01.570Z,1755879061.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761753
2025-08-22T16:11:01.694Z,1755879061.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:01.694Z,1755879061.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:01.697Z,1755879061.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 55.075409 m,
      bearing: 314.626303 deg,
      approach rate: -0.561965 m/s,
      LOS rate: -0.021167 deg/s,
      cmd heading: 328.791482 deg,
      new cmd heading: 328.775211 deg.

2025-08-22T16:11:01.710Z,1755879061.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.738210 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:01.826Z,1755879061.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016233
2025-08-22T16:11:02.075Z,1755879062.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265772
2025-08-22T16:11:02.114Z,1755879062.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:02.116Z,1755879062.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:02.117Z,1755879062.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:02.140Z,1755879062.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 54.831043 m,
      bearing: 314.613238 deg,
      approach rate: -0.557038 m/s,
      LOS rate: -0.029915 deg/s,
      cmd heading: 328.775199 deg,
      new cmd heading: 328.748952 deg.

2025-08-22T16:11:02.140Z,1755879062.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737751 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:02.326Z,1755879062.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517731
2025-08-22T16:11:02.486Z,1755879062.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:02.487Z,1755879062.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:02.506Z,1755879062.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 54.624748 m,
      bearing: 314.602228 deg,
      approach rate: -0.557610 m/s,
      LOS rate: -0.029872 deg/s,
      cmd heading: 328.748944 deg,
      new cmd heading: 328.726841 deg.

2025-08-22T16:11:02.507Z,1755879062.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.737366 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:02.580Z,1755879062.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771141
2025-08-22T16:11:02.833Z,1755879062.833 [DAT](INFO): DAT read: Rx Time:16:11:03.3309

2025-08-22T16:11:02.835Z,1755879062.835 [DAT](INFO): Rx dataTimestamp_ set to:1755879062.833780
2025-08-22T16:11:02.837Z,1755879062.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027587
2025-08-22T16:11:02.944Z,1755879062.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-08-22T16:11:02.945Z,1755879062.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.30 m.
2025-08-22T16:11:02.952Z,1755879062.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.945190 m,
      nav range: 54.372616 m,
      bearing: 314.587168 deg,
      approach rate: -0.550151 m/s,
      LOS rate: -0.033012 deg/s,
      cmd heading: 328.726841 deg,
      new cmd heading: 328.696583 deg.

2025-08-22T16:11:02.962Z,1755879062.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736837 target range: 57.945190 and range: 58.30 m.
2025-08-22T16:11:03.083Z,1755879063.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274288
2025-08-22T16:11:03.340Z,1755879063.340 [DAT](INFO): DAT read: 16:11:03.3309 LVL= 21664, 26529, 19170, 30755, AGC= 53, IDX= 412,-0.17, 0.615,-0.752, 1.302, 0.537, PHS= 0.180,-1.244, 0.721, RAW= 165.5,   4.0, CAL= 164.4,   2.5, ROT= 345.6,  -2.5

2025-08-22T16:11:03.341Z,1755879063.341 [DAT](INFO): got valid direction response:
 16:11:03.3309 LVL= 21664, 26529, 19170, 30755, AGC= 53, IDX= 412,-0.17, 0.615,-0.752, 1.302, 0.537, PHS= 0.180,-1.244, 0.721, RAW= 165.5,   4.0, CAL= 164.4,   2.5, ROT= 345.6,  -2.5

2025-08-22T16:11:03.342Z,1755879063.342 [DAT](INFO): DAT read: Bearing 135.6,  -3.4 (Local)

2025-08-22T16:11:03.342Z,1755879063.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.6,  -3.4 (Local)

2025-08-22T16:11:03.343Z,1755879063.343 [DAT](INFO): DAT read: Range 11 to 50 : 56.2 m  (Round-trip  75.0 ms) speed  0.4 m/s

2025-08-22T16:11:03.344Z,1755879063.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:03.345Z,1755879063.345 [DAT](INFO): direction in FSK: [0.967661,-0.248453,0.043619]
2025-08-22T16:11:03.345Z,1755879063.345 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:03.349Z,1755879063.349 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:03.349Z,1755879063.349 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:03.349Z,1755879063.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:03.390Z,1755879063.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 56.200001 m,
      deltaT: 3.779768 s,
      deltaX: -2.099998 m,
      approachRate: -0.555589 m/s,
      rangeRepo size: 4

2025-08-22T16:11:03.392Z,1755879063.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.857628 m,
      bearing: 315.554776 deg,
      lat: 36.779434 deg,
      lon: -121.859645 deg,
      deltaT: 3.779768 s,
      deltaX: -2.087563 m,
      approachRate: -0.552299 m/s,
      posRepo size: 4

2025-08-22T16:11:03.393Z,1755879063.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:03.400Z,1755879063.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:03.408Z,1755879063.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 54.536255 m,
      bearing: 315.013397 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033012 deg/s,
      cmd heading: 328.696570 deg,
      new cmd heading: 328.667450 deg.

2025-08-22T16:11:03.409Z,1755879063.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.736329 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:03.587Z,1755879063.587 [DAT](INFO): DAT read: user:87>

2025-08-22T16:11:03.587Z,1755879063.587 [DAT](INFO): DAT read: Tx time:16:11:04.6018

2025-08-22T16:11:03.588Z,1755879063.588 [DAT](INFO): Ping request sent.
2025-08-22T16:11:03.588Z,1755879063.588 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:03.588Z,1755879063.588 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:03.588Z,1755879063.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724
2025-08-22T16:11:03.767Z,1755879063.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:03.767Z,1755879063.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:03.781Z,1755879063.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 54.311897 m,
      bearing: 315.001666 deg,
      approach rate: -0.588046 m/s,
      LOS rate: -0.030874 deg/s,
      cmd heading: 328.667446 deg,
      new cmd heading: 328.643887 deg.

2025-08-22T16:11:03.783Z,1755879063.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735918 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:03.842Z,1755879063.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253253
2025-08-22T16:11:04.095Z,1755879064.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507698
2025-08-22T16:11:04.215Z,1755879064.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:04.220Z,1755879064.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:04.223Z,1755879064.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:04.226Z,1755879064.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 54.054005 m,
      bearing: 314.989180 deg,
      approach rate: -0.572811 m/s,
      LOS rate: -0.027866 deg/s,
      cmd heading: 328.643896 deg,
      new cmd heading: 328.618804 deg.

2025-08-22T16:11:04.227Z,1755879064.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735480 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:04.343Z,1755879064.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754785
2025-08-22T16:11:04.595Z,1755879064.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006890
2025-08-22T16:11:04.628Z,1755879064.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:04.629Z,1755879064.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:04.636Z,1755879064.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 53.838745 m,
      bearing: 314.978615 deg,
      approach rate: -0.523644 m/s,
      LOS rate: -0.025804 deg/s,
      cmd heading: 328.618815 deg,
      new cmd heading: 328.597600 deg.

2025-08-22T16:11:04.637Z,1755879064.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.735110 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:04.851Z,1755879064.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262384
2025-08-22T16:11:05.079Z,1755879065.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:05.079Z,1755879065.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:05.092Z,1755879065.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 53.583782 m,
      bearing: 314.961629 deg,
      approach rate: -0.566155 m/s,
      LOS rate: -0.037896 deg/s,
      cmd heading: 328.597587 deg,
      new cmd heading: 328.563455 deg.

2025-08-22T16:11:05.099Z,1755879065.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510975
2025-08-22T16:11:05.100Z,1755879065.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734514 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:05.351Z,1755879065.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762823
2025-08-22T16:11:05.376Z,1755879065.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:11:05.444Z,1755879065.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:05.444Z,1755879065.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.20 m.
2025-08-22T16:11:05.445Z,1755879065.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.20 m.
2025-08-22T16:11:05.445Z,1755879065.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-22T16:11:05.448Z,1755879065.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 53.375214 m,
      bearing: 314.947688 deg,
      approach rate: -0.571128 m/s,
      LOS rate: -0.038325 deg/s,
      cmd heading: 328.563463 deg,
      new cmd heading: 328.535472 deg.

2025-08-22T16:11:05.449Z,1755879065.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.734025 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:05.476Z,1755879065.476 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-08-22T16:11:05.477Z,1755879065.477 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-22T16:11:05.603Z,1755879065.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014961
2025-08-22T16:11:05.858Z,1755879065.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269560
2025-08-22T16:11:05.928Z,1755879065.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:05.935Z,1755879065.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 53.125439 m,
      bearing: 314.930848 deg,
      approach rate: -0.516044 m/s,
      LOS rate: -0.034956 deg/s,
      cmd heading: 328.535460 deg,
      new cmd heading: 328.501621 deg.

2025-08-22T16:11:05.936Z,1755879065.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.733435 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:06.106Z,1755879066.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518723
2025-08-22T16:11:06.278Z,1755879066.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:06.280Z,1755879066.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:06.284Z,1755879066.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 52.917980 m,
      bearing: 314.911822 deg,
      approach rate: -0.588476 m/s,
      LOS rate: -0.054181 deg/s,
      cmd heading: 328.501609 deg,
      new cmd heading: 328.463408 deg.

2025-08-22T16:11:06.285Z,1755879066.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.732768 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:06.359Z,1755879066.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771156
2025-08-22T16:11:06.378Z,1755879066.378 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:11:06.611Z,1755879066.611 [DAT](INFO): DAT read: Rx Time:16:11:07.0781

2025-08-22T16:11:06.611Z,1755879066.611 [DAT](INFO): Rx dataTimestamp_ set to:1755879066.610710
2025-08-22T16:11:06.612Z,1755879066.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023833
2025-08-22T16:11:06.725Z,1755879066.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.86 m.
2025-08-22T16:11:06.728Z,1755879066.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.857628 m,
      nav range: 52.657372 m,
      bearing: 314.887920 deg,
      approach rate: -0.586336 m/s,
      LOS rate: -0.054042 deg/s,
      cmd heading: 328.463415 deg,
      new cmd heading: 328.415375 deg.

2025-08-22T16:11:06.729Z,1755879066.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.731930 target range: 55.857628 and range: 56.20 m.
2025-08-22T16:11:06.866Z,1755879066.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277359
2025-08-22T16:11:07.120Z,1755879067.120 [DAT](INFO): DAT read: 16:11:07.0781 LVL= 25328, 25777, 18162, 32755, AGC= 54, IDX= 415,-0.42, 0.927,-0.439, 1.621, 0.878, PHS= 0.151,-1.272, 0.699, RAW= 165.6,   4.8, CAL= 164.7,   3.8, ROT= 345.3,  -3.8

2025-08-22T16:11:07.121Z,1755879067.121 [DAT](INFO): got valid direction response:
 16:11:07.0781 LVL= 25328, 25777, 18162, 32755, AGC= 54, IDX= 415,-0.42, 0.927,-0.439, 1.621, 0.878, PHS= 0.151,-1.272, 0.699, RAW= 165.6,   4.8, CAL= 164.7,   3.8, ROT= 345.3,  -3.8

2025-08-22T16:11:07.122Z,1755879067.122 [DAT](INFO): DAT read: Bearing 137.3,  -4.5 (Local)

2025-08-22T16:11:07.122Z,1755879067.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.3,  -4.5 (Local)

2025-08-22T16:11:07.123Z,1755879067.123 [DAT](INFO): DAT read: Range 11 to 50 : 54.0 m  (Round-trip  72.1 ms) speed  0.4 m/s

2025-08-22T16:11:07.124Z,1755879067.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:07.125Z,1755879067.125 [DAT](INFO): direction in FSK: [0.965141,-0.253200,0.066274]
2025-08-22T16:11:07.125Z,1755879067.125 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:07.128Z,1755879067.128 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:07.129Z,1755879067.129 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:07.129Z,1755879067.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:07.243Z,1755879067.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 54.000000 m,
      deltaT: 3.779939 s,
      deltaX: -2.200001 m,
      approachRate: -0.582020 m/s,
      rangeRepo size: 4

2025-08-22T16:11:07.245Z,1755879067.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.669437 m,
      bearing: 315.118569 deg,
      lat: 36.779435 deg,
      lon: -121.859643 deg,
      deltaT: 3.779939 s,
      deltaX: -2.188190 m,
      approachRate: -0.578896 m/s,
      posRepo size: 4

2025-08-22T16:11:07.245Z,1755879067.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:07.264Z,1755879067.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 52.359703 m,
      bearing: 315.118756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054042 deg/s,
      cmd heading: 328.415385 deg,
      new cmd heading: 328.359532 deg.

2025-08-22T16:11:07.265Z,1755879067.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730955 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:07.367Z,1755879067.367 [DAT](INFO): DAT read: user:88>

2025-08-22T16:11:07.367Z,1755879067.367 [DAT](INFO): DAT read: Tx time:16:11:08.4018

2025-08-22T16:11:07.368Z,1755879067.368 [DAT](INFO): Ping request sent.
2025-08-22T16:11:07.368Z,1755879067.368 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:07.368Z,1755879067.368 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:07.368Z,1755879067.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:11:07.619Z,1755879067.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813
2025-08-22T16:11:07.707Z,1755879067.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:07.710Z,1755879067.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 52.088139 m,
      bearing: 315.098572 deg,
      approach rate: -0.583354 m/s,
      LOS rate: -0.043583 deg/s,
      cmd heading: 328.359541 deg,
      new cmd heading: 328.318963 deg.

2025-08-22T16:11:07.711Z,1755879067.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.730247 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:07.875Z,1755879067.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506260
2025-08-22T16:11:08.123Z,1755879068.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754758
2025-08-22T16:11:08.215Z,1755879068.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:08.222Z,1755879068.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 51.821537 m,
      bearing: 315.076206 deg,
      approach rate: -0.525401 m/s,
      LOS rate: -0.044305 deg/s,
      cmd heading: 328.318970 deg,
      new cmd heading: 328.274007 deg.

2025-08-22T16:11:08.230Z,1755879068.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.729462 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:08.374Z,1755879068.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006723
2025-08-22T16:11:08.582Z,1755879068.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:08.584Z,1755879068.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:08.591Z,1755879068.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 51.617180 m,
      bearing: 315.058549 deg,
      approach rate: -0.553341 m/s,
      LOS rate: -0.048000 deg/s,
      cmd heading: 328.274000 deg,
      new cmd heading: 328.238546 deg.

2025-08-22T16:11:08.592Z,1755879068.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.728843 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:08.628Z,1755879068.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260443
2025-08-22T16:11:08.879Z,1755879068.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832
2025-08-22T16:11:09.059Z,1755879069.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:09.066Z,1755879069.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 51.358917 m,
      bearing: 315.028767 deg,
      approach rate: -0.543192 m/s,
      LOS rate: -0.062953 deg/s,
      cmd heading: 328.238538 deg,
      new cmd heading: 328.178675 deg.

2025-08-22T16:11:09.067Z,1755879069.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727798 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:09.131Z,1755879069.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763467
2025-08-22T16:11:09.383Z,1755879069.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015193
2025-08-22T16:11:09.399Z,1755879069.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:09.403Z,1755879069.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 51.174255 m,
      bearing: 315.007287 deg,
      approach rate: -0.543547 m/s,
      LOS rate: -0.063453 deg/s,
      cmd heading: 328.178678 deg,
      new cmd heading: 328.135563 deg.

2025-08-22T16:11:09.404Z,1755879069.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.727046 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:09.635Z,1755879069.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266828
2025-08-22T16:11:09.779Z,1755879069.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:09.782Z,1755879069.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 50.972469 m,
      bearing: 314.983090 deg,
      approach rate: -0.530737 m/s,
      LOS rate: -0.063894 deg/s,
      cmd heading: 328.135566 deg,
      new cmd heading: 328.086980 deg.

2025-08-22T16:11:09.783Z,1755879069.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.726198 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:09.890Z,1755879069.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521901
2025-08-22T16:11:10.138Z,1755879070.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725
2025-08-22T16:11:10.231Z,1755879070.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:10.235Z,1755879070.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 50.736115 m,
      bearing: 314.948008 deg,
      approach rate: -0.523208 m/s,
      LOS rate: -0.078023 deg/s,
      cmd heading: 328.086989 deg,
      new cmd heading: 328.016497 deg.

2025-08-22T16:11:10.236Z,1755879070.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.724968 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:10.391Z,1755879070.391 [DAT](INFO): DAT read: Rx Time:16:11:10.8753

2025-08-22T16:11:10.391Z,1755879070.391 [DAT](INFO): Rx dataTimestamp_ set to:1755879070.390784
2025-08-22T16:11:10.392Z,1755879070.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023873
2025-08-22T16:11:10.593Z,1755879070.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:10.595Z,1755879070.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.67 m.
2025-08-22T16:11:10.598Z,1755879070.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.669437 m,
      nav range: 50.540466 m,
      bearing: 314.918332 deg,
      approach rate: -0.536721 m/s,
      LOS rate: -0.081724 deg/s,
      cmd heading: 328.016502 deg,
      new cmd heading: 327.956921 deg.

2025-08-22T16:11:10.599Z,1755879070.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.723928 target range: 53.669437 and range: 54.00 m.
2025-08-22T16:11:10.643Z,1755879070.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275400
2025-08-22T16:11:10.903Z,1755879070.903 [DAT](INFO): DAT read: 16:11:10.8753 LVL= 25424, 26865, 18690, 31123, AGC= 54, IDX= 419,-0.16, 1.147,-0.195, 1.901, 1.132, PHS= 0.117,-1.282, 0.725, RAW= 167.2,   5.0, CAL= 166.4,   3.9, ROT= 343.6,  -3.9

2025-08-22T16:11:10.904Z,1755879070.904 [DAT](INFO): got valid direction response:
 16:11:10.8753 LVL= 25424, 26865, 18690, 31123, AGC= 54, IDX= 419,-0.16, 1.147,-0.195, 1.901, 1.132, PHS= 0.117,-1.282, 0.725, RAW= 167.2,   5.0, CAL= 166.4,   3.9, ROT= 343.6,  -3.9

2025-08-22T16:11:10.905Z,1755879070.905 [DAT](INFO): DAT read: Bearing 138.5,  -7.2 (Local)

2025-08-22T16:11:10.906Z,1755879070.906 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5,  -7.2 (Local)

2025-08-22T16:11:10.907Z,1755879070.907 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m  (Round-trip  69.4 ms) speed  0.4 m/s

2025-08-22T16:11:10.907Z,1755879070.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:10.908Z,1755879070.908 [DAT](INFO): direction in FSK: [0.957093,-0.281687,0.068015]
2025-08-22T16:11:10.909Z,1755879070.909 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:10.987Z,1755879070.987 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:10.987Z,1755879070.987 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:10.987Z,1755879070.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:11.125Z,1755879071.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.000000 m,
      deltaT: 3.779928 s,
      deltaX: -2.000000 m,
      approachRate: -0.529111 m/s,
      rangeRepo size: 4

2025-08-22T16:11:11.131Z,1755879071.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.681091 m,
      bearing: 313.988673 deg,
      lat: 36.779435 deg,
      lon: -121.859643 deg,
      deltaT: 3.779928 s,
      deltaX: -1.988346 m,
      approachRate: -0.526028 m/s,
      posRepo size: 4

2025-08-22T16:11:11.132Z,1755879071.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:11.139Z,1755879071.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 50.273018 m,
      bearing: 314.876903 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.081724 deg/s,
      cmd heading: 327.956915 deg,
      new cmd heading: 327.870532 deg.

2025-08-22T16:11:11.139Z,1755879071.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.722420 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:11.146Z,1755879071.146 [DAT](INFO): DAT read: user:89>

2025-08-22T16:11:11.147Z,1755879071.147 [DAT](INFO): DAT read: Tx time:16:11:12.2518

2025-08-22T16:11:11.147Z,1755879071.147 [DAT](INFO): Ping request sent.
2025-08-22T16:11:11.148Z,1755879071.148 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:11.148Z,1755879071.148 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:11.148Z,1755879071.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000721
2025-08-22T16:11:11.399Z,1755879071.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251339
2025-08-22T16:11:11.512Z,1755879071.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:11.515Z,1755879071.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 50.063015 m,
      bearing: 314.843316 deg,
      approach rate: -0.541402 m/s,
      LOS rate: -0.086951 deg/s,
      cmd heading: 327.870527 deg,
      new cmd heading: 327.803072 deg.

2025-08-22T16:11:11.516Z,1755879071.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.721243 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:11.650Z,1755879071.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502850
2025-08-22T16:11:11.900Z,1755879071.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:11.903Z,1755879071.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755112
2025-08-22T16:11:11.905Z,1755879071.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 49.861996 m,
      bearing: 314.810486 deg,
      approach rate: -0.518983 m/s,
      LOS rate: -0.085102 deg/s,
      cmd heading: 327.803072 deg,
      new cmd heading: 327.737147 deg.

2025-08-22T16:11:11.906Z,1755879071.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.720092 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:12.154Z,1755879072.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-08-22T16:11:12.319Z,1755879072.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:12.342Z,1755879072.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 49.650143 m,
      bearing: 314.779808 deg,
      approach rate: -0.504514 m/s,
      LOS rate: -0.073369 deg/s,
      cmd heading: 327.737147 deg,
      new cmd heading: 327.675529 deg.

2025-08-22T16:11:12.343Z,1755879072.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.719017 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:12.410Z,1755879072.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262160
2025-08-22T16:11:12.663Z,1755879072.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514929
2025-08-22T16:11:12.728Z,1755879072.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:12.734Z,1755879072.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:12.737Z,1755879072.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 49.454880 m,
      bearing: 314.750988 deg,
      approach rate: -0.470255 m/s,
      LOS rate: -0.069682 deg/s,
      cmd heading: 327.675539 deg,
      new cmd heading: 327.617671 deg.

2025-08-22T16:11:12.746Z,1755879072.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.718007 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:12.914Z,1755879072.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766851
2025-08-22T16:11:13.140Z,1755879073.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:13.159Z,1755879073.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 49.233490 m,
      bearing: 314.718015 deg,
      approach rate: -0.546511 m/s,
      LOS rate: -0.081761 deg/s,
      cmd heading: 327.617673 deg,
      new cmd heading: 327.551431 deg.

2025-08-22T16:11:13.160Z,1755879073.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.716851 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:13.172Z,1755879073.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024667
2025-08-22T16:11:13.423Z,1755879073.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274929
2025-08-22T16:11:13.534Z,1755879073.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:13.537Z,1755879073.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 49.037498 m,
      bearing: 314.688453 deg,
      approach rate: -0.496323 m/s,
      LOS rate: -0.075162 deg/s,
      cmd heading: 327.551421 deg,
      new cmd heading: 327.492059 deg.

2025-08-22T16:11:13.538Z,1755879073.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.715815 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:13.674Z,1755879073.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526822
2025-08-22T16:11:13.915Z,1755879073.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:13.918Z,1755879073.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 48.834072 m,
      bearing: 314.657454 deg,
      approach rate: -0.534024 m/s,
      LOS rate: -0.081716 deg/s,
      cmd heading: 327.492053 deg,
      new cmd heading: 327.429796 deg.

2025-08-22T16:11:13.919Z,1755879073.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.714728 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:13.929Z,1755879073.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781127
2025-08-22T16:11:14.180Z,1755879074.180 [DAT](INFO): DAT read: Rx Time:16:11:14.7227

2025-08-22T16:11:14.181Z,1755879074.181 [DAT](INFO): Rx dataTimestamp_ set to:1755879074.180431
2025-08-22T16:11:14.182Z,1755879074.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034096
2025-08-22T16:11:14.345Z,1755879074.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.68 m.
2025-08-22T16:11:14.348Z,1755879074.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.681091 m,
      nav range: 48.609673 m,
      bearing: 314.630617 deg,
      approach rate: -0.522729 m/s,
      LOS rate: -0.062803 deg/s,
      cmd heading: 327.429789 deg,
      new cmd heading: 327.375868 deg.

2025-08-22T16:11:14.349Z,1755879074.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.713787 target range: 51.681091 and range: 52.00 m.
2025-08-22T16:11:14.436Z,1755879074.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288145
2025-08-22T16:11:14.701Z,1755879074.701 [DAT](INFO): DAT read: 16:11:14.7227 LVL= 22256, 25681, 17442, 32755, AGC= 55, IDX= 408,-0.20,-3.002, 1.946,-2.202,-2.948, PHS= 0.048,-1.344, 0.702, RAW= 168.2,   6.6, CAL= 167.7,   6.2, ROT= 342.3,  -6.2

2025-08-22T16:11:14.711Z,1755879074.711 [DAT](INFO): got valid direction response:
 16:11:14.7227 LVL= 22256, 25681, 17442, 32755, AGC= 55, IDX= 408,-0.20,-3.002, 1.946,-2.202,-2.948, PHS= 0.048,-1.344, 0.702, RAW= 168.2,   6.6, CAL= 167.7,   6.2, ROT= 342.3,  -6.2

2025-08-22T16:11:14.712Z,1755879074.712 [DAT](INFO): DAT read: Bearing 141.5,  -9.6 (Local)

2025-08-22T16:11:14.712Z,1755879074.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.5,  -9.6 (Local)

2025-08-22T16:11:14.713Z,1755879074.713 [DAT](INFO): DAT read: Range 11 to 50 : 50.0 m  (Round-trip  66.7 ms) speed  0.4 m/s

2025-08-22T16:11:14.714Z,1755879074.714 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:14.715Z,1755879074.715 [DAT](INFO): direction in FSK: [0.947089,-0.302255,0.107999]
2025-08-22T16:11:14.715Z,1755879074.715 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:14.723Z,1755879074.723 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:14.723Z,1755879074.723 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:14.723Z,1755879074.723 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:14.744Z,1755879074.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.000000 m,
      deltaT: 3.792006 s,
      deltaX: -2.000000 m,
      approachRate: -0.527425 m/s,
      rangeRepo size: 4

2025-08-22T16:11:14.748Z,1755879074.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.693466 m,
      bearing: 313.078699 deg,
      lat: 36.779435 deg,
      lon: -121.859643 deg,
      deltaT: 3.792006 s,
      deltaX: -1.987625 m,
      approachRate: -0.524162 m/s,
      posRepo size: 4

2025-08-22T16:11:14.748Z,1755879074.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:14.791Z,1755879074.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 48.402740 m,
      bearing: 314.605832 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.062803 deg/s,
      cmd heading: 327.375857 deg,
      new cmd heading: 327.325710 deg.

2025-08-22T16:11:14.792Z,1755879074.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.712911 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:14.939Z,1755879074.939 [DAT](INFO): DAT read: user:90>

2025-08-22T16:11:14.939Z,1755879074.939 [DAT](INFO): DAT read: Tx time:16:11:16.0018

2025-08-22T16:11:14.940Z,1755879074.940 [DAT](INFO): Ping request sent.
2025-08-22T16:11:14.940Z,1755879074.940 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:14.940Z,1755879074.940 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:14.941Z,1755879074.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:11:15.191Z,1755879075.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251354
2025-08-22T16:11:15.195Z,1755879075.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:15.199Z,1755879075.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:15.202Z,1755879075.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 48.165176 m,
      bearing: 314.573836 deg,
      approach rate: -0.522201 m/s,
      LOS rate: -0.070679 deg/s,
      cmd heading: 327.325696 deg,
      new cmd heading: 327.261389 deg.

2025-08-22T16:11:15.203Z,1755879075.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.711789 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:15.443Z,1755879075.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503575
2025-08-22T16:11:15.577Z,1755879075.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:15.580Z,1755879075.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 47.968082 m,
      bearing: 314.547048 deg,
      approach rate: -0.521342 m/s,
      LOS rate: -0.071149 deg/s,
      cmd heading: 327.261383 deg,
      new cmd heading: 327.207588 deg.

2025-08-22T16:11:15.581Z,1755879075.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.710850 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:15.695Z,1755879075.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790
2025-08-22T16:11:15.947Z,1755879075.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006741
2025-08-22T16:11:15.949Z,1755879075.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:15.952Z,1755879075.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 47.763428 m,
      bearing: 314.519361 deg,
      approach rate: -0.549724 m/s,
      LOS rate: -0.074689 deg/s,
      cmd heading: 327.207589 deg,
      new cmd heading: 327.151978 deg.

2025-08-22T16:11:15.953Z,1755879075.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709879 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:16.202Z,1755879076.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262191
2025-08-22T16:11:16.388Z,1755879076.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:16.392Z,1755879076.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 47.545509 m,
      bearing: 314.497612 deg,
      approach rate: -0.496123 m/s,
      LOS rate: -0.049742 deg/s,
      cmd heading: 327.151991 deg,
      new cmd heading: 327.108294 deg.

2025-08-22T16:11:16.393Z,1755879076.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.709117 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:16.453Z,1755879076.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512691
2025-08-22T16:11:16.702Z,1755879076.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762591
2025-08-22T16:11:16.766Z,1755879076.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:16.768Z,1755879076.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 47.345074 m,
      bearing: 314.477485 deg,
      approach rate: -0.537370 m/s,
      LOS rate: -0.054189 deg/s,
      cmd heading: 327.108305 deg,
      new cmd heading: 327.067881 deg.

2025-08-22T16:11:16.773Z,1755879076.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.708411 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:16.955Z,1755879076.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914
2025-08-22T16:11:17.207Z,1755879077.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825
2025-08-22T16:11:17.213Z,1755879077.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:17.215Z,1755879077.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:17.218Z,1755879077.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 47.095207 m,
      bearing: 314.449100 deg,
      approach rate: -0.550199 m/s,
      LOS rate: -0.062836 deg/s,
      cmd heading: 327.067870 deg,
      new cmd heading: 327.010798 deg.

2025-08-22T16:11:17.219Z,1755879077.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.707415 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:17.459Z,1755879077.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519025
2025-08-22T16:11:17.562Z,1755879077.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:17.565Z,1755879077.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 46.904015 m,
      bearing: 314.427370 deg,
      approach rate: -0.551353 m/s,
      LOS rate: -0.062919 deg/s,
      cmd heading: 327.010797 deg,
      new cmd heading: 326.967161 deg.

2025-08-22T16:11:17.566Z,1755879077.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.706654 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:17.711Z,1755879077.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770733
2025-08-22T16:11:17.964Z,1755879077.964 [DAT](INFO): DAT read: Rx Time:16:11:18.4701

2025-08-22T16:11:17.965Z,1755879077.965 [DAT](INFO): Rx dataTimestamp_ set to:1755879077.964400
2025-08-22T16:11:17.967Z,1755879077.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026449
2025-08-22T16:11:17.992Z,1755879077.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:17.995Z,1755879077.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 46.674953 m,
      bearing: 314.401335 deg,
      approach rate: -0.533126 m/s,
      LOS rate: -0.060892 deg/s,
      cmd heading: 326.967166 deg,
      new cmd heading: 326.914841 deg.

2025-08-22T16:11:17.996Z,1755879077.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.705740 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:18.214Z,1755879078.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274605
2025-08-22T16:11:18.432Z,1755879078.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.69 m.
2025-08-22T16:11:18.435Z,1755879078.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.693466 m,
      nav range: 46.436409 m,
      bearing: 314.374634 deg,
      approach rate: -0.542134 m/s,
      LOS rate: -0.060994 deg/s,
      cmd heading: 326.914847 deg,
      new cmd heading: 326.861171 deg.

2025-08-22T16:11:18.436Z,1755879078.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704803 target range: 49.693466 and range: 50.00 m.
2025-08-22T16:11:18.476Z,1755879078.476 [DAT](INFO): DAT read: 16:11:18.4701 LVL= 27264, 32753, 23890, 32755, AGC= 56, IDX= 413,-0.14,-1.096,-2.423,-0.296,-1.070, PHS= 0.075,-1.308, 0.730, RAW= 168.3,   5.6, CAL= 167.6,   4.8, ROT= 342.4,  -4.8

2025-08-22T16:11:18.478Z,1755879078.478 [DAT](INFO): got valid direction response:
 16:11:18.4701 LVL= 27264, 32753, 23890, 32755, AGC= 56, IDX= 413,-0.14,-1.096,-2.423,-0.296,-1.070, PHS= 0.075,-1.308, 0.730, RAW= 168.3,   5.6, CAL= 167.6,   4.8, ROT= 342.4,  -4.8

2025-08-22T16:11:18.480Z,1755879078.480 [DAT](INFO): DAT read: Bearing 139.7, -10.8 (Local)

2025-08-22T16:11:18.481Z,1755879078.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.7, -10.8 (Local)

2025-08-22T16:11:18.483Z,1755879078.483 [DAT](INFO): DAT read: Range 11 to 50 : 48.0 m  (Round-trip  64.1 ms) speed  0.4 m/s

2025-08-22T16:11:18.484Z,1755879078.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:18.487Z,1755879078.487 [DAT](INFO): direction in FSK: [0.949848,-0.301309,0.083678]
2025-08-22T16:11:18.487Z,1755879078.487 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:18.498Z,1755879078.498 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:18.498Z,1755879078.498 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:18.498Z,1755879078.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:18.718Z,1755879078.718 [DAT](INFO): DAT read: user:91>

2025-08-22T16:11:18.719Z,1755879078.719 [DAT](INFO): DAT read: Tx time:16:11:19.7518

2025-08-22T16:11:18.719Z,1755879078.719 [DAT](INFO): Ping request sent.
2025-08-22T16:11:18.719Z,1755879078.719 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:18.720Z,1755879078.720 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:18.720Z,1755879078.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719
2025-08-22T16:11:18.808Z,1755879078.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.000000 m,
      deltaT: 3.781393 s,
      deltaX: -2.000000 m,
      approachRate: -0.528906 m/s,
      rangeRepo size: 4

2025-08-22T16:11:18.814Z,1755879078.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.705936 m,
      bearing: 313.090057 deg,
      lat: 36.779433 deg,
      lon: -121.859652 deg,
      deltaT: 3.781393 s,
      deltaX: -1.987530 m,
      approachRate: -0.525608 m/s,
      posRepo size: 4

2025-08-22T16:11:18.815Z,1755879078.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:18.824Z,1755879078.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 46.632298 m,
      bearing: 313.432547 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060994 deg/s,
      cmd heading: 326.861162 deg,
      new cmd heading: 326.815351 deg.

2025-08-22T16:11:18.825Z,1755879078.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.704004 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:18.971Z,1755879078.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251061
2025-08-22T16:11:19.219Z,1755879079.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:19.221Z,1755879079.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:19.223Z,1755879079.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119
2025-08-22T16:11:19.238Z,1755879079.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 46.408775 m,
      bearing: 313.403044 deg,
      approach rate: -0.541039 m/s,
      LOS rate: -0.071758 deg/s,
      cmd heading: 326.815345 deg,
      new cmd heading: 326.756053 deg.

2025-08-22T16:11:19.239Z,1755879079.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702969 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:19.476Z,1755879079.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756007
2025-08-22T16:11:19.584Z,1755879079.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:19.587Z,1755879079.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 46.211094 m,
      bearing: 313.376767 deg,
      approach rate: -0.543532 m/s,
      LOS rate: -0.072558 deg/s,
      cmd heading: 326.756059 deg,
      new cmd heading: 326.703280 deg.

2025-08-22T16:11:19.588Z,1755879079.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.702048 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:19.727Z,1755879079.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007028
2025-08-22T16:11:19.979Z,1755879079.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259360
2025-08-22T16:11:20.004Z,1755879080.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:20.007Z,1755879080.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 45.988132 m,
      bearing: 313.346934 deg,
      approach rate: -0.530776 m/s,
      LOS rate: -0.071363 deg/s,
      cmd heading: 326.703275 deg,
      new cmd heading: 326.643321 deg.

2025-08-22T16:11:20.008Z,1755879080.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.701002 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:20.230Z,1755879080.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510957
2025-08-22T16:11:20.415Z,1755879080.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:20.418Z,1755879080.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 45.787319 m,
      bearing: 313.311464 deg,
      approach rate: -0.488768 m/s,
      LOS rate: -0.086710 deg/s,
      cmd heading: 326.643333 deg,
      new cmd heading: 326.572083 deg.

2025-08-22T16:11:20.419Z,1755879080.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.699758 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:20.485Z,1755879080.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764995
2025-08-22T16:11:20.734Z,1755879080.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932
2025-08-22T16:11:20.794Z,1755879080.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:20.796Z,1755879080.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 45.602333 m,
      bearing: 313.278520 deg,
      approach rate: -0.489084 m/s,
      LOS rate: -0.087455 deg/s,
      cmd heading: 326.572081 deg,
      new cmd heading: 326.505925 deg.

2025-08-22T16:11:20.814Z,1755879080.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.698604 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:20.987Z,1755879080.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267241
2025-08-22T16:11:21.239Z,1755879081.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519001
2025-08-22T16:11:21.361Z,1755879081.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:21.364Z,1755879081.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:21.371Z,1755879081.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 45.325127 m,
      bearing: 313.217293 deg,
      approach rate: -0.486247 m/s,
      LOS rate: -0.108055 deg/s,
      cmd heading: 326.505937 deg,
      new cmd heading: 326.382735 deg.

2025-08-22T16:11:21.371Z,1755879081.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.696454 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:21.491Z,1755879081.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771206
2025-08-22T16:11:21.743Z,1755879081.743 [DAT](INFO): DAT read: Rx Time:16:11:22.2174

2025-08-22T16:11:21.743Z,1755879081.743 [DAT](INFO): Rx dataTimestamp_ set to:1755879081.742903
2025-08-22T16:11:21.744Z,1755879081.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024201
2025-08-22T16:11:21.745Z,1755879081.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.71 m.
2025-08-22T16:11:21.748Z,1755879081.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.705936 m,
      nav range: 45.137825 m,
      bearing: 313.175474 deg,
      approach rate: -0.495876 m/s,
      LOS rate: -0.111176 deg/s,
      cmd heading: 326.382748 deg,
      new cmd heading: 326.298762 deg.

2025-08-22T16:11:21.748Z,1755879081.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.694988 target range: 47.705936 and range: 48.00 m.
2025-08-22T16:11:21.994Z,1755879081.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274971
2025-08-22T16:11:22.260Z,1755879082.260 [DAT](INFO): DAT read: 16:11:22.2174 LVL= 23712, 26929, 17490, 31795, AGC= 56, IDX= 418, 0.18, 2.554, 1.178,-2.930, 2.592, PHS= 0.064,-1.369, 0.717, RAW= 167.8,   6.4, CAL= 167.2,   5.9, ROT= 342.8,  -5.9

2025-08-22T16:11:22.261Z,1755879082.261 [DAT](INFO): got valid direction response:
 16:11:22.2174 LVL= 23712, 26929, 17490, 31795, AGC= 56, IDX= 418, 0.18, 2.554, 1.178,-2.930, 2.592, PHS= 0.064,-1.369, 0.717, RAW= 167.8,   6.4, CAL= 167.2,   5.9, ROT= 342.8,  -5.9

2025-08-22T16:11:22.262Z,1755879082.262 [DAT](INFO): DAT read: Bearing 140.7, -11.2 (Local)

2025-08-22T16:11:22.262Z,1755879082.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.7, -11.2 (Local)

2025-08-22T16:11:22.263Z,1755879082.263 [DAT](INFO): DAT read: Range 11 to 50 : 46.1 m  (Round-trip  61.5 ms) speed  0.4 m/s

2025-08-22T16:11:22.264Z,1755879082.264 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:22.265Z,1755879082.265 [DAT](INFO): direction in FSK: [0.950218,-0.294142,0.102793]
2025-08-22T16:11:22.265Z,1755879082.265 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:22.269Z,1755879082.269 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:22.277Z,1755879082.277 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:22.278Z,1755879082.278 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:22.294Z,1755879082.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.099998 m,
      deltaT: 3.778700 s,
      deltaX: -1.900002 m,
      approachRate: -0.502819 m/s,
      rangeRepo size: 4

2025-08-22T16:11:22.296Z,1755879082.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.817482 m,
      bearing: 313.410245 deg,
      lat: 36.779433 deg,
      lon: -121.859652 deg,
      deltaT: 3.778700 s,
      deltaX: -1.888454 m,
      approachRate: -0.499763 m/s,
      posRepo size: 4

2025-08-22T16:11:22.297Z,1755879082.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:22.309Z,1755879082.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 44.884422 m,
      bearing: 313.116253 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.111176 deg/s,
      cmd heading: 326.298764 deg,
      new cmd heading: 326.176921 deg.

2025-08-22T16:11:22.314Z,1755879082.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.692861 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:22.499Z,1755879082.499 [DAT](INFO): DAT read: user:92>

2025-08-22T16:11:22.499Z,1755879082.499 [DAT](INFO): DAT read: Tx time:16:11:23.5518

2025-08-22T16:11:22.500Z,1755879082.500 [DAT](INFO): Ping request sent.
2025-08-22T16:11:22.500Z,1755879082.500 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:22.500Z,1755879082.500 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:22.500Z,1755879082.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-22T16:11:22.668Z,1755879082.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:22.671Z,1755879082.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 44.678707 m,
      bearing: 313.067610 deg,
      approach rate: -0.543145 m/s,
      LOS rate: -0.129022 deg/s,
      cmd heading: 326.176913 deg,
      new cmd heading: 326.079180 deg.

2025-08-22T16:11:22.672Z,1755879082.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691155 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:22.751Z,1755879082.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251045
2025-08-22T16:11:23.003Z,1755879083.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503093
2025-08-22T16:11:23.067Z,1755879083.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:23.085Z,1755879083.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 44.481506 m,
      bearing: 313.020682 deg,
      approach rate: -0.501258 m/s,
      LOS rate: -0.119816 deg/s,
      cmd heading: 326.079187 deg,
      new cmd heading: 325.984913 deg.

2025-08-22T16:11:23.087Z,1755879083.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.689510 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:23.255Z,1755879083.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-08-22T16:11:23.507Z,1755879083.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006882
2025-08-22T16:11:23.511Z,1755879083.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:23.513Z,1755879083.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:23.517Z,1755879083.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 44.261292 m,
      bearing: 312.969457 deg,
      approach rate: -0.487645 m/s,
      LOS rate: -0.113996 deg/s,
      cmd heading: 325.984903 deg,
      new cmd heading: 325.881945 deg.

2025-08-22T16:11:23.518Z,1755879083.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.687713 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:23.759Z,1755879083.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259817
2025-08-22T16:11:23.864Z,1755879083.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:23.883Z,1755879083.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 44.075920 m,
      bearing: 312.926103 deg,
      approach rate: -0.527860 m/s,
      LOS rate: -0.123973 deg/s,
      cmd heading: 325.881931 deg,
      new cmd heading: 325.794859 deg.

2025-08-22T16:11:23.884Z,1755879083.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.686193 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:24.011Z,1755879084.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510900
2025-08-22T16:11:24.263Z,1755879084.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762839
2025-08-22T16:11:24.309Z,1755879084.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:24.312Z,1755879084.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 43.850933 m,
      bearing: 312.881565 deg,
      approach rate: -0.505691 m/s,
      LOS rate: -0.100621 deg/s,
      cmd heading: 325.794860 deg,
      new cmd heading: 325.705325 deg.

2025-08-22T16:11:24.313Z,1755879084.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.684630 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:24.515Z,1755879084.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015498
2025-08-22T16:11:24.696Z,1755879084.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:24.699Z,1755879084.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 43.667717 m,
      bearing: 312.845564 deg,
      approach rate: -0.473413 m/s,
      LOS rate: -0.093412 deg/s,
      cmd heading: 325.705330 deg,
      new cmd heading: 325.633027 deg.

2025-08-22T16:11:24.700Z,1755879084.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.683369 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:24.767Z,1755879084.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843
2025-08-22T16:11:25.018Z,1755879085.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792
2025-08-22T16:11:25.078Z,1755879085.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:25.081Z,1755879085.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 43.463577 m,
      bearing: 312.805366 deg,
      approach rate: -0.533838 m/s,
      LOS rate: -0.105614 deg/s,
      cmd heading: 325.633039 deg,
      new cmd heading: 325.552266 deg.

2025-08-22T16:11:25.102Z,1755879085.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.681959 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:25.271Z,1755879085.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771093
2025-08-22T16:11:25.523Z,1755879085.523 [DAT](INFO): DAT read: Rx Time:16:11:26.0149

2025-08-22T16:11:25.523Z,1755879085.523 [DAT](INFO): Rx dataTimestamp_ set to:1755879085.522886
2025-08-22T16:11:25.524Z,1755879085.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024038
2025-08-22T16:11:25.531Z,1755879085.531 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:25.533Z,1755879085.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:25.536Z,1755879085.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 43.222126 m,
      bearing: 312.752983 deg,
      approach rate: -0.531625 m/s,
      LOS rate: -0.115981 deg/s,
      cmd heading: 325.552279 deg,
      new cmd heading: 325.446927 deg.

2025-08-22T16:11:25.536Z,1755879085.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.680120 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:25.776Z,1755879085.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889
2025-08-22T16:11:25.957Z,1755879085.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.82 m.
2025-08-22T16:11:25.962Z,1755879085.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.817482 m,
      nav range: 42.999016 m,
      bearing: 312.704367 deg,
      approach rate: -0.526363 m/s,
      LOS rate: -0.115290 deg/s,
      cmd heading: 325.446930 deg,
      new cmd heading: 325.349194 deg.

2025-08-22T16:11:25.963Z,1755879085.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.678415 target range: 45.817482 and range: 46.10 m.
2025-08-22T16:11:26.035Z,1755879086.035 [DAT](INFO): DAT read: 16:11:26.0149 LVL= 23536, 30273, 19314, 31443, AGC= 54, IDX= 408, 0.17,-1.032,-2.394,-0.244,-0.962, PHS= 0.032,-1.388, 0.674, RAW= 167.7,   7.5, CAL= 167.3,   7.5, ROT= 342.7,  -7.5

2025-08-22T16:11:26.036Z,1755879086.036 [DAT](INFO): got valid direction response:
 16:11:26.0149 LVL= 23536, 30273, 19314, 31443, AGC= 54, IDX= 408, 0.17,-1.032,-2.394,-0.244,-0.962, PHS= 0.032,-1.388, 0.674, RAW= 167.7,   7.5, CAL= 167.3,   7.5, ROT= 342.7,  -7.5

2025-08-22T16:11:26.038Z,1755879086.038 [DAT](INFO): DAT read: Bearing 142.0, -12.6 (Local)

2025-08-22T16:11:26.038Z,1755879086.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.0, -12.6 (Local)

2025-08-22T16:11:26.040Z,1755879086.040 [DAT](INFO): DAT read: Range 11 to 50 : 44.1 m  (Round-trip  58.9 ms) speed  0.4 m/s

2025-08-22T16:11:26.041Z,1755879086.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:26.042Z,1755879086.042 [DAT](INFO): direction in FSK: [0.946593,-0.294831,0.130526]
2025-08-22T16:11:26.043Z,1755879086.043 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:26.048Z,1755879086.048 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:26.048Z,1755879086.048 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:26.048Z,1755879086.048 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:26.278Z,1755879086.278 [DAT](INFO): DAT read: user:93>

2025-08-22T16:11:26.279Z,1755879086.279 [DAT](INFO): DAT read: Tx time:16:11:27.3018

2025-08-22T16:11:26.279Z,1755879086.279 [DAT](INFO): Ping request sent.
2025-08-22T16:11:26.279Z,1755879086.279 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:26.280Z,1755879086.280 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:26.280Z,1755879086.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000718
2025-08-22T16:11:26.385Z,1755879086.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.099998 m,
      deltaT: 3.780990 s,
      deltaX: -2.000000 m,
      approachRate: -0.528962 m/s,
      rangeRepo size: 4

2025-08-22T16:11:26.392Z,1755879086.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.829559 m,
      bearing: 312.924146 deg,
      lat: 36.779433 deg,
      lon: -121.859653 deg,
      deltaT: 3.780990 s,
      deltaX: -1.987923 m,
      approachRate: -0.525768 m/s,
      posRepo size: 4

2025-08-22T16:11:26.392Z,1755879086.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:26.399Z,1755879086.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 42.832157 m,
      bearing: 312.611208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.115290 deg/s,
      cmd heading: 325.349204 deg,
      new cmd heading: 325.250589 deg.

2025-08-22T16:11:26.400Z,1755879086.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.676693 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:26.531Z,1755879086.531 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251261
2025-08-22T16:11:26.734Z,1755879086.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:26.737Z,1755879086.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 42.631065 m,
      bearing: 312.574908 deg,
      approach rate: -0.574198 m/s,
      LOS rate: -0.104141 deg/s,
      cmd heading: 325.250576 deg,
      new cmd heading: 325.177633 deg.

2025-08-22T16:11:26.738Z,1755879086.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.675420 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:26.783Z,1755879086.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503376
2025-08-22T16:11:27.035Z,1755879087.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755432
2025-08-22T16:11:27.170Z,1755879087.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:27.180Z,1755879087.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 42.410717 m,
      bearing: 312.535042 deg,
      approach rate: -0.511967 m/s,
      LOS rate: -0.093106 deg/s,
      cmd heading: 325.177629 deg,
      new cmd heading: 325.097485 deg.

2025-08-22T16:11:27.213Z,1755879087.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.674022 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:27.287Z,1755879087.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007075
2025-08-22T16:11:27.539Z,1755879087.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259018
2025-08-22T16:11:27.581Z,1755879087.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:27.584Z,1755879087.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:27.587Z,1755879087.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 42.200905 m,
      bearing: 312.503347 deg,
      approach rate: -0.500622 m/s,
      LOS rate: -0.076002 deg/s,
      cmd heading: 325.097497 deg,
      new cmd heading: 325.033792 deg.

2025-08-22T16:11:27.588Z,1755879087.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.672910 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:27.791Z,1755879087.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511612
2025-08-22T16:11:27.959Z,1755879087.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:27.964Z,1755879087.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 42.001968 m,
      bearing: 312.473314 deg,
      approach rate: -0.530456 m/s,
      LOS rate: -0.080460 deg/s,
      cmd heading: 325.033785 deg,
      new cmd heading: 324.973436 deg.

2025-08-22T16:11:27.966Z,1755879087.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.671856 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:28.043Z,1755879088.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763572
2025-08-22T16:11:28.294Z,1755879088.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957
2025-08-22T16:11:28.380Z,1755879088.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:28.383Z,1755879088.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 41.783581 m,
      bearing: 312.437656 deg,
      approach rate: -0.518889 m/s,
      LOS rate: -0.085167 deg/s,
      cmd heading: 324.973434 deg,
      new cmd heading: 324.901745 deg.

2025-08-22T16:11:28.384Z,1755879088.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.670605 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:28.546Z,1755879088.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933
2025-08-22T16:11:28.763Z,1755879088.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:28.766Z,1755879088.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 41.587463 m,
      bearing: 312.405712 deg,
      approach rate: -0.511472 m/s,
      LOS rate: -0.083703 deg/s,
      cmd heading: 324.901744 deg,
      new cmd heading: 324.837554 deg.

2025-08-22T16:11:28.767Z,1755879088.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.669485 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:28.799Z,1755879088.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519351
2025-08-22T16:11:29.051Z,1755879089.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771185
2025-08-22T16:11:29.163Z,1755879089.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:29.191Z,1755879089.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 41.384239 m,
      bearing: 312.372688 deg,
      approach rate: -0.509943 m/s,
      LOS rate: -0.083273 deg/s,
      cmd heading: 324.837568 deg,
      new cmd heading: 324.771195 deg.

2025-08-22T16:11:29.200Z,1755879089.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.668327 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:29.305Z,1755879089.305 [DAT](INFO): DAT read: Rx Time:16:11:29.7624

2025-08-22T16:11:29.305Z,1755879089.305 [DAT](INFO): Rx dataTimestamp_ set to:1755879089.304813
2025-08-22T16:11:29.306Z,1755879089.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026232
2025-08-22T16:11:29.554Z,1755879089.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274897
2025-08-22T16:11:29.679Z,1755879089.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:29.681Z,1755879089.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.83 m.
2025-08-22T16:11:29.688Z,1755879089.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.829559 m,
      nav range: 41.141941 m,
      bearing: 312.331802 deg,
      approach rate: -0.466757 m/s,
      LOS rate: -0.079226 deg/s,
      cmd heading: 324.771206 deg,
      new cmd heading: 324.688952 deg.

2025-08-22T16:11:29.689Z,1755879089.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.666891 target range: 43.829559 and range: 44.10 m.
2025-08-22T16:11:29.813Z,1755879089.813 [DAT](INFO): DAT read: 16:11:29.7624 LVL= 23520, 29777, 18338, 31331, AGC= 54, IDX= 414, 0.24, 0.126,-1.274, 0.895, 0.219, PHS= 0.009,-1.448, 0.632, RAW= 167.0,   8.8, CAL= 166.7,   9.3, ROT= 343.3,  -9.3

2025-08-22T16:11:29.814Z,1755879089.814 [DAT](INFO): got valid direction response:
 16:11:29.7624 LVL= 23520, 29777, 18338, 31331, AGC= 54, IDX= 414, 0.24, 0.126,-1.274, 0.895, 0.219, PHS= 0.009,-1.448, 0.632, RAW= 167.0,   8.8, CAL= 166.7,   9.3, ROT= 343.3,  -9.3

2025-08-22T16:11:29.815Z,1755879089.815 [DAT](INFO): DAT read: Bearing 143.0, -13.6 (Local)

2025-08-22T16:11:29.815Z,1755879089.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.0, -13.6 (Local)

2025-08-22T16:11:29.817Z,1755879089.817 [DAT](INFO): DAT read: Range 11 to 50 : 42.3 m  (Round-trip  56.4 ms) speed  0.4 m/s

2025-08-22T16:11:29.826Z,1755879089.826 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:29.828Z,1755879089.828 [DAT](INFO): direction in FSK: [0.945232,-0.283584,0.161604]
2025-08-22T16:11:29.828Z,1755879089.828 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:29.844Z,1755879089.844 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:29.845Z,1755879089.845 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:29.851Z,1755879089.851 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:30.059Z,1755879090.059 [DAT](INFO): DAT read: user:94>

2025-08-22T16:11:30.059Z,1755879090.059 [DAT](INFO): DAT read: Tx time:16:11:31.1018

2025-08-22T16:11:30.060Z,1755879090.060 [DAT](INFO): Ping request sent.
2025-08-22T16:11:30.060Z,1755879090.060 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:30.060Z,1755879090.060 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:30.060Z,1755879090.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-08-22T16:11:30.063Z,1755879090.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.299999 m,
      deltaT: 3.780160 s,
      deltaX: -1.799999 m,
      approachRate: -0.476170 m/s,
      rangeRepo size: 4

2025-08-22T16:11:30.065Z,1755879090.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.040897 m,
      bearing: 312.860211 deg,
      lat: 36.779435 deg,
      lon: -121.859653 deg,
      deltaT: 3.780160 s,
      deltaX: -1.788662 m,
      approachRate: -0.473171 m/s,
      posRepo size: 4

2025-08-22T16:11:30.066Z,1755879090.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:30.069Z,1755879090.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 41.094273 m,
      bearing: 312.552725 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079226 deg/s,
      cmd heading: 324.688943 deg,
      new cmd heading: 324.628502 deg.

2025-08-22T16:11:30.070Z,1755879090.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.665836 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:30.311Z,1755879090.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251149
2025-08-22T16:11:30.499Z,1755879090.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:30.502Z,1755879090.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 40.867405 m,
      bearing: 312.517881 deg,
      approach rate: -0.519924 m/s,
      LOS rate: -0.080298 deg/s,
      cmd heading: 324.628509 deg,
      new cmd heading: 324.558434 deg.

2025-08-22T16:11:30.503Z,1755879090.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.664613 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:30.563Z,1755879090.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502904
2025-08-22T16:11:30.815Z,1755879090.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754842
2025-08-22T16:11:30.865Z,1755879090.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:30.867Z,1755879090.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 40.680798 m,
      bearing: 312.489594 deg,
      approach rate: -0.510025 m/s,
      LOS rate: -0.077666 deg/s,
      cmd heading: 324.558432 deg,
      new cmd heading: 324.501599 deg.

2025-08-22T16:11:30.868Z,1755879090.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.663621 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:31.066Z,1755879091.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006739
2025-08-22T16:11:31.319Z,1755879091.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258866
2025-08-22T16:11:31.359Z,1755879091.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:31.366Z,1755879091.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 40.434498 m,
      bearing: 312.452975 deg,
      approach rate: -0.498007 m/s,
      LOS rate: -0.074492 deg/s,
      cmd heading: 324.501604 deg,
      new cmd heading: 324.427922 deg.

2025-08-22T16:11:31.367Z,1755879091.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.662335 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:31.571Z,1755879091.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510768
2025-08-22T16:11:31.723Z,1755879091.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:31.726Z,1755879091.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:31.728Z,1755879091.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 40.245270 m,
      bearing: 312.424535 deg,
      approach rate: -0.516744 m/s,
      LOS rate: -0.078029 deg/s,
      cmd heading: 324.427920 deg,
      new cmd heading: 324.370773 deg.

2025-08-22T16:11:31.729Z,1755879091.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.661338 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:31.823Z,1755879091.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763519
2025-08-22T16:11:32.074Z,1755879092.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014654
2025-08-22T16:11:32.126Z,1755879092.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:32.129Z,1755879092.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 40.048599 m,
      bearing: 312.395508 deg,
      approach rate: -0.490388 m/s,
      LOS rate: -0.072733 deg/s,
      cmd heading: 324.370765 deg,
      new cmd heading: 324.312426 deg.

2025-08-22T16:11:32.130Z,1755879092.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.660320 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:32.327Z,1755879092.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266780
2025-08-22T16:11:32.551Z,1755879092.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:32.560Z,1755879092.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 39.836075 m,
      bearing: 312.361948 deg,
      approach rate: -0.499941 m/s,
      LOS rate: -0.079369 deg/s,
      cmd heading: 324.312436 deg,
      new cmd heading: 324.244956 deg.

2025-08-22T16:11:32.561Z,1755879092.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.659142 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:32.579Z,1755879092.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518792
2025-08-22T16:11:32.832Z,1755879092.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771584
2025-08-22T16:11:32.922Z,1755879092.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:32.925Z,1755879092.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 39.641403 m,
      bearing: 312.331242 deg,
      approach rate: -0.526002 m/s,
      LOS rate: -0.083374 deg/s,
      cmd heading: 324.244953 deg,
      new cmd heading: 324.183240 deg.

2025-08-22T16:11:32.926Z,1755879092.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.658065 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:33.083Z,1755879093.083 [DAT](INFO): DAT read: Rx Time:16:11:33.5598

2025-08-22T16:11:33.083Z,1755879093.083 [DAT](INFO): Rx dataTimestamp_ set to:1755879093.082734
2025-08-22T16:11:33.084Z,1755879093.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023853
2025-08-22T16:11:33.335Z,1755879093.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274858
2025-08-22T16:11:33.383Z,1755879093.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.04 m.
2025-08-22T16:11:33.390Z,1755879093.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.040897 m,
      nav range: 39.416122 m,
      bearing: 312.290400 deg,
      approach rate: -0.488552 m/s,
      LOS rate: -0.089077 deg/s,
      cmd heading: 324.183236 deg,
      new cmd heading: 324.101085 deg.

2025-08-22T16:11:33.391Z,1755879093.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.656631 target range: 42.040897 and range: 42.30 m.
2025-08-22T16:11:33.592Z,1755879093.592 [DAT](INFO): DAT read: 16:11:33.5598 LVL= 27888, 28657, 20978, 31187, AGC= 55, IDX= 420, 0.18,-2.749, 2.110,-2.008,-2.647, PHS=-0.000,-1.482, 0.594, RAW= 166.1,   9.6, CAL= 166.0,  10.5, ROT= 344.0, -10.5

2025-08-22T16:11:33.593Z,1755879093.593 [DAT](INFO): got valid direction response:
 16:11:33.5598 LVL= 27888, 28657, 20978, 31187, AGC= 55, IDX= 420, 0.18,-2.749, 2.110,-2.008,-2.647, PHS=-0.000,-1.482, 0.594, RAW= 166.1,   9.6, CAL= 166.0,  10.5, ROT= 344.0, -10.5

2025-08-22T16:11:33.594Z,1755879093.594 [DAT](INFO): DAT read: Bearing 143.7, -14.2 (Local)

2025-08-22T16:11:33.594Z,1755879093.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.7, -14.2 (Local)

2025-08-22T16:11:33.595Z,1755879093.595 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m  (Round-trip  53.9 ms) speed  0.4 m/s

2025-08-22T16:11:33.596Z,1755879093.596 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:33.597Z,1755879093.597 [DAT](INFO): direction in FSK: [0.945165,-0.271022,0.182236]
2025-08-22T16:11:33.597Z,1755879093.597 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:33.601Z,1755879093.601 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:33.601Z,1755879093.601 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:33.601Z,1755879093.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:33.802Z,1755879093.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.400002 m,
      deltaT: 3.778798 s,
      deltaX: -1.899998 m,
      approachRate: -0.502805 m/s,
      rangeRepo size: 4

2025-08-22T16:11:33.804Z,1755879093.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.152607 m,
      bearing: 312.865263 deg,
      lat: 36.779436 deg,
      lon: -121.859652 deg,
      deltaT: 3.778798 s,
      deltaX: -1.888290 m,
      approachRate: -0.499707 m/s,
      posRepo size: 4

2025-08-22T16:11:33.805Z,1755879093.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:33.812Z,1755879093.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 39.199947 m,
      bearing: 312.380922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.089077 deg/s,
      cmd heading: 324.101082 deg,
      new cmd heading: 324.026494 deg.

2025-08-22T16:11:33.813Z,1755879093.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.655329 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:33.838Z,1755879093.838 [DAT](INFO): DAT read: user:95>

2025-08-22T16:11:33.839Z,1755879093.839 [DAT](INFO): DAT read: Tx time:16:11:34.8518

2025-08-22T16:11:33.839Z,1755879093.839 [DAT](INFO): Ping request sent.
2025-08-22T16:11:33.840Z,1755879093.840 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:33.840Z,1755879093.840 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:33.840Z,1755879093.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725
2025-08-22T16:11:34.090Z,1755879094.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250801
2025-08-22T16:11:34.218Z,1755879094.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:34.220Z,1755879094.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:34.240Z,1755879094.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 38.981796 m,
      bearing: 312.342423 deg,
      approach rate: -0.520487 m/s,
      LOS rate: -0.092367 deg/s,
      cmd heading: 324.026496 deg,
      new cmd heading: 323.949069 deg.

2025-08-22T16:11:34.248Z,1755879094.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.653978 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:34.343Z,1755879094.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503127
2025-08-22T16:11:34.594Z,1755879094.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803
2025-08-22T16:11:34.679Z,1755879094.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:34.697Z,1755879094.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 38.748978 m,
      bearing: 312.301093 deg,
      approach rate: -0.509200 m/s,
      LOS rate: -0.090936 deg/s,
      cmd heading: 323.949069 deg,
      new cmd heading: 323.865913 deg.

2025-08-22T16:11:34.698Z,1755879094.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.652526 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:34.847Z,1755879094.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007016
2025-08-22T16:11:35.071Z,1755879095.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:35.073Z,1755879095.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 38.552563 m,
      bearing: 312.265835 deg,
      approach rate: -0.499935 m/s,
      LOS rate: -0.090199 deg/s,
      cmd heading: 323.865905 deg,
      new cmd heading: 323.795030 deg.

2025-08-22T16:11:35.074Z,1755879095.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.651289 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:35.099Z,1755879095.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259366
2025-08-22T16:11:35.351Z,1755879095.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511349
2025-08-22T16:11:35.494Z,1755879095.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:35.497Z,1755879095.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 38.340076 m,
      bearing: 312.228000 deg,
      approach rate: -0.502595 m/s,
      LOS rate: -0.089988 deg/s,
      cmd heading: 323.795035 deg,
      new cmd heading: 323.718945 deg.

2025-08-22T16:11:35.498Z,1755879095.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.649961 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:35.608Z,1755879095.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768198
2025-08-22T16:11:35.859Z,1755879095.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019056
2025-08-22T16:11:35.872Z,1755879095.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:35.875Z,1755879095.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 38.149727 m,
      bearing: 312.194169 deg,
      approach rate: -0.502993 m/s,
      LOS rate: -0.089844 deg/s,
      cmd heading: 323.718947 deg,
      new cmd heading: 323.650947 deg.

2025-08-22T16:11:35.876Z,1755879095.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648775 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:36.110Z,1755879096.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270841
2025-08-22T16:11:36.336Z,1755879096.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:36.343Z,1755879096.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:36.350Z,1755879096.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 37.935135 m,
      bearing: 312.156316 deg,
      approach rate: -0.455485 m/s,
      LOS rate: -0.080800 deg/s,
      cmd heading: 323.650945 deg,
      new cmd heading: 323.574811 deg.

2025-08-22T16:11:36.351Z,1755879096.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.647446 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:36.363Z,1755879096.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522955
2025-08-22T16:11:36.498Z,1755879096.498 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:11:36.615Z,1755879096.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775134
2025-08-22T16:11:36.706Z,1755879096.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:36.708Z,1755879096.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 37.731228 m,
      bearing: 312.118810 deg,
      approach rate: -0.562622 m/s,
      LOS rate: -0.104046 deg/s,
      cmd heading: 323.574802 deg,
      new cmd heading: 323.499385 deg.

2025-08-22T16:11:36.709Z,1755879096.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.646130 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:36.867Z,1755879096.867 [DAT](INFO): DAT read: Rx Time:16:11:37.3073

2025-08-22T16:11:36.867Z,1755879096.867 [DAT](INFO): Rx dataTimestamp_ set to:1755879096.866693
2025-08-22T16:11:36.868Z,1755879096.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027889
2025-08-22T16:11:37.079Z,1755879097.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.15 m.
2025-08-22T16:11:37.082Z,1755879097.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.152607 m,
      nav range: 37.543999 m,
      bearing: 312.084818 deg,
      approach rate: -0.500432 m/s,
      LOS rate: -0.091308 deg/s,
      cmd heading: 323.499397 deg,
      new cmd heading: 323.431074 deg.

2025-08-22T16:11:37.083Z,1755879097.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644937 target range: 40.152607 and range: 40.40 m.
2025-08-22T16:11:37.119Z,1755879097.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279412
2025-08-22T16:11:37.376Z,1755879097.376 [DAT](INFO): DAT read: 16:11:37.3073 LVL= 23872, 28113, 21890, 32755, AGC= 54, IDX= 410, 0.40,-1.364,-2.795,-0.641,-1.237, PHS=-0.024,-1.513, 0.552, RAW= 165.7,  10.7, CAL= 165.7,  12.0, ROT= 344.3, -12.0

2025-08-22T16:11:37.377Z,1755879097.377 [DAT](INFO): got valid direction response:
 16:11:37.3073 LVL= 23872, 28113, 21890, 32755, AGC= 54, IDX= 410, 0.40,-1.364,-2.795,-0.641,-1.237, PHS=-0.024,-1.513, 0.552, RAW= 165.7,  10.7, CAL= 165.7,  12.0, ROT= 344.3, -12.0

2025-08-22T16:11:37.378Z,1755879097.378 [DAT](INFO): DAT read: Bearing 144.5, -14.9 (Local)

2025-08-22T16:11:37.379Z,1755879097.379 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -14.9 (Local)

2025-08-22T16:11:37.380Z,1755879097.380 [DAT](INFO): DAT read: Range 11 to 50 : 38.4 m  (Round-trip  51.3 ms) speed  0.4 m/s

2025-08-22T16:11:37.380Z,1755879097.380 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:37.382Z,1755879097.382 [DAT](INFO): direction in FSK: [0.941655,-0.264687,0.207912]
2025-08-22T16:11:37.382Z,1755879097.382 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:37.385Z,1755879097.385 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:37.385Z,1755879097.385 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:37.386Z,1755879097.386 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:11:37.502Z,1755879097.502 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:11:37.570Z,1755879097.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.400002 m,
      deltaT: 3.784004 s,
      deltaX: -2.000000 m,
      approachRate: -0.528541 m/s,
      rangeRepo size: 4

2025-08-22T16:11:37.572Z,1755879097.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.165054 m,
      bearing: 312.302485 deg,
      lat: 36.779437 deg,
      lon: -121.859652 deg,
      deltaT: 3.784004 s,
      deltaX: -1.987553 m,
      approachRate: -0.525251 m/s,
      posRepo size: 4

2025-08-22T16:11:37.573Z,1755879097.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:37.580Z,1755879097.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 37.392365 m,
      bearing: 312.301131 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091308 deg/s,
      cmd heading: 323.431068 deg,
      new cmd heading: 323.342313 deg.

2025-08-22T16:11:37.581Z,1755879097.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.643388 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:37.623Z,1755879097.623 [DAT](INFO): DAT read: user:96>

2025-08-22T16:11:37.623Z,1755879097.623 [DAT](INFO): DAT read: Tx time:16:11:38.6518

2025-08-22T16:11:37.624Z,1755879097.624 [DAT](INFO): Ping request sent.
2025-08-22T16:11:37.624Z,1755879097.624 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:37.624Z,1755879097.624 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:37.624Z,1755879097.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-08-22T16:11:37.879Z,1755879097.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254900
2025-08-22T16:11:37.935Z,1755879097.935 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-22T16:11:37.936Z,1755879097.936 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:11:37.936Z,1755879097.936 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-22T16:11:37.939Z,1755879097.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.400002 m (mode  2.000000 count ).
2025-08-22T16:11:37.939Z,1755879097.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-22T16:11:37.939Z,1755879097.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-22T16:11:37.944Z,1755879097.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:37.949Z,1755879097.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 37.204109 m,
      bearing: 312.275336 deg,
      approach rate: -0.498374 m/s,
      LOS rate: -0.068634 deg/s,
      cmd heading: 323.342303 deg,
      new cmd heading: 323.290451 deg.

2025-08-22T16:11:37.951Z,1755879097.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.642483 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:38.131Z,1755879098.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507116
2025-08-22T16:11:38.383Z,1755879098.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759009
2025-08-22T16:11:38.440Z,1755879098.440 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-22T16:11:38.440Z,1755879098.440 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-22T16:11:38.441Z,1755879098.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:38.453Z,1755879098.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:38.460Z,1755879098.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 36.951607 m,
      bearing: 312.241452 deg,
      approach rate: -0.499695 m/s,
      LOS rate: -0.067512 deg/s,
      cmd heading: 323.290448 deg,
      new cmd heading: 323.222218 deg.

2025-08-22T16:11:38.461Z,1755879098.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.641292 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:38.634Z,1755879098.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010681
2025-08-22T16:11:38.789Z,1755879098.789 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-22T16:11:38.789Z,1755879098.789 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-22T16:11:38.811Z,1755879098.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:38.818Z,1755879098.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 36.763149 m,
      bearing: 312.216445 deg,
      approach rate: -0.520510 m/s,
      LOS rate: -0.069422 deg/s,
      cmd heading: 323.222228 deg,
      new cmd heading: 323.171958 deg.

2025-08-22T16:11:38.819Z,1755879098.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.640415 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:38.887Z,1755879098.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263448
2025-08-22T16:11:39.139Z,1755879099.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514891
2025-08-22T16:11:39.211Z,1755879099.211 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-22T16:11:39.211Z,1755879099.211 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:11:39.211Z,1755879099.211 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-22T16:11:39.211Z,1755879099.211 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-22T16:11:39.214Z,1755879099.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:39.216Z,1755879099.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 36.546703 m,
      bearing: 312.187405 deg,
      approach rate: -0.537337 m/s,
      LOS rate: -0.072520 deg/s,
      cmd heading: 323.171958 deg,
      new cmd heading: 323.113534 deg.

2025-08-22T16:11:39.218Z,1755879099.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.639395 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:39.394Z,1755879099.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769277
2025-08-22T16:11:39.618Z,1755879099.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:39.621Z,1755879099.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 36.346870 m,
      bearing: 312.167361 deg,
      approach rate: -0.493856 m/s,
      LOS rate: -0.049808 deg/s,
      cmd heading: 323.113546 deg,
      new cmd heading: 323.073237 deg.

2025-08-22T16:11:39.622Z,1755879099.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638692 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:39.642Z,1755879099.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018679
2025-08-22T16:11:39.895Z,1755879099.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271420
2025-08-22T16:11:40.003Z,1755879100.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:40.006Z,1755879100.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 36.157021 m,
      bearing: 312.148670 deg,
      approach rate: -0.493597 m/s,
      LOS rate: -0.048850 deg/s,
      cmd heading: 323.073248 deg,
      new cmd heading: 323.035670 deg.

2025-08-22T16:11:40.007Z,1755879100.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.638036 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:40.147Z,1755879100.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522798
2025-08-22T16:11:40.400Z,1755879100.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775981
2025-08-22T16:11:40.480Z,1755879100.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:40.487Z,1755879100.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:40.494Z,1755879100.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 35.926632 m,
      bearing: 312.125309 deg,
      approach rate: -0.476092 m/s,
      LOS rate: -0.048586 deg/s,
      cmd heading: 323.035682 deg,
      new cmd heading: 322.988659 deg.

2025-08-22T16:11:40.495Z,1755879100.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.637216 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:40.651Z,1755879100.651 [DAT](INFO): DAT read: Rx Time:16:11:41.1048

2025-08-22T16:11:40.651Z,1755879100.651 [DAT](INFO): Rx dataTimestamp_ set to:1755879100.650822
2025-08-22T16:11:40.652Z,1755879100.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027958
2025-08-22T16:11:40.813Z,1755879100.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.17 m.
2025-08-22T16:11:40.816Z,1755879100.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.165054 m,
      nav range: 35.748070 m,
      bearing: 312.107717 deg,
      approach rate: -0.547154 m/s,
      LOS rate: -0.054175 deg/s,
      cmd heading: 322.988663 deg,
      new cmd heading: 322.953303 deg.

2025-08-22T16:11:40.817Z,1755879100.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.636599 target range: 38.165054 and range: 38.40 m.
2025-08-22T16:11:40.903Z,1755879100.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279524
2025-08-22T16:11:41.160Z,1755879101.160 [DAT](INFO): DAT read: 16:11:41.1048 LVL= 26224, 32753, 24354, 32755, AGC= 55, IDX= 417,-0.33, 0.544,-0.918, 1.274, 0.703, PHS=-0.056,-1.576, 0.527, RAW= 165.6,  11.7, CAL= 165.8,  13.5, ROT= 344.2, -13.5

2025-08-22T16:11:41.161Z,1755879101.161 [DAT](INFO): got valid direction response:
 16:11:41.1048 LVL= 26224, 32753, 24354, 32755, AGC= 55, IDX= 417,-0.33, 0.544,-0.918, 1.274, 0.703, PHS=-0.056,-1.576, 0.527, RAW= 165.6,  11.7, CAL= 165.8,  13.5, ROT= 344.2, -13.5

2025-08-22T16:11:41.162Z,1755879101.162 [DAT](INFO): DAT read: Bearing 145.2, -15.6 (Local)

2025-08-22T16:11:41.163Z,1755879101.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.2, -15.6 (Local)

2025-08-22T16:11:41.165Z,1755879101.165 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m  (Round-trip  48.9 ms) speed  0.4 m/s

2025-08-22T16:11:41.166Z,1755879101.166 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:41.167Z,1755879101.167 [DAT](INFO): direction in FSK: [0.935632,-0.264757,0.233445]
2025-08-22T16:11:41.168Z,1755879101.168 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:41.173Z,1755879101.173 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:11:41.173Z,1755879101.173 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:11:41.174Z,1755879101.174 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:11:41.274Z,1755879101.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.599998 m,
      deltaT: 3.783980 s,
      deltaX: -1.800003 m,
      approachRate: -0.475690 m/s,
      rangeRepo size: 4

2025-08-22T16:11:41.276Z,1755879101.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.376045 m,
      bearing: 311.198640 deg,
      lat: 36.779437 deg,
      lon: -121.859652 deg,
      deltaT: 3.783980 s,
      deltaX: -1.789009 m,
      approachRate: -0.472785 m/s,
      posRepo size: 4

2025-08-22T16:11:41.277Z,1755879101.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:41.292Z,1755879101.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 35.562599 m,
      bearing: 312.037183 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.054175 deg/s,
      cmd heading: 322.953310 deg,
      new cmd heading: 322.903485 deg.

2025-08-22T16:11:41.293Z,1755879101.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635729 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:41.409Z,1755879101.409 [DAT](INFO): DAT read: user:97>

2025-08-22T16:11:41.412Z,1755879101.412 [DAT](INFO): DAT read: Tx time:16:11:42.4518

2025-08-22T16:11:41.414Z,1755879101.414 [DAT](INFO): Ping request sent.
2025-08-22T16:11:41.414Z,1755879101.414 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:11:41.415Z,1755879101.415 [DAT](INFO): publishing transmit ping time
2025-08-22T16:11:41.418Z,1755879101.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003521
2025-08-22T16:11:41.640Z,1755879101.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:41.643Z,1755879101.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 35.367630 m,
      bearing: 312.018755 deg,
      approach rate: -0.530391 m/s,
      LOS rate: -0.050409 deg/s,
      cmd heading: 322.903477 deg,
      new cmd heading: 322.866417 deg.

2025-08-22T16:11:41.644Z,1755879101.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.635082 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:41.659Z,1755879101.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245257
2025-08-22T16:11:41.912Z,1755879101.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498932
2025-08-22T16:11:42.107Z,1755879102.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:42.110Z,1755879102.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 35.138336 m,
      bearing: 311.997504 deg,
      approach rate: -0.491397 m/s,
      LOS rate: -0.045840 deg/s,
      cmd heading: 322.866430 deg,
      new cmd heading: 322.823651 deg.

2025-08-22T16:11:42.111Z,1755879102.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.634336 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:42.164Z,1755879102.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750308
2025-08-22T16:11:42.418Z,1755879102.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004415
2025-08-22T16:11:42.571Z,1755879102.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:42.573Z,1755879102.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:42.577Z,1755879102.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 34.902790 m,
      bearing: 311.973572 deg,
      approach rate: -0.505263 m/s,
      LOS rate: -0.051682 deg/s,
      cmd heading: 322.823646 deg,
      new cmd heading: 322.775459 deg.

2025-08-22T16:11:42.595Z,1755879102.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.633494 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:42.667Z,1755879102.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253341
2025-08-22T16:11:42.919Z,1755879102.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505628
2025-08-22T16:11:43.042Z,1755879103.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:43.045Z,1755879103.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 34.665298 m,
      bearing: 311.949551 deg,
      approach rate: -0.506347 m/s,
      LOS rate: -0.051565 deg/s,
      cmd heading: 322.775452 deg,
      new cmd heading: 322.727081 deg.

2025-08-22T16:11:43.046Z,1755879103.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.632650 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:43.171Z,1755879103.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757918
2025-08-22T16:11:43.427Z,1755879103.427 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013449
2025-08-22T16:11:43.519Z,1755879103.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:43.522Z,1755879103.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 34.429955 m,
      bearing: 311.927499 deg,
      approach rate: -0.493989 m/s,
      LOS rate: -0.046605 deg/s,
      cmd heading: 322.727094 deg,
      new cmd heading: 322.682687 deg.

2025-08-22T16:11:43.523Z,1755879103.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631876 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:43.675Z,1755879103.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261234
2025-08-22T16:11:43.892Z,1755879103.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.38 m.
2025-08-22T16:11:43.895Z,1755879103.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.376045 m,
      nav range: 34.245285 m,
      bearing: 311.910469 deg,
      approach rate: -0.494233 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.682698 deg,
      new cmd heading: 322.648455 deg.

2025-08-22T16:11:43.896Z,1755879103.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.631278 target range: 36.376045 and range: 36.60 m.
2025-08-22T16:11:43.928Z,1755879103.928 [DAT](INFO): DAT read: Rx Time:16:11:44.6274 

2025-08-22T16:11:43.929Z,1755879103.929 [DAT](INFO): Rx dataTimestamp_ set to:1755879103.928703
2025-08-22T16:11:43.931Z,1755879103.931 [DAT](INFO): DAT read: Bearing 145.8, -15.9 (Local)

2025-08-22T16:11:43.932Z,1755879103.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -15.9 (Local)

2025-08-22T16:11:43.935Z,1755879103.935 [DAT](INFO): DAT read: Range 11 to 50 :    34.8 m (trip time 23.2 ms) speed 0.4

2025-08-22T16:11:43.941Z,1755879103.941 [DAT](INFO): DAT read: 16:11:44.6274 LVL= 28240, 25489, 20402, 32755, AGC= 56, IDX= 168,-0.42, 1.730, 0.283, 2.434, 1.902, PHS=-0.070,-1.574, 0.489, RAW= 165.2,  12.5, CAL= 165.5,  14.5, ROT= 344.5, -14.5

2025-08-22T16:11:43.947Z,1755879103.947 [DAT](INFO): got valid direction response:
 16:11:44.6274 LVL= 28240, 25489, 20402, 32755, AGC= 56, IDX= 168,-0.42, 1.730, 0.283, 2.434, 1.902, PHS=-0.070,-1.574, 0.489, RAW= 165.2,  12.5, CAL= 165.5,  14.5, ROT= 344.5, -14.5

2025-08-22T16:11:43.947Z,1755879103.947 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:11:43.948Z,1755879103.948 [DAT](INFO): direction in FSK: [0.932936,-0.258726,0.250380]
2025-08-22T16:11:43.948Z,1755879103.948 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:43.960Z,1755879103.960 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.546140
2025-08-22T16:11:44.182Z,1755879104.182 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.768994
2025-08-22T16:11:44.326Z,1755879104.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.799999 m,
      deltaT: 2.774723 s,
      deltaX: -1.799999 m,
      approachRate: -0.648713 m/s,
      rangeRepo size: 4

2025-08-22T16:11:44.355Z,1755879104.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.586952 m,
      bearing: 310.884283 deg,
      lat: 36.779437 deg,
      lon: -121.859652 deg,
      deltaT: 2.774723 s,
      deltaX: -1.789093 m,
      approachRate: -0.644783 m/s,
      posRepo size: 4

2025-08-22T16:11:44.356Z,1755879104.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.59 m.
2025-08-22T16:11:44.364Z,1755879104.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.586952 m,
      nav range: 34.054249 m,
      bearing: 311.892658 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.648465 deg,
      new cmd heading: 322.609891 deg.

2025-08-22T16:11:44.365Z,1755879104.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.630605 target range: 34.586952 and range: 34.80 m.
2025-08-22T16:11:44.436Z,1755879104.436 [DAT](INFO): DAT read: Rx Time:16:11:45.1271 

2025-08-22T16:11:44.438Z,1755879104.438 [DAT](INFO): Rx dataTimestamp_ set to:1755879104.436772
2025-08-22T16:11:44.442Z,1755879104.442 [DAT](INFO): DAT read: Bearing 145.4, -16.0 (Local)

2025-08-22T16:11:44.443Z,1755879104.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -16.0 (Local)

2025-08-22T16:11:44.453Z,1755879104.453 [DAT](INFO): DAT read: Range 11 to 50 :    34.4 m (trip time 22.9 ms) speed 0.4

2025-08-22T16:11:44.475Z,1755879104.475 [DAT](INFO): DAT read: 16:11:45.1271 LVL= 27792, 32753, 20018, 32755, AGC= 56, IDX= 501,-0.02, 0.824,-0.630, 1.529, 0.988, PHS=-0.062,-1.573, 0.497, RAW= 165.1,  12.2, CAL= 165.4,  14.2, ROT= 344.6, -14.2

2025-08-22T16:11:44.476Z,1755879104.476 [DAT](INFO): got valid direction response:
 16:11:45.1271 LVL= 27792, 32753, 20018, 32755, AGC= 56, IDX= 501,-0.02, 0.824,-0.630, 1.529, 0.988, PHS=-0.062,-1.573, 0.497, RAW= 165.1,  12.2, CAL= 165.4,  14.2, ROT= 344.6, -14.2

2025-08-22T16:11:44.477Z,1755879104.477 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-22T16:11:44.484Z,1755879104.484 [DAT](INFO): direction in FSK: [0.934638,-0.257442,0.245307]
2025-08-22T16:11:44.484Z,1755879104.484 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:44.505Z,1755879104.505 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.091453
2025-08-22T16:11:44.686Z,1755879104.686 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273051
2025-08-22T16:11:44.783Z,1755879104.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.400002 m,
      deltaT: 0.508069 s,
      deltaX: -0.399998 m,
      approachRate: -0.787290 m/s,
      rangeRepo size: 4

2025-08-22T16:11:44.785Z,1755879104.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.189404 m,
      bearing: 310.846969 deg,
      lat: 36.779434 deg,
      lon: -121.859654 deg,
      deltaT: 0.508069 s,
      deltaX: -0.397549 m,
      approachRate: -0.782470 m/s,
      posRepo size: 4

2025-08-22T16:11:44.786Z,1755879104.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.19 m.
2025-08-22T16:11:44.789Z,1755879104.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.189404 m,
      nav range: 33.620754 m,
      bearing: 311.243795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.609888 deg,
      new cmd heading: 322.566873 deg.

2025-08-22T16:11:44.811Z,1755879104.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629854 target range: 34.189404 and range: 34.40 m.
2025-08-22T16:11:44.936Z,1755879104.936 [DAT](INFO): DAT read: Rx Time:16:11:45.6268 

2025-08-22T16:11:44.937Z,1755879104.937 [DAT](INFO): Rx dataTimestamp_ set to:1755879104.936714
2025-08-22T16:11:44.938Z,1755879104.938 [DAT](INFO): DAT read: Bearing 145.7, -15.9 (Local)

2025-08-22T16:11:44.939Z,1755879104.939 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -15.9 (Local)

2025-08-22T16:11:44.941Z,1755879104.941 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-08-22T16:11:44.947Z,1755879104.947 [DAT](INFO): DAT read: 16:11:45.6268 LVL= 30048, 32145, 20210, 32755, AGC= 56, IDX= 498, 0.37, 0.832,-0.632, 1.532, 1.001, PHS=-0.067,-1.588, 0.487, RAW= 164.9,  12.5, CAL= 165.3,  14.5, ROT= 344.7, -14.5

2025-08-22T16:11:44.949Z,1755879104.949 [DAT](INFO): got valid direction response:
 16:11:45.6268 LVL= 30048, 32145, 20210, 32755, AGC= 56, IDX= 498, 0.37, 0.832,-0.632, 1.532, 1.001, PHS=-0.067,-1.588, 0.487, RAW= 164.9,  12.5, CAL= 165.3,  14.5, ROT= 344.7, -14.5

2025-08-22T16:11:44.965Z,1755879104.965 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:11:44.971Z,1755879104.971 [DAT](INFO): direction in FSK: [0.933834,-0.255468,0.250380]
2025-08-22T16:11:44.971Z,1755879104.971 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:44.979Z,1755879104.979 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.565385
2025-08-22T16:11:45.187Z,1755879105.187 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.773954
2025-08-22T16:11:45.222Z,1755879105.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.499942 s,
      deltaX: -0.500000 m,
      approachRate: -1.000116 m/s,
      rangeRepo size: 4

2025-08-22T16:11:45.224Z,1755879105.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.692444 m,
      bearing: 310.869551 deg,
      lat: 36.779431 deg,
      lon: -121.859654 deg,
      deltaT: 0.499942 s,
      deltaX: -0.496960 m,
      approachRate: -0.994035 m/s,
      posRepo size: 4

2025-08-22T16:11:45.225Z,1755879105.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-08-22T16:11:45.232Z,1755879105.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.692444 m,
      nav range: 33.245205 m,
      bearing: 310.891712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.566885 deg,
      new cmd heading: 322.527046 deg.

2025-08-22T16:11:45.233Z,1755879105.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.629159 target range: 33.692444 and range: 33.90 m.
2025-08-22T16:11:45.444Z,1755879105.444 [DAT](INFO): DAT read: Rx Time:16:11:46.1268 

2025-08-22T16:11:45.445Z,1755879105.445 [DAT](INFO): Rx dataTimestamp_ set to:1755879105.443913
2025-08-22T16:11:45.449Z,1755879105.449 [DAT](INFO): DAT read: Bearing 145.8, -16.2 (Local)

2025-08-22T16:11:45.451Z,1755879105.451 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -16.2 (Local)

2025-08-22T16:11:45.457Z,1755879105.457 [DAT](INFO): DAT read: Range 11 to 50 :    33.9 m (trip time 22.6 ms) speed 0.4

2025-08-22T16:11:45.495Z,1755879105.495 [DAT](INFO): DAT read: 16:11:46.1268 LVL= 27728, 29073, 20978, 32755, AGC= 56, IDX= 498,-0.11,-0.149,-1.583, 0.553, 0.028, PHS=-0.075,-1.567, 0.481, RAW= 165.2,  12.6, CAL= 165.6,  14.7, ROT= 344.4, -14.7

2025-08-22T16:11:45.496Z,1755879105.496 [DAT](INFO): got valid direction response:
 16:11:46.1268 LVL= 27728, 29073, 20978, 32755, AGC= 56, IDX= 498,-0.11,-0.149,-1.583, 0.553, 0.028, PHS=-0.075,-1.567, 0.481, RAW= 165.2,  12.6, CAL= 165.6,  14.7, ROT= 344.4, -14.7

2025-08-22T16:11:45.497Z,1755879105.497 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:11:45.504Z,1755879105.504 [DAT](INFO): direction in FSK: [0.931636,-0.260118,0.253758]
2025-08-22T16:11:45.510Z,1755879105.510 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:45.519Z,1755879105.519 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.106008
2025-08-22T16:11:45.662Z,1755879105.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 0.507199 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:11:45.664Z,1755879105.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.692444 m,
      bearing: 310.569073 deg,
      lat: 36.779431 deg,
      lon: -121.859654 deg,
      deltaT: 0.507199 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:11:45.665Z,1755879105.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.69 m.
2025-08-22T16:11:45.671Z,1755879105.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.692444 m,
      nav range: 32.985897 m,
      bearing: 310.787851 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.527051 deg,
      new cmd heading: 322.486748 deg.

2025-08-22T16:11:45.672Z,1755879105.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.628456 target range: 33.692444 and range: 33.90 m.
2025-08-22T16:11:45.691Z,1755879105.691 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.277329
2025-08-22T16:11:45.943Z,1755879105.943 [DAT](INFO): DAT read: Rx Time:16:11:46.6265 

2025-08-22T16:11:45.944Z,1755879105.944 [DAT](INFO): Rx dataTimestamp_ set to:1755879105.943305
2025-08-22T16:11:45.945Z,1755879105.945 [DAT](INFO): DAT read: Bearing 145.1, -16.0 (Local)

2025-08-22T16:11:45.945Z,1755879105.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1, -16.0 (Local)

2025-08-22T16:11:45.947Z,1755879105.947 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.4

2025-08-22T16:11:45.952Z,1755879105.952 [DAT](INFO): DAT read: 16:11:46.6265 LVL= 27632, 31217, 21330, 32755, AGC= 55, IDX= 495, 0.23, 0.795,-0.657, 1.489, 0.954, PHS=-0.057,-1.566, 0.492, RAW= 164.9,  12.2, CAL= 165.2,  14.1, ROT= 344.8, -14.1

2025-08-22T16:11:45.953Z,1755879105.953 [DAT](INFO): got valid direction response:
 16:11:46.6265 LVL= 27632, 31217, 21330, 32755, AGC= 55, IDX= 495, 0.23, 0.795,-0.657, 1.489, 0.954, PHS=-0.057,-1.566, 0.492, RAW= 164.9,  12.2, CAL= 165.2,  14.1, ROT= 344.8, -14.1

2025-08-22T16:11:45.953Z,1755879105.953 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T16:11:45.954Z,1755879105.954 [DAT](INFO): direction in FSK: [0.935942,-0.254290,0.243615]
2025-08-22T16:11:45.954Z,1755879105.954 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:45.974Z,1755879105.974 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.560823
2025-08-22T16:11:46.053Z,1755879106.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.499392 s,
      deltaX: -0.400002 m,
      approachRate: -0.800977 m/s,
      rangeRepo size: 4

2025-08-22T16:11:46.059Z,1755879106.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.294891 m,
      bearing: 310.847411 deg,
      lat: 36.779430 deg,
      lon: -121.859654 deg,
      deltaT: 0.499392 s,
      deltaX: -0.397552 m,
      approachRate: -0.796073 m/s,
      posRepo size: 4

2025-08-22T16:11:46.060Z,1755879106.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T16:11:46.067Z,1755879106.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.294891 m,
      nav range: 32.722157 m,
      bearing: 310.629288 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045822 deg/s,
      cmd heading: 322.486753 deg,
      new cmd heading: 322.450527 deg.

2025-08-22T16:11:46.068Z,1755879106.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.627823 target range: 33.294891 and range: 33.50 m.
2025-08-22T16:11:46.195Z,1755879106.195 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.782070
2025-08-22T16:11:46.401Z,1755879106.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:46.410Z,1755879106.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T16:11:46.437Z,1755879106.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.294891 m,
      nav range: 32.537796 m,
      bearing: 310.602962 deg,
      approach rate: -0.516789 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.450526 deg,
      new cmd heading: 322.397575 deg.

2025-08-22T16:11:46.445Z,1755879106.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.626899 target range: 33.294891 and range: 33.50 m.
2025-08-22T16:11:46.455Z,1755879106.455 [DAT](INFO): DAT read: Rx Time:16:11:47.1265 

2025-08-22T16:11:46.457Z,1755879106.457 [DAT](INFO): Rx dataTimestamp_ set to:1755879106.455778
2025-08-22T16:11:46.461Z,1755879106.461 [DAT](INFO): DAT read: Bearing 145.8, -16.3 (Local)

2025-08-22T16:11:46.462Z,1755879106.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.8, -16.3 (Local)

2025-08-22T16:11:46.484Z,1755879106.484 [DAT](INFO): DAT read: Range 11 to 50 :    33.5 m (trip time 22.3 ms) speed 0.4

2025-08-22T16:11:46.506Z,1755879106.506 [DAT](INFO): DAT read: 16:11:47.1265 LVL= 24304, 31905, 22434, 32755, AGC= 54, IDX= 511,-0.25,-0.170,-1.589, 0.525, 0.009, PHS=-0.077,-1.554, 0.472, RAW= 165.2,  12.7, CAL= 165.5,  14.9, ROT= 344.5, -14.9

2025-08-22T16:11:46.507Z,1755879106.507 [DAT](INFO): got valid direction response:
 16:11:47.1265 LVL= 24304, 31905, 22434, 32755, AGC= 54, IDX= 511,-0.25,-0.170,-1.589, 0.525, 0.009, PHS=-0.077,-1.554, 0.472, RAW= 165.2,  12.7, CAL= 165.5,  14.9, ROT= 344.5, -14.9

2025-08-22T16:11:46.507Z,1755879106.507 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:11:46.508Z,1755879106.508 [DAT](INFO): direction in FSK: [0.931229,-0.258253,0.257133]
2025-08-22T16:11:46.508Z,1755879106.508 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:46.532Z,1755879106.532 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.117970
2025-08-22T16:11:46.699Z,1755879106.699 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.285940
2025-08-22T16:11:46.877Z,1755879106.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.500000 m,
      deltaT: 0.512473 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:11:46.879Z,1755879106.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.294640 m,
      bearing: 310.380591 deg,
      lat: 36.779430 deg,
      lon: -121.859654 deg,
      deltaT: 0.512473 s,
      deltaX: -0.000252 m,
      approachRate: -0.000491 m/s,
      posRepo size: 4

2025-08-22T16:11:46.880Z,1755879106.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.29 m.
2025-08-22T16:11:46.883Z,1755879106.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.294640 m,
      nav range: 32.299919 m,
      bearing: 310.574710 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.397578 deg,
      new cmd heading: 322.328231 deg.

2025-08-22T16:11:46.884Z,1755879106.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.625689 target range: 33.294640 and range: 33.50 m.
2025-08-22T16:11:46.952Z,1755879106.952 [DAT](INFO): DAT read: Rx Time:16:11:47.6262 

2025-08-22T16:11:46.953Z,1755879106.953 [DAT](INFO): Rx dataTimestamp_ set to:1755879106.952287
2025-08-22T16:11:46.954Z,1755879106.954 [DAT](INFO): DAT read: Bearing 145.0, -16.0 (Local)

2025-08-22T16:11:46.955Z,1755879106.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.0, -16.0 (Local)

2025-08-22T16:11:46.958Z,1755879106.958 [DAT](INFO): DAT read: Range 11 to 50 :    33.0 m (trip time 22.0 ms) speed 0.4

2025-08-22T16:11:46.964Z,1755879106.964 [DAT](INFO): DAT read: 16:11:47.6262 LVL= 30160, 32753, 24946, 32755, AGC= 54, IDX= 508, 0.07, 0.805,-0.642, 1.495, 0.964, PHS=-0.057,-1.561, 0.487, RAW= 164.9,  12.3, CAL= 165.1,  14.2, ROT= 344.9, -14.2

2025-08-22T16:11:46.974Z,1755879106.974 [DAT](INFO): got valid direction response:
 16:11:47.6262 LVL= 30160, 32753, 24946, 32755, AGC= 54, IDX= 508, 0.07, 0.805,-0.642, 1.495, 0.964, PHS=-0.057,-1.561, 0.487, RAW= 164.9,  12.3, CAL= 165.1,  14.2, ROT= 344.9, -14.2

2025-08-22T16:11:46.975Z,1755879106.975 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T16:11:46.976Z,1755879106.976 [DAT](INFO): direction in FSK: [0.935973,-0.252545,0.245307]
2025-08-22T16:11:46.976Z,1755879106.976 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:47.000Z,1755879107.000 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.586895
2025-08-22T16:11:47.206Z,1755879107.206 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.792386
2025-08-22T16:11:47.249Z,1755879107.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.000000 m,
      deltaT: 0.496509 s,
      deltaX: -0.500000 m,
      approachRate: -1.007031 m/s,
      rangeRepo size: 4

2025-08-22T16:11:47.259Z,1755879107.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.797886 m,
      bearing: 310.714555 deg,
      lat: 36.779430 deg,
      lon: -121.859653 deg,
      deltaT: 0.496509 s,
      deltaX: -0.496754 m,
      approachRate: -1.000493 m/s,
      posRepo size: 4

2025-08-22T16:11:47.260Z,1755879107.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.80 m.
2025-08-22T16:11:47.267Z,1755879107.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.797886 m,
      nav range: 32.059647 m,
      bearing: 310.644823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.328238 deg,
      new cmd heading: 322.273083 deg.

2025-08-22T16:11:47.268Z,1755879107.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.624726 target range: 32.797886 and range: 33.00 m.
2025-08-22T16:11:47.464Z,1755879107.464 [DAT](INFO): DAT read: Rx Time:16:11:48.1261 

2025-08-22T16:11:47.471Z,1755879107.471 [DAT](INFO): Rx dataTimestamp_ set to:1755879107.464751
2025-08-22T16:11:47.476Z,1755879107.476 [DAT](INFO): DAT read: Bearing 145.7, -16.1 (Local)

2025-08-22T16:11:47.477Z,1755879107.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.7, -16.1 (Local)

2025-08-22T16:11:47.498Z,1755879107.498 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.4

2025-08-22T16:11:47.524Z,1755879107.524 [DAT](INFO): DAT read: 16:11:48.1261 LVL= 29904, 30657, 25570, 32755, AGC= 56, IDX= 507,-0.48,-0.057,-1.507, 0.637, 0.120, PHS=-0.075,-1.582, 0.474, RAW= 164.9,  12.8, CAL= 165.3,  14.9, ROT= 344.7, -14.9

2025-08-22T16:11:47.525Z,1755879107.525 [DAT](INFO): got valid direction response:
 16:11:48.1261 LVL= 29904, 30657, 25570, 32755, AGC= 56, IDX= 507,-0.48,-0.057,-1.507, 0.637, 0.120, PHS=-0.075,-1.582, 0.474, RAW= 164.9,  12.8, CAL= 165.3,  14.9, ROT= 344.7, -14.9

2025-08-22T16:11:47.530Z,1755879107.530 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-22T16:11:47.531Z,1755879107.531 [DAT](INFO): direction in FSK: [0.932125,-0.255001,0.257133]
2025-08-22T16:11:47.531Z,1755879107.531 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:47.538Z,1755879107.538 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.125153
2025-08-22T16:11:47.699Z,1755879107.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.512464 s,
      deltaX: -0.099998 m,
      approachRate: -0.195133 m/s,
      rangeRepo size: 4

2025-08-22T16:11:47.701Z,1755879107.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.698502 m,
      bearing: 310.428609 deg,
      lat: 36.779430 deg,
      lon: -121.859654 deg,
      deltaT: 0.512464 s,
      deltaX: -0.099384 m,
      approachRate: -0.193934 m/s,
      posRepo size: 4

2025-08-22T16:11:47.706Z,1755879107.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.70 m.
2025-08-22T16:11:47.709Z,1755879107.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.698502 m,
      nav range: 31.889145 m,
      bearing: 310.521425 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.273078 deg,
      new cmd heading: 322.206905 deg.

2025-08-22T16:11:47.711Z,1755879107.711 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.297324
2025-08-22T16:11:47.714Z,1755879107.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.623571 target range: 32.698502 and range: 32.90 m.
2025-08-22T16:11:47.964Z,1755879107.964 [DAT](INFO): DAT read: Rx Time:16:11:48.6258 

2025-08-22T16:11:47.965Z,1755879107.965 [DAT](INFO): Rx dataTimestamp_ set to:1755879107.964551
2025-08-22T16:11:47.967Z,1755879107.967 [DAT](INFO): DAT read: Bearing 145.4, -16.2 (Local)

2025-08-22T16:11:47.967Z,1755879107.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.4, -16.2 (Local)

2025-08-22T16:11:47.969Z,1755879107.969 [DAT](INFO): DAT read: Range 11 to 50 :    32.4 m (trip time 21.6 ms) speed 0.4

2025-08-22T16:11:47.974Z,1755879107.974 [DAT](INFO): DAT read: 16:11:48.6258 LVL= 26352, 27425, 21346, 32755, AGC= 56, IDX= 504,-0.07,-0.772,-2.233,-0.073,-0.599, PHS=-0.071,-1.589, 0.482, RAW= 164.9,  12.6, CAL= 165.3,  14.7, ROT= 344.7, -14.7

2025-08-22T16:11:47.975Z,1755879107.975 [DAT](INFO): got valid direction response:
 16:11:48.6258 LVL= 26352, 27425, 21346, 32755, AGC= 56, IDX= 504,-0.07,-0.772,-2.233,-0.073,-0.599, PHS=-0.071,-1.589, 0.482, RAW= 164.9,  12.6, CAL= 165.3,  14.7, ROT= 344.7, -14.7

2025-08-22T16:11:47.975Z,1755879107.975 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:11:47.976Z,1755879107.976 [DAT](INFO): direction in FSK: [0.932985,-0.255236,0.253758]
2025-08-22T16:11:47.976Z,1755879107.976 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:47.980Z,1755879107.980 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.566951
2025-08-22T16:11:48.106Z,1755879108.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.400002 m,
      deltaT: 0.499800 s,
      deltaX: -0.500000 m,
      approachRate: -1.000400 m/s,
      rangeRepo size: 4

2025-08-22T16:11:48.108Z,1755879108.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.201561 m,
      bearing: 310.350471 deg,
      lat: 36.779430 deg,
      lon: -121.859653 deg,
      deltaT: 0.499800 s,
      deltaX: -0.496941 m,
      approachRate: -0.994279 m/s,
      posRepo size: 4

2025-08-22T16:11:48.109Z,1755879108.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.20 m.
2025-08-22T16:11:48.117Z,1755879108.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.201561 m,
      nav range: 31.623095 m,
      bearing: 310.588247 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.206907 deg,
      new cmd heading: 322.147571 deg.

2025-08-22T16:11:48.122Z,1755879108.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.622536 target range: 32.201561 and range: 32.40 m.
2025-08-22T16:11:48.215Z,1755879108.215 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802135
2025-08-22T16:11:48.471Z,1755879108.471 [DAT](INFO): DAT read: Rx Time:16:11:49.1257 

2025-08-22T16:11:48.473Z,1755879108.473 [DAT](INFO): Rx dataTimestamp_ set to:1755879108.472090
2025-08-22T16:11:48.480Z,1755879108.480 [DAT](INFO): DAT read: Bearing 145.0, -15.9 (Local)

2025-08-22T16:11:48.481Z,1755879108.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.0, -15.9 (Local)

2025-08-22T16:11:48.512Z,1755879108.512 [DAT](INFO): DAT read: Range 11 to 50 :    32.3 m (trip time 21.5 ms) speed 0.4

2025-08-22T16:11:48.534Z,1755879108.534 [DAT](INFO): DAT read: 16:11:49.1257 LVL= 26592, 29537, 25202, 32755, AGC= 56, IDX= 503, 0.24, 2.075, 0.604, 2.762, 2.237, PHS=-0.060,-1.588, 0.481, RAW= 164.6,  12.5, CAL= 164.9,  14.5, ROT= 345.1, -14.5

2025-08-22T16:11:48.535Z,1755879108.535 [DAT](INFO): got valid direction response:
 16:11:49.1257 LVL= 26592, 29537, 25202, 32755, AGC= 56, IDX= 503, 0.24, 2.075, 0.604, 2.762, 2.237, PHS=-0.060,-1.588, 0.481, RAW= 164.6,  12.5, CAL= 164.9,  14.5, ROT= 345.1, -14.5

2025-08-22T16:11:48.535Z,1755879108.535 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:11:48.536Z,1755879108.536 [DAT](INFO): direction in FSK: [0.935595,-0.248942,0.250380]
2025-08-22T16:11:48.536Z,1755879108.536 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:48.556Z,1755879108.556 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.142682
2025-08-22T16:11:48.622Z,1755879108.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.299999 m,
      deltaT: 0.507539 s,
      deltaX: -0.100002 m,
      approachRate: -0.197034 m/s,
      rangeRepo size: 4

2025-08-22T16:11:48.624Z,1755879108.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.102108 m,
      bearing: 310.650566 deg,
      lat: 36.779430 deg,
      lon: -121.859653 deg,
      deltaT: 0.507539 s,
      deltaX: -0.099453 m,
      approachRate: -0.195951 m/s,
      posRepo size: 4

2025-08-22T16:11:48.625Z,1755879108.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.10 m.
2025-08-22T16:11:48.632Z,1755879108.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.102108 m,
      nav range: 31.382332 m,
      bearing: 310.616019 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.147566 deg,
      new cmd heading: 322.069826 deg.

2025-08-22T16:11:48.633Z,1755879108.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.621179 target range: 32.102108 and range: 32.30 m.
2025-08-22T16:11:48.719Z,1755879108.719 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.305372
2025-08-22T16:11:48.971Z,1755879108.971 [DAT](INFO): DAT read: Rx Time:16:11:49.6255 

2025-08-22T16:11:48.972Z,1755879108.972 [DAT](INFO): Rx dataTimestamp_ set to:1755879108.971543
2025-08-22T16:11:48.973Z,1755879108.973 [DAT](INFO): DAT read: Bearing 145.2, -16.2 (Local)

2025-08-22T16:11:48.973Z,1755879108.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.2, -16.2 (Local)

2025-08-22T16:11:48.975Z,1755879108.975 [DAT](INFO): DAT read: Range 11 to 50 :    32.0 m (trip time 21.3 ms) speed 0.4

2025-08-22T16:11:48.980Z,1755879108.980 [DAT](INFO): DAT read: 16:11:49.6255 LVL= 23808, 28113, 20258, 32755, AGC= 55, IDX= 501,-0.26,-1.101,-2.538,-0.410,-0.928, PHS=-0.071,-1.565, 0.474, RAW= 164.9,  12.7, CAL= 165.3,  14.8, ROT= 344.7, -14.8

2025-08-22T16:11:48.981Z,1755879108.981 [DAT](INFO): got valid direction response:
 16:11:49.6255 LVL= 23808, 28113, 20258, 32755, AGC= 55, IDX= 501,-0.26,-1.101,-2.538,-0.410,-0.928, PHS=-0.071,-1.565, 0.474, RAW= 164.9,  12.7, CAL= 165.3,  14.8, ROT= 344.7, -14.8

2025-08-22T16:11:48.981Z,1755879108.981 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:11:48.982Z,1755879108.982 [DAT](INFO): direction in FSK: [0.932557,-0.255119,0.255446]
2025-08-22T16:11:48.983Z,1755879108.983 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:48.990Z,1755879108.990 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577041
2025-08-22T16:11:49.003Z,1755879109.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.000000 m,
      deltaT: 0.499453 s,
      deltaX: -0.299999 m,
      approachRate: -0.600656 m/s,
      rangeRepo size: 4

2025-08-22T16:11:49.010Z,1755879109.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.803947 m,
      bearing: 310.169200 deg,
      lat: 36.779430 deg,
      lon: -121.859653 deg,
      deltaT: 0.499453 s,
      deltaX: -0.298161 m,
      approachRate: -0.596974 m/s,
      posRepo size: 4

2025-08-22T16:11:49.010Z,1755879109.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-22T16:11:49.013Z,1755879109.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.803947 m,
      nav range: 31.153788 m,
      bearing: 310.510687 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074214 deg/s,
      cmd heading: 322.069839 deg,
      new cmd heading: 322.012632 deg.

2025-08-22T16:11:49.018Z,1755879109.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.620181 target range: 31.803947 and range: 32.00 m.
2025-08-22T16:11:49.223Z,1755879109.223 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809410
2025-08-22T16:11:49.418Z,1755879109.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:49.426Z,1755879109.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-22T16:11:49.434Z,1755879109.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.803947 m,
      nav range: 30.940636 m,
      bearing: 310.489304 deg,
      approach rate: -0.509200 m/s,
      LOS rate: -0.051433 deg/s,
      cmd heading: 322.012629 deg,
      new cmd heading: 321.969569 deg.

2025-08-22T16:11:49.435Z,1755879109.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.619429 target range: 31.803947 and range: 32.00 m.
2025-08-22T16:11:49.475Z,1755879109.475 [DAT](INFO): DAT read: Rx Time:16:11:50.1254 

2025-08-22T16:11:49.476Z,1755879109.476 [DAT](INFO): Rx dataTimestamp_ set to:1755879109.475626
2025-08-22T16:11:49.477Z,1755879109.477 [DAT](INFO): DAT read: Bearing 145.5, -16.1 (Local)

2025-08-22T16:11:49.478Z,1755879109.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.5, -16.1 (Local)

2025-08-22T16:11:49.481Z,1755879109.481 [DAT](INFO): DAT read: Range 11 to 50 :    31.8 m (trip time 21.2 ms) speed 0.4

2025-08-22T16:11:49.495Z,1755879109.495 [DAT](INFO): DAT read: 16:11:50.1254 LVL= 27056, 28449, 24274, 32755, AGC= 56, IDX= 500, 0.03, 1.395,-0.067, 2.088, 1.575, PHS=-0.078,-1.597, 0.469, RAW= 164.8,  13.0, CAL= 165.2,  15.2, ROT= 344.8, -15.2

2025-08-22T16:11:49.499Z,1755879109.499 [DAT](INFO): got valid direction response:
 16:11:50.1254 LVL= 27056, 28449, 24274, 32755, AGC= 56, IDX= 500, 0.03, 1.395,-0.067, 2.088, 1.575, PHS=-0.078,-1.597, 0.469, RAW= 164.8,  13.0, CAL= 165.2,  15.2, ROT= 344.8, -15.2

2025-08-22T16:11:49.500Z,1755879109.500 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:11:49.504Z,1755879109.504 [DAT](INFO): direction in FSK: [0.931257,-0.253017,0.262189]
2025-08-22T16:11:49.505Z,1755879109.505 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:49.553Z,1755879109.553 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.139585
2025-08-22T16:11:49.727Z,1755879109.727 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313862
2025-08-22T16:11:49.872Z,1755879109.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.504083 s,
      deltaX: -0.200001 m,
      approachRate: -0.396762 m/s,
      rangeRepo size: 4

2025-08-22T16:11:49.896Z,1755879109.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.605276 m,
      bearing: 310.096345 deg,
      lat: 36.779429 deg,
      lon: -121.859653 deg,
      deltaT: 0.504083 s,
      deltaX: -0.198671 m,
      approachRate: -0.394124 m/s,
      posRepo size: 4

2025-08-22T16:11:49.902Z,1755879109.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.61 m.
2025-08-22T16:11:49.910Z,1755879109.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.605276 m,
      nav range: 30.690372 m,
      bearing: 310.295257 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051433 deg/s,
      cmd heading: 321.969571 deg,
      new cmd heading: 321.923243 deg.

2025-08-22T16:11:49.912Z,1755879109.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.618620 target range: 31.605276 and range: 31.80 m.
2025-08-22T16:11:49.980Z,1755879109.980 [DAT](INFO): DAT read: Rx Time:16:11:50.6251 

2025-08-22T16:11:49.981Z,1755879109.981 [DAT](INFO): Rx dataTimestamp_ set to:1755879109.980239
2025-08-22T16:11:49.983Z,1755879109.983 [DAT](INFO): DAT read: Bearing 144.7, -16.0 (Local)

2025-08-22T16:11:49.983Z,1755879109.983 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -16.0 (Local)

2025-08-22T16:11:49.986Z,1755879109.986 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.4

2025-08-22T16:11:49.993Z,1755879109.993 [DAT](INFO): DAT read: 16:11:50.6251 LVL= 26448, 30193, 21842, 32755, AGC= 54, IDX= 497, 0.37, 0.836,-0.616, 1.521, 0.998, PHS=-0.060,-1.569, 0.479, RAW= 164.7,  12.5, CAL= 165.0,  14.5, ROT= 345.0, -14.5

2025-08-22T16:11:49.995Z,1755879109.995 [DAT](INFO): got valid direction response:
 16:11:50.6251 LVL= 26448, 30193, 21842, 32755, AGC= 54, IDX= 497, 0.37, 0.836,-0.616, 1.521, 0.998, PHS=-0.060,-1.569, 0.479, RAW= 164.7,  12.5, CAL= 165.0,  14.5, ROT= 345.0, -14.5

2025-08-22T16:11:49.995Z,1755879109.995 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T16:11:49.997Z,1755879109.997 [DAT](INFO): direction in FSK: [0.935159,-0.250575,0.250380]
2025-08-22T16:11:49.997Z,1755879109.997 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:50.030Z,1755879110.030 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.617064
2025-08-22T16:11:50.229Z,1755879110.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.504613 s,
      deltaX: -0.400000 m,
      approachRate: -0.792686 m/s,
      rangeRepo size: 4

2025-08-22T16:11:50.231Z,1755879110.231 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.817621
2025-08-22T16:11:50.233Z,1755879110.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.207726 m,
      bearing: 310.253195 deg,
      lat: 36.779429 deg,
      lon: -121.859653 deg,
      deltaT: 0.504613 s,
      deltaX: -0.397551 m,
      approachRate: -0.787833 m/s,
      posRepo size: 4

2025-08-22T16:11:50.234Z,1755879110.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.21 m.
2025-08-22T16:11:50.237Z,1755879110.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.207726 m,
      nav range: 30.506308 m,
      bearing: 310.264637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051433 deg/s,
      cmd heading: 321.923235 deg,
      new cmd heading: 321.886546 deg.

2025-08-22T16:11:50.238Z,1755879110.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617980 target range: 31.207726 and range: 31.40 m.
2025-08-22T16:11:50.487Z,1755879110.487 [DAT](INFO): DAT read: Rx Time:16:11:51.1251 

2025-08-22T16:11:50.488Z,1755879110.488 [DAT](INFO): Rx dataTimestamp_ set to:1755879110.487242
2025-08-22T16:11:50.492Z,1755879110.492 [DAT](INFO): DAT read: Bearing 161.7, -20.9 (Local)

2025-08-22T16:11:50.493Z,1755879110.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.7, -20.9 (Local)

2025-08-22T16:11:50.500Z,1755879110.500 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.4

2025-08-22T16:11:50.558Z,1755879110.558 [DAT](INFO): DAT read: 16:11:51.1251 LVL= 26736, 29009, 21586, 32755, AGC= 56, IDX= 513,-0.17,-0.108,-1.231, 0.777, 0.448, PHS=-0.454,-1.635, 0.285, RAW= 172.4,  20.8, CAL= 173.1,  29.6, ROT= 336.9, -29.6

2025-08-22T16:11:50.559Z,1755879110.559 [DAT](INFO): got valid direction response:
 16:11:51.1251 LVL= 26736, 29009, 21586, 32755, AGC= 56, IDX= 513,-0.17,-0.108,-1.231, 0.777, 0.448, PHS=-0.454,-1.635, 0.285, RAW= 172.4,  20.8, CAL= 173.1,  29.6, ROT= 336.9, -29.6

2025-08-22T16:11:50.559Z,1755879110.559 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:11:50.560Z,1755879110.560 [DAT](INFO): direction in FSK: [0.799780,-0.341135,0.493942]
2025-08-22T16:11:50.560Z,1755879110.560 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:50.580Z,1755879110.580 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.166637
2025-08-22T16:11:50.693Z,1755879110.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.507003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:11:50.695Z,1755879110.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.207726 m,
      bearing: 302.034295 deg,
      lat: 36.779429 deg,
      lon: -121.859653 deg,
      deltaT: 0.507003 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:11:50.696Z,1755879110.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.21 m.
2025-08-22T16:11:50.703Z,1755879110.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.207726 m,
      nav range: 30.292723 m,
      bearing: 310.231197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051433 deg/s,
      cmd heading: 321.886544 deg,
      new cmd heading: 321.838796 deg.

2025-08-22T16:11:50.704Z,1755879110.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.617146 target range: 31.207726 and range: 31.40 m.
2025-08-22T16:11:50.734Z,1755879110.734 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321192
2025-08-22T16:11:50.987Z,1755879110.987 [DAT](INFO): DAT read: Rx Time:16:11:51.6248 

2025-08-22T16:11:50.988Z,1755879110.988 [DAT](INFO): Rx dataTimestamp_ set to:1755879110.987589
2025-08-22T16:11:50.989Z,1755879110.989 [DAT](INFO): DAT read: Bearing 144.5, -16.0 (Local)

2025-08-22T16:11:50.990Z,1755879110.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -16.0 (Local)

2025-08-22T16:11:50.992Z,1755879110.992 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.4

2025-08-22T16:11:50.996Z,1755879110.996 [DAT](INFO): DAT read: 16:11:51.6248 LVL= 27024, 27377, 23218, 32755, AGC= 56, IDX= 510, 0.11, 0.575,-0.898, 1.262, 0.736, PHS=-0.059,-1.589, 0.482, RAW= 164.6,  12.5, CAL= 164.9,  14.5, ROT= 345.1, -14.5

2025-08-22T16:11:50.997Z,1755879110.997 [DAT](INFO): got valid direction response:
 16:11:51.6248 LVL= 27024, 27377, 23218, 32755, AGC= 56, IDX= 510, 0.11, 0.575,-0.898, 1.262, 0.736, PHS=-0.059,-1.589, 0.482, RAW= 164.6,  12.5, CAL= 164.9,  14.5, ROT= 345.1, -14.5

2025-08-22T16:11:50.997Z,1755879110.997 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:11:50.998Z,1755879110.998 [DAT](INFO): direction in FSK: [0.935595,-0.248942,0.250380]
2025-08-22T16:11:50.999Z,1755879110.999 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:51.028Z,1755879111.028 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.614864
2025-08-22T16:11:51.102Z,1755879111.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.500347 s,
      deltaX: -0.500000 m,
      approachRate: -0.999306 m/s,
      rangeRepo size: 4

2025-08-22T16:11:51.104Z,1755879111.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.710787 m,
      bearing: 310.212294 deg,
      lat: 36.779429 deg,
      lon: -121.859653 deg,
      deltaT: 0.500347 s,
      deltaX: -0.496939 m,
      approachRate: -0.993188 m/s,
      posRepo size: 4

2025-08-22T16:11:51.104Z,1755879111.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.71 m.
2025-08-22T16:11:51.111Z,1755879111.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.710787 m,
      nav range: 30.066673 m,
      bearing: 310.150857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051433 deg/s,
      cmd heading: 321.838787 deg,
      new cmd heading: 321.797192 deg.

2025-08-22T16:11:51.112Z,1755879111.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.616421 target range: 30.710787 and range: 30.90 m.
2025-08-22T16:11:51.239Z,1755879111.239 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825426
2025-08-22T16:11:51.452Z,1755879111.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:51.455Z,1755879111.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.71 m.
2025-08-22T16:11:51.457Z,1755879111.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.710787 m,
      nav range: 29.878145 m,
      bearing: 310.132121 deg,
      approach rate: -0.527053 m/s,
      LOS rate: -0.052707 deg/s,
      cmd heading: 321.797205 deg,
      new cmd heading: 321.759498 deg.

2025-08-22T16:11:51.458Z,1755879111.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.615763 target range: 30.710787 and range: 30.90 m.
2025-08-22T16:11:51.493Z,1755879111.493 [DAT](INFO): DAT read: Rx Time:16:11:52.1247 

2025-08-22T16:11:51.494Z,1755879111.494 [DAT](INFO): Rx dataTimestamp_ set to:1755879111.493579
2025-08-22T16:11:51.498Z,1755879111.498 [DAT](INFO): DAT read: Bearing 145.1, -16.1 (Local)

2025-08-22T16:11:51.499Z,1755879111.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.1, -16.1 (Local)

2025-08-22T16:11:51.502Z,1755879111.502 [DAT](INFO): DAT read: Range 11 to 50 :    30.8 m (trip time 20.5 ms) speed 0.4

2025-08-22T16:11:51.523Z,1755879111.523 [DAT](INFO): DAT read: 16:11:52.1247 LVL= 27808, 28113, 24178, 32755, AGC= 56, IDX= 509,-0.47,-0.973,-2.426,-0.288,-0.794, PHS=-0.077,-1.588, 0.462, RAW= 164.7,  13.0, CAL= 165.1,  15.2, ROT= 344.9, -15.2

2025-08-22T16:11:51.540Z,1755879111.540 [DAT](INFO): got valid direction response:
 16:11:52.1247 LVL= 27808, 28113, 24178, 32755, AGC= 56, IDX= 509,-0.47,-0.973,-2.426,-0.288,-0.794, PHS=-0.077,-1.588, 0.462, RAW= 164.7,  13.0, CAL= 165.1,  15.2, ROT= 344.9, -15.2

2025-08-22T16:11:51.546Z,1755879111.546 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:11:51.557Z,1755879111.557 [DAT](INFO): direction in FSK: [0.931697,-0.251391,0.262189]
2025-08-22T16:11:51.560Z,1755879111.560 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:51.598Z,1755879111.598 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.185073
2025-08-22T16:11:51.743Z,1755879111.743 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329220
2025-08-22T16:11:51.927Z,1755879111.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.505990 s,
      deltaX: -0.100000 m,
      approachRate: -0.197633 m/s,
      rangeRepo size: 4

2025-08-22T16:11:51.934Z,1755879111.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.611628 m,
      bearing: 309.824049 deg,
      lat: 36.779429 deg,
      lon: -121.859655 deg,
      deltaT: 0.505990 s,
      deltaX: -0.099159 m,
      approachRate: -0.195971 m/s,
      posRepo size: 4

2025-08-22T16:11:51.935Z,1755879111.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.61 m.
2025-08-22T16:11:51.942Z,1755879111.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.611628 m,
      nav range: 29.784555 m,
      bearing: 309.929423 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052707 deg/s,
      cmd heading: 321.759502 deg,
      new cmd heading: 321.710353 deg.

2025-08-22T16:11:51.943Z,1755879111.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614905 target range: 30.611628 and range: 30.80 m.
2025-08-22T16:11:51.996Z,1755879111.996 [DAT](INFO): DAT read: Rx Time:16:11:52.6244 

2025-08-22T16:11:51.996Z,1755879111.996 [DAT](INFO): Rx dataTimestamp_ set to:1755879111.996107
2025-08-22T16:11:51.998Z,1755879111.998 [DAT](INFO): DAT read: Bearing 145.3, -16.1 (Local)

2025-08-22T16:11:51.999Z,1755879111.999 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.3, -16.1 (Local)

2025-08-22T16:11:52.002Z,1755879112.002 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed 0.4

2025-08-22T16:11:52.008Z,1755879112.008 [DAT](INFO): DAT read: 16:11:52.6244 LVL= 29488, 30289, 24194, 32755, AGC= 56, IDX= 506,-0.08,-2.225, 2.609,-1.541,-2.040, PHS=-0.083,-1.589, 0.455, RAW= 164.7,  13.2, CAL= 165.1,  15.5, ROT= 344.9, -15.5

2025-08-22T16:11:52.009Z,1755879112.009 [DAT](INFO): got valid direction response:
 16:11:52.6244 LVL= 29488, 30289, 24194, 32755, AGC= 56, IDX= 506,-0.08,-2.225, 2.609,-1.541,-2.040, PHS=-0.083,-1.589, 0.455, RAW= 164.7,  13.2, CAL= 165.1,  15.5, ROT= 344.9, -15.5

2025-08-22T16:11:52.010Z,1755879112.010 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:11:52.011Z,1755879112.011 [DAT](INFO): direction in FSK: [0.930359,-0.251030,0.267238]
2025-08-22T16:11:52.012Z,1755879112.012 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:52.030Z,1755879112.030 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.617095
2025-08-22T16:11:52.246Z,1755879112.246 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833089
2025-08-22T16:11:52.347Z,1755879112.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.502528 s,
      deltaX: -0.500000 m,
      approachRate: -0.994969 m/s,
      rangeRepo size: 4

2025-08-22T16:11:52.354Z,1755879112.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.114656 m,
      bearing: 309.776382 deg,
      lat: 36.779429 deg,
      lon: -121.859653 deg,
      deltaT: 0.502528 s,
      deltaX: -0.496971 m,
      approachRate: -0.988942 m/s,
      posRepo size: 4

2025-08-22T16:11:52.355Z,1755879112.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.11 m.
2025-08-22T16:11:52.362Z,1755879112.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.114656 m,
      nav range: 29.473019 m,
      bearing: 310.089609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052707 deg/s,
      cmd heading: 321.710352 deg,
      new cmd heading: 321.666279 deg.

2025-08-22T16:11:52.363Z,1755879112.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.614136 target range: 30.114656 and range: 30.30 m.
2025-08-22T16:11:52.501Z,1755879112.501 [DAT](INFO): DAT read: Rx Time:16:11:53.1243 

2025-08-22T16:11:52.502Z,1755879112.502 [DAT](INFO): Rx dataTimestamp_ set to:1755879112.501111
2025-08-22T16:11:52.503Z,1755879112.503 [DAT](INFO): DAT read: Bearing 144.6, -16.2 (Local)

2025-08-22T16:11:52.503Z,1755879112.503 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.6, -16.2 (Local)

2025-08-22T16:11:52.505Z,1755879112.505 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.4

2025-08-22T16:11:52.511Z,1755879112.511 [DAT](INFO): DAT read: 16:11:53.1243 LVL= 29744, 27633, 22514, 32755, AGC= 56, IDX= 505, 0.24, 0.458,-1.025, 1.154, 0.633, PHS=-0.073,-1.613, 0.476, RAW= 164.7,  12.8, CAL= 165.1,  15.0, ROT= 344.9, -15.0

2025-08-22T16:11:52.523Z,1755879112.523 [DAT](INFO): got valid direction response:
 16:11:53.1243 LVL= 29744, 27633, 22514, 32755, AGC= 56, IDX= 505, 0.24, 0.458,-1.025, 1.154, 0.633, PHS=-0.073,-1.613, 0.476, RAW= 164.7,  12.8, CAL= 165.1,  15.0, ROT= 344.9, -15.0

2025-08-22T16:11:52.524Z,1755879112.524 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:11:52.532Z,1755879112.532 [DAT](INFO): direction in FSK: [0.932575,-0.251628,0.258819]
2025-08-22T16:11:52.533Z,1755879112.533 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:52.580Z,1755879112.580 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.166327
2025-08-22T16:11:52.736Z,1755879112.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.505004 s,
      deltaX: -0.099998 m,
      approachRate: -0.198015 m/s,
      rangeRepo size: 4

2025-08-22T16:11:52.747Z,1755879112.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.015268 m,
      bearing: 309.730649 deg,
      lat: 36.779428 deg,
      lon: -121.859655 deg,
      deltaT: 0.505004 s,
      deltaX: -0.099388 m,
      approachRate: -0.196807 m/s,
      posRepo size: 4

2025-08-22T16:11:52.747Z,1755879112.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.02 m.
2025-08-22T16:11:52.751Z,1755879112.751 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.337336
2025-08-22T16:11:52.754Z,1755879112.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.015268 m,
      nav range: 29.295610 m,
      bearing: 309.730756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052707 deg/s,
      cmd heading: 321.666284 deg,
      new cmd heading: 321.624474 deg.

2025-08-22T16:11:52.755Z,1755879112.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.613406 target range: 30.015268 and range: 30.20 m.
2025-08-22T16:11:53.003Z,1755879113.003 [DAT](INFO): DAT read: Rx Time:16:11:53.6241 

2025-08-22T16:11:53.004Z,1755879113.004 [DAT](INFO): Rx dataTimestamp_ set to:1755879113.003373
2025-08-22T16:11:53.005Z,1755879113.005 [DAT](INFO): DAT read: Bearing 145.0, -16.1 (Local)

2025-08-22T16:11:53.005Z,1755879113.005 [DAT](INFO): Local bearing/azimuth received:
 Bearing 145.0, -16.1 (Local)

2025-08-22T16:11:53.008Z,1755879113.008 [DAT](INFO): DAT read: Range 11 to 50 :    29.9 m (trip time 19.9 ms) speed 0.4

2025-08-22T16:11:53.012Z,1755879113.012 [DAT](INFO): DAT read: 16:11:53.6241 LVL= 28448, 29105, 23074, 32755, AGC= 55, IDX= 503,-0.26,-2.765, 2.073,-2.083,-2.579, PHS=-0.084,-1.587, 0.452, RAW= 164.7,  13.2, CAL= 165.1,  15.6, ROT= 344.9, -15.6

2025-08-22T16:11:53.014Z,1755879113.014 [DAT](INFO): got valid direction response:
 16:11:53.6241 LVL= 28448, 29105, 23074, 32755, AGC= 55, IDX= 503,-0.26,-2.765, 2.073,-2.083,-2.579, PHS=-0.084,-1.587, 0.452, RAW= 164.7,  13.2, CAL= 165.1,  15.6, ROT= 344.9, -15.6

2025-08-22T16:11:53.014Z,1755879113.014 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T16:11:53.015Z,1755879113.015 [DAT](INFO): direction in FSK: [0.929907,-0.250908,0.268920]
2025-08-22T16:11:53.015Z,1755879113.015 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:53.019Z,1755879113.019 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.605589
2025-08-22T16:11:53.137Z,1755879113.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.900000 m,
      deltaT: 0.502262 s,
      deltaX: -0.300001 m,
      approachRate: -0.597300 m/s,
      rangeRepo size: 4

2025-08-22T16:11:53.143Z,1755879113.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.717104 m,
      bearing: 309.721739 deg,
      lat: 36.779428 deg,
      lon: -121.859654 deg,
      deltaT: 0.502262 s,
      deltaX: -0.298164 m,
      approachRate: -0.593643 m/s,
      posRepo size: 4

2025-08-22T16:11:53.143Z,1755879113.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.72 m.
2025-08-22T16:11:53.150Z,1755879113.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.717104 m,
      nav range: 29.000328 m,
      bearing: 309.876280 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052707 deg/s,
      cmd heading: 321.624483 deg,
      new cmd heading: 321.582279 deg.

2025-08-22T16:11:53.151Z,1755879113.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.612669 target range: 29.717104 and range: 29.90 m.
2025-08-22T16:11:53.256Z,1755879113.256 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.842308
2025-08-22T16:11:53.469Z,1755879113.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:53.480Z,1755879113.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.72 m.
2025-08-22T16:11:53.491Z,1755879113.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.717104 m,
      nav range: 28.811291 m,
      bearing: 309.855937 deg,
      approach rate: -0.548618 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.582272 deg,
      new cmd heading: 321.541319 deg.

2025-08-22T16:11:53.492Z,1755879113.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.611955 target range: 29.717104 and range: 29.90 m.
2025-08-22T16:11:53.507Z,1755879113.507 [DAT](INFO): DAT read: Rx Time:16:11:54.1240 

2025-08-22T16:11:53.508Z,1755879113.508 [DAT](INFO): Rx dataTimestamp_ set to:1755879113.507446
2025-08-22T16:11:53.509Z,1755879113.509 [DAT](INFO): DAT read: Bearing 144.5, -16.2 (Local)

2025-08-22T16:11:53.509Z,1755879113.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -16.2 (Local)

2025-08-22T16:11:53.511Z,1755879113.511 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.4

2025-08-22T16:11:53.516Z,1755879113.516 [DAT](INFO): DAT read: 16:11:54.1240 LVL= 27968, 28785, 23250, 32755, AGC= 55, IDX= 502, 0.08,-0.612,-2.070, 0.079,-0.433, PHS=-0.077,-1.593, 0.468, RAW= 164.8,  12.9, CAL= 165.2,  15.1, ROT= 344.8, -15.1

2025-08-22T16:11:53.517Z,1755879113.517 [DAT](INFO): got valid direction response:
 16:11:54.1240 LVL= 27968, 28785, 23250, 32755, AGC= 55, IDX= 502, 0.08,-0.612,-2.070, 0.079,-0.433, PHS=-0.077,-1.593, 0.468, RAW= 164.8,  12.9, CAL= 165.2,  15.1, ROT= 344.8, -15.1

2025-08-22T16:11:53.517Z,1755879113.517 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:11:53.518Z,1755879113.518 [DAT](INFO): direction in FSK: [0.931697,-0.253137,0.260505]
2025-08-22T16:11:53.519Z,1755879113.519 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:53.543Z,1755879113.543 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.128812
2025-08-22T16:11:53.759Z,1755879113.759 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345351
2025-08-22T16:11:53.978Z,1755879113.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504073 s,
      deltaX: -0.199999 m,
      approachRate: -0.396766 m/s,
      rangeRepo size: 4

2025-08-22T16:11:53.980Z,1755879113.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.518156 m,
      bearing: 309.451706 deg,
      lat: 36.779428 deg,
      lon: -121.859655 deg,
      deltaT: 0.504073 s,
      deltaX: -0.198948 m,
      approachRate: -0.394681 m/s,
      posRepo size: 4

2025-08-22T16:11:53.981Z,1755879113.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.52 m.
2025-08-22T16:11:53.987Z,1755879113.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.518156 m,
      nav range: 28.671862 m,
      bearing: 309.650272 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.541318 deg,
      new cmd heading: 321.482773 deg.

2025-08-22T16:11:53.988Z,1755879113.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.610933 target range: 29.518156 and range: 29.70 m.
2025-08-22T16:11:54.011Z,1755879114.011 [DAT](INFO): DAT read: Rx Time:16:11:54.6238 

2025-08-22T16:11:54.012Z,1755879114.012 [DAT](INFO): Rx dataTimestamp_ set to:1755879114.011334
2025-08-22T16:11:54.013Z,1755879114.013 [DAT](INFO): DAT read: Bearing 144.7, -16.3 (Local)

2025-08-22T16:11:54.013Z,1755879114.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -16.3 (Local)

2025-08-22T16:11:54.015Z,1755879114.015 [DAT](INFO): DAT read: Range 11 to 50 :    29.4 m (trip time 19.6 ms) speed 0.4

2025-08-22T16:11:54.020Z,1755879114.020 [DAT](INFO): DAT read: 16:11:54.6238 LVL= 29168, 27297, 21330, 32755, AGC= 54, IDX= 500,-0.47,-2.849, 1.979,-2.155,-2.659, PHS=-0.088,-1.600, 0.461, RAW= 164.9,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:54.021Z,1755879114.021 [DAT](INFO): got valid direction response:
 16:11:54.6238 LVL= 29168, 27297, 21330, 32755, AGC= 54, IDX= 500,-0.47,-2.849, 1.979,-2.155,-2.659, PHS=-0.088,-1.600, 0.461, RAW= 164.9,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:54.021Z,1755879114.021 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:11:54.022Z,1755879114.022 [DAT](INFO): direction in FSK: [0.929477,-0.254276,0.267238]
2025-08-22T16:11:54.023Z,1755879114.023 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:54.030Z,1755879114.030 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.617059
2025-08-22T16:11:54.263Z,1755879114.263 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849372
2025-08-22T16:11:54.436Z,1755879114.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.503888 s,
      deltaX: -0.300001 m,
      approachRate: -0.595373 m/s,
      rangeRepo size: 4

2025-08-22T16:11:54.443Z,1755879114.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.219948 m,
      bearing: 309.325306 deg,
      lat: 36.779427 deg,
      lon: -121.859655 deg,
      deltaT: 0.503888 s,
      deltaX: -0.298208 m,
      approachRate: -0.591815 m/s,
      posRepo size: 4

2025-08-22T16:11:54.443Z,1755879114.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.22 m.
2025-08-22T16:11:54.450Z,1755879114.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.219948 m,
      nav range: 28.389284 m,
      bearing: 309.462815 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.482770 deg,
      new cmd heading: 321.427782 deg.

2025-08-22T16:11:54.451Z,1755879114.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.609973 target range: 29.219948 and range: 29.40 m.
2025-08-22T16:11:54.516Z,1755879114.516 [DAT](INFO): DAT read: Rx Time:16:11:55.1237 

2025-08-22T16:11:54.517Z,1755879114.517 [DAT](INFO): Rx dataTimestamp_ set to:1755879114.516287
2025-08-22T16:11:54.519Z,1755879114.519 [DAT](INFO): DAT read: Bearing 144.5, -16.2 (Local)

2025-08-22T16:11:54.519Z,1755879114.519 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -16.2 (Local)

2025-08-22T16:11:54.522Z,1755879114.522 [DAT](INFO): DAT read: Range 11 to 50 :    29.3 m (trip time 19.5 ms) speed 0.4

2025-08-22T16:11:54.530Z,1755879114.530 [DAT](INFO): DAT read: 16:11:55.1237 LVL= 28656, 29841, 22114, 32755, AGC= 55, IDX= 499,-0.06,-1.365,-2.808,-0.677,-1.177, PHS=-0.087,-1.587, 0.456, RAW= 164.8,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:54.531Z,1755879114.531 [DAT](INFO): got valid direction response:
 16:11:55.1237 LVL= 28656, 29841, 22114, 32755, AGC= 55, IDX= 499,-0.06,-1.365,-2.808,-0.677,-1.177, PHS=-0.087,-1.587, 0.456, RAW= 164.8,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:54.531Z,1755879114.531 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T16:11:54.532Z,1755879114.532 [DAT](INFO): direction in FSK: [0.929477,-0.254276,0.267238]
2025-08-22T16:11:54.533Z,1755879114.533 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:54.536Z,1755879114.536 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.122806
2025-08-22T16:11:54.767Z,1755879114.767 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353286
2025-08-22T16:11:54.927Z,1755879114.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.299999 m,
      deltaT: 0.504953 s,
      deltaX: -0.100000 m,
      approachRate: -0.198039 m/s,
      rangeRepo size: 4

2025-08-22T16:11:54.929Z,1755879114.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.120560 m,
      bearing: 309.279390 deg,
      lat: 36.779428 deg,
      lon: -121.859656 deg,
      deltaT: 0.504953 s,
      deltaX: -0.099388 m,
      approachRate: -0.196826 m/s,
      posRepo size: 4

2025-08-22T16:11:54.934Z,1755879114.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.12 m.
2025-08-22T16:11:54.936Z,1755879114.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.120560 m,
      nav range: 28.283432 m,
      bearing: 309.433756 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.427773 deg,
      new cmd heading: 321.370473 deg.

2025-08-22T16:11:54.941Z,1755879114.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608973 target range: 29.120560 and range: 29.30 m.
2025-08-22T16:11:55.020Z,1755879115.020 [DAT](INFO): DAT read: Rx Time:16:11:55.6234 

2025-08-22T16:11:55.021Z,1755879115.021 [DAT](INFO): Rx dataTimestamp_ set to:1755879115.020499
2025-08-22T16:11:55.023Z,1755879115.023 [DAT](INFO): DAT read: Bearing 143.9, -16.1 (Local)

2025-08-22T16:11:55.023Z,1755879115.023 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.9, -16.1 (Local)

2025-08-22T16:11:55.026Z,1755879115.026 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.4

2025-08-22T16:11:55.031Z,1755879115.031 [DAT](INFO): DAT read: 16:11:55.6234 LVL= 28432, 31585, 23522, 32755, AGC= 55, IDX= 496, 0.26,-1.574,-3.026,-0.887,-1.398, PHS=-0.074,-1.583, 0.467, RAW= 164.7,  12.9, CAL= 165.1,  15.0, ROT= 344.9, -15.0

2025-08-22T16:11:55.032Z,1755879115.032 [DAT](INFO): got valid direction response:
 16:11:55.6234 LVL= 28432, 31585, 23522, 32755, AGC= 55, IDX= 496, 0.26,-1.574,-3.026,-0.887,-1.398, PHS=-0.074,-1.583, 0.467, RAW= 164.7,  12.9, CAL= 165.1,  15.0, ROT= 344.9, -15.0

2025-08-22T16:11:55.032Z,1755879115.032 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T16:11:55.034Z,1755879115.034 [DAT](INFO): direction in FSK: [0.932575,-0.251628,0.258819]
2025-08-22T16:11:55.034Z,1755879115.034 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:55.037Z,1755879115.037 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.623831
2025-08-22T16:11:55.271Z,1755879115.271 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857265
2025-08-22T16:11:55.345Z,1755879115.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.504212 s,
      deltaX: -0.500000 m,
      approachRate: -0.991646 m/s,
      rangeRepo size: 4

2025-08-22T16:11:55.351Z,1755879115.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.623384 m,
      bearing: 309.445523 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.504212 s,
      deltaX: -0.497175 m,
      approachRate: -0.986044 m/s,
      posRepo size: 4

2025-08-22T16:11:55.352Z,1755879115.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.62 m.
2025-08-22T16:11:55.359Z,1755879115.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.623384 m,
      nav range: 28.037407 m,
      bearing: 309.294543 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.370482 deg,
      new cmd heading: 321.320737 deg.

2025-08-22T16:11:55.360Z,1755879115.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.608105 target range: 28.623384 and range: 28.80 m.
2025-08-22T16:11:55.523Z,1755879115.523 [DAT](INFO): DAT read: Rx Time:16:11:56.1233 

2025-08-22T16:11:55.524Z,1755879115.524 [DAT](INFO): Rx dataTimestamp_ set to:1755879115.523516
2025-08-22T16:11:55.525Z,1755879115.525 [DAT](INFO): DAT read: Bearing 144.7, -16.2 (Local)

2025-08-22T16:11:55.526Z,1755879115.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.7, -16.2 (Local)

2025-08-22T16:11:55.528Z,1755879115.528 [DAT](INFO): DAT read: Range 11 to 50 :    28.7 m (trip time 19.1 ms) speed 0.4

2025-08-22T16:11:55.532Z,1755879115.532 [DAT](INFO): DAT read: 16:11:56.1233 LVL= 27632, 28049, 23890, 32755, AGC= 55, IDX= 511,-0.23, 2.865, 1.423,-2.729, 3.063, PHS=-0.096,-1.595, 0.447, RAW= 164.9,  13.5, CAL= 165.3,  15.9, ROT= 344.7, -15.9

2025-08-22T16:11:55.533Z,1755879115.533 [DAT](INFO): got valid direction response:
 16:11:56.1233 LVL= 27632, 28049, 23890, 32755, AGC= 55, IDX= 511,-0.23, 2.865, 1.423,-2.729, 3.063, PHS=-0.096,-1.595, 0.447, RAW= 164.9,  13.5, CAL= 165.3,  15.9, ROT= 344.7, -15.9

2025-08-22T16:11:55.534Z,1755879115.534 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T16:11:55.535Z,1755879115.535 [DAT](INFO): direction in FSK: [0.927655,-0.253778,0.273959]
2025-08-22T16:11:55.535Z,1755879115.535 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:55.539Z,1755879115.539 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.125318
2025-08-22T16:11:55.743Z,1755879115.743 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -93,  +496,    +E,   -93,  +496,    +3,A
2025-08-22T16:11:55.775Z,1755879115.775 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.361419
2025-08-22T16:11:55.786Z,1755879115.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 0.503017 s,
      deltaX: -0.099998 m,
      approachRate: -0.198797 m/s,
      rangeRepo size: 4

2025-08-22T16:11:55.795Z,1755879115.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.523998 m,
      bearing: 309.188453 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.503017 s,
      deltaX: -0.099386 m,
      approachRate: -0.197580 m/s,
      posRepo size: 4

2025-08-22T16:11:55.802Z,1755879115.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.52 m.
2025-08-22T16:11:55.820Z,1755879115.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.523998 m,
      nav range: 27.798578 m,
      bearing: 309.254675 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.320731 deg,
      new cmd heading: 321.267849 deg.

2025-08-22T16:11:55.835Z,1755879115.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.607182 target range: 28.523998 and range: 28.70 m.
2025-08-22T16:11:56.027Z,1755879116.027 [DAT](INFO): DAT read: Rx Time:16:11:56.6230 

2025-08-22T16:11:56.028Z,1755879116.028 [DAT](INFO): Rx dataTimestamp_ set to:1755879116.027225
2025-08-22T16:11:56.029Z,1755879116.029 [DAT](INFO): DAT read: Bearing 143.6, -16.2 (Local)

2025-08-22T16:11:56.029Z,1755879116.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.6, -16.2 (Local)

2025-08-22T16:11:56.031Z,1755879116.031 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.4

2025-08-22T16:11:56.036Z,1755879116.036 [DAT](INFO): DAT read: 16:11:56.6230 LVL= 28208, 27329, 21474, 32755, AGC= 55, IDX= 508, 0.08,-2.931, 1.886,-2.239,-2.754, PHS=-0.076,-1.598, 0.471, RAW= 164.8,  12.9, CAL= 165.1,  15.1, ROT= 344.9, -15.1

2025-08-22T16:11:56.038Z,1755879116.038 [DAT](INFO): got valid direction response:
 16:11:56.6230 LVL= 28208, 27329, 21474, 32755, AGC= 55, IDX= 508, 0.08,-2.931, 1.886,-2.239,-2.754, PHS=-0.076,-1.598, 0.471, RAW= 164.8,  12.9, CAL= 165.1,  15.1, ROT= 344.9, -15.1

2025-08-22T16:11:56.040Z,1755879116.040 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T16:11:56.045Z,1755879116.045 [DAT](INFO): direction in FSK: [0.932137,-0.251510,0.260505]
2025-08-22T16:11:56.046Z,1755879116.046 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:56.050Z,1755879116.050 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.636558
2025-08-22T16:11:56.187Z,1755879116.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.503709 s,
      deltaX: -0.500000 m,
      approachRate: -0.992637 m/s,
      rangeRepo size: 4

2025-08-22T16:11:56.190Z,1755879116.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.027065 m,
      bearing: 309.342974 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.503709 s,
      deltaX: -0.496933 m,
      approachRate: -0.986548 m/s,
      posRepo size: 4

2025-08-22T16:11:56.191Z,1755879116.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.03 m.
2025-08-22T16:11:56.199Z,1755879116.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.027065 m,
      nav range: 27.570543 m,
      bearing: 309.197712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.059426 deg/s,
      cmd heading: 321.267838 deg,
      new cmd heading: 321.220390 deg.

2025-08-22T16:11:56.200Z,1755879116.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.606353 target range: 28.027065 and range: 28.20 m.
2025-08-22T16:11:56.279Z,1755879116.279 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.865679
2025-08-22T16:11:56.526Z,1755879116.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:11:56.528Z,1755879116.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.03 m.
2025-08-22T16:11:56.531Z,1755879116.531 [DAT](INFO): DAT read: Rx Time:16:11:57.1230 

2025-08-22T16:11:56.532Z,1755879116.532 [DAT](INFO): Rx dataTimestamp_ set to:1755879116.531443
2025-08-22T16:11:56.533Z,1755879116.533 [DAT](INFO): DAT read: Bearing 144.1, -16.3 (Local)

2025-08-22T16:11:56.533Z,1755879116.533 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.1, -16.3 (Local)

2025-08-22T16:11:56.535Z,1755879116.535 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.4

2025-08-22T16:11:56.540Z,1755879116.540 [DAT](INFO): DAT read: 16:11:57.1230 LVL= 29920, 28097, 22674, 32755, AGC= 55, IDX= 508,-0.47,-2.906, 1.928,-2.213,-2.713, PHS=-0.092,-1.598, 0.455, RAW= 164.9,  13.3, CAL= 165.3,  15.7, ROT= 344.7, -15.7

2025-08-22T16:11:56.541Z,1755879116.541 [DAT](INFO): got valid direction response:
 16:11:57.1230 LVL= 29920, 28097, 22674, 32755, AGC= 55, IDX= 508,-0.47,-2.906, 1.928,-2.213,-2.713, PHS=-0.092,-1.598, 0.455, RAW= 164.9,  13.3, CAL= 165.3,  15.7, ROT= 344.7, -15.7

2025-08-22T16:11:56.541Z,1755879116.541 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-22T16:11:56.542Z,1755879116.542 [DAT](INFO): direction in FSK: [0.928571,-0.254028,0.270600]
2025-08-22T16:11:56.543Z,1755879116.543 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:56.547Z,1755879116.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.027065 m,
      nav range: 27.383535 m,
      bearing: 309.165957 deg,
      approach rate: -0.537444 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 321.220382 deg,
      new cmd heading: 321.156439 deg.

2025-08-22T16:11:56.548Z,1755879116.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.605237 target range: 28.027065 and range: 28.20 m.
2025-08-22T16:11:56.550Z,1755879116.550 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.136945
2025-08-22T16:11:56.783Z,1755879116.783 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.369434
2025-08-22T16:11:56.968Z,1755879116.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.504218 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:11:56.971Z,1755879116.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.026821 m,
      bearing: 309.084722 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.504218 s,
      deltaX: -0.000244 m,
      approachRate: -0.000484 m/s,
      posRepo size: 4

2025-08-22T16:11:56.971Z,1755879116.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.03 m.
2025-08-22T16:11:56.974Z,1755879116.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.026821 m,
      nav range: 27.180395 m,
      bearing: 309.172798 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 321.156451 deg,
      new cmd heading: 321.075816 deg.

2025-08-22T16:11:56.975Z,1755879116.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.603830 target range: 28.026821 and range: 28.20 m.
2025-08-22T16:11:57.037Z,1755879117.037 [DAT](INFO): DAT read: Rx Time:16:11:57.6227 

2025-08-22T16:11:57.037Z,1755879117.037 [DAT](INFO): Rx dataTimestamp_ set to:1755879117.036777
2025-08-22T16:11:57.039Z,1755879117.039 [DAT](INFO): DAT read: Bearing 144.5, -16.4 (Local)

2025-08-22T16:11:57.039Z,1755879117.039 [DAT](INFO): Local bearing/azimuth received:
 Bearing 144.5, -16.4 (Local)

2025-08-22T16:11:57.043Z,1755879117.043 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.4

2025-08-22T16:11:57.049Z,1755879117.049 [DAT](INFO): DAT read: 16:11:57.6227 LVL= 30768, 30241, 23122, 32755, AGC= 54, IDX= 505,-0.06, 1.838, 0.386, 2.538, 2.046, PHS=-0.106,-1.615, 0.448, RAW= 165.0,  13.7, CAL= 165.5,  16.2, ROT= 344.5, -16.2

2025-08-22T16:11:57.051Z,1755879117.051 [DAT](INFO): got valid direction response:
 16:11:57.6227 LVL= 30768, 30241, 23122, 32755, AGC= 54, IDX= 505,-0.06, 1.838, 0.386, 2.538, 2.046, PHS=-0.106,-1.615, 0.448, RAW= 165.0,  13.7, CAL= 165.5,  16.2, ROT= 344.5, -16.2

2025-08-22T16:11:57.051Z,1755879117.051 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T16:11:57.052Z,1755879117.052 [DAT](INFO): direction in FSK: [0.925368,-0.256628,0.278991]
2025-08-22T16:11:57.053Z,1755879117.053 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:57.069Z,1755879117.069 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.655503
2025-08-22T16:11:57.287Z,1755879117.287 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.873290
2025-08-22T16:11:57.383Z,1755879117.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.505334 s,
      deltaX: -0.400002 m,
      approachRate: -0.791559 m/s,
      rangeRepo size: 4

2025-08-22T16:11:57.388Z,1755879117.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.629421 m,
      bearing: 308.830123 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.505334 s,
      deltaX: -0.397400 m,
      approachRate: -0.786410 m/s,
      posRepo size: 4

2025-08-22T16:11:57.390Z,1755879117.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.63 m.
2025-08-22T16:11:57.395Z,1755879117.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.629421 m,
      nav range: 26.931049 m,
      bearing: 309.055742 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 321.075827 deg,
      new cmd heading: 320.999878 deg.

2025-08-22T16:11:57.397Z,1755879117.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.602505 target range: 27.629421 and range: 27.80 m.
2025-08-22T16:11:57.539Z,1755879117.539 [DAT](INFO): DAT read: Rx Time:16:11:58.1226 

2025-08-22T16:11:57.540Z,1755879117.540 [DAT](INFO): Rx dataTimestamp_ set to:1755879117.539373
2025-08-22T16:11:57.541Z,1755879117.541 [DAT](INFO): DAT read: Bearing 143.6, -16.2 (Local)

2025-08-22T16:11:57.541Z,1755879117.541 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.6, -16.2 (Local)

2025-08-22T16:11:57.543Z,1755879117.543 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.4

2025-08-22T16:11:57.548Z,1755879117.548 [DAT](INFO): DAT read: 16:11:58.1226 LVL= 32112, 32225, 24306, 32755, AGC= 55, IDX= 504, 0.27,-1.417,-2.872,-0.725,-1.228, PHS=-0.086,-1.599, 0.460, RAW= 164.8,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:57.549Z,1755879117.549 [DAT](INFO): got valid direction response:
 16:11:58.1226 LVL= 32112, 32225, 24306, 32755, AGC= 55, IDX= 504, 0.27,-1.417,-2.872,-0.725,-1.228, PHS=-0.086,-1.599, 0.460, RAW= 164.8,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:11:57.549Z,1755879117.549 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T16:11:57.550Z,1755879117.550 [DAT](INFO): direction in FSK: [0.929477,-0.254276,0.267238]
2025-08-22T16:11:57.551Z,1755879117.551 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:57.562Z,1755879117.562 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.149019
2025-08-22T16:11:57.794Z,1755879117.794 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.380035
2025-08-22T16:11:57.858Z,1755879117.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.502596 s,
      deltaX: -0.199999 m,
      approachRate: -0.397932 m/s,
      rangeRepo size: 4

2025-08-22T16:11:57.860Z,1755879117.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.430649 m,
      bearing: 309.008925 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.502596 s,
      deltaX: -0.198772 m,
      approachRate: -0.395491 m/s,
      posRepo size: 4

2025-08-22T16:11:57.861Z,1755879117.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.43 m.
2025-08-22T16:11:57.867Z,1755879117.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.430649 m,
      nav range: 26.729860 m,
      bearing: 309.009022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 320.999876 deg,
      new cmd heading: 320.913114 deg.

2025-08-22T16:11:57.868Z,1755879117.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.600990 target range: 27.430649 and range: 27.60 m.
2025-08-22T16:11:58.043Z,1755879118.043 [DAT](INFO): DAT read: Rx Time:16:11:58.6224 

2025-08-22T16:11:58.044Z,1755879118.044 [DAT](INFO): Rx dataTimestamp_ set to:1755879118.043365
2025-08-22T16:11:58.045Z,1755879118.045 [DAT](INFO): DAT read: Bearing 143.8, -16.3 (Local)

2025-08-22T16:11:58.045Z,1755879118.045 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.8, -16.3 (Local)

2025-08-22T16:11:58.047Z,1755879118.047 [DAT](INFO): DAT read: Range 11 to 50 :    27.3 m (trip time 18.2 ms) speed 0.4

2025-08-22T16:11:58.052Z,1755879118.052 [DAT](INFO): DAT read: 16:11:58.6224 LVL= 27008, 32305, 22402, 32755, AGC= 54, IDX= 502,-0.20, 2.053, 0.600, 2.747, 2.251, PHS=-0.096,-1.606, 0.453, RAW= 164.9,  13.5, CAL= 165.4,  15.9, ROT= 344.6, -15.9

2025-08-22T16:11:58.053Z,1755879118.053 [DAT](INFO): got valid direction response:
 16:11:58.6224 LVL= 27008, 32305, 22402, 32755, AGC= 54, IDX= 502,-0.20, 2.053, 0.600, 2.747, 2.251, PHS=-0.096,-1.606, 0.453, RAW= 164.9,  13.5, CAL= 165.4,  15.9, ROT= 344.6, -15.9

2025-08-22T16:11:58.053Z,1755879118.053 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T16:11:58.054Z,1755879118.054 [DAT](INFO): direction in FSK: [0.927210,-0.255396,0.273959]
2025-08-22T16:11:58.055Z,1755879118.055 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:58.058Z,1755879118.058 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.645136
2025-08-22T16:11:58.236Z,1755879118.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.299999 m,
      deltaT: 0.503992 s,
      deltaX: -0.300001 m,
      approachRate: -0.595250 m/s,
      rangeRepo size: 4

2025-08-22T16:11:58.238Z,1755879118.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.132643 m,
      bearing: 308.832762 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.503992 s,
      deltaX: -0.298006 m,
      approachRate: -0.591291 m/s,
      posRepo size: 4

2025-08-22T16:11:58.239Z,1755879118.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.13 m.
2025-08-22T16:11:58.242Z,1755879118.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.132643 m,
      nav range: 26.476240 m,
      bearing: 308.891205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 320.913105 deg,
      new cmd heading: 320.842735 deg.

2025-08-22T16:11:58.243Z,1755879118.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.599762 target range: 27.132643 and range: 27.30 m.
2025-08-22T16:11:58.298Z,1755879118.298 [DAT](INFO): DAT read: Rx Time:16:11:59.1223 

2025-08-22T16:11:58.300Z,1755879118.300 [DAT](INFO): Rx dataTimestamp_ set to:1755879118.298683
2025-08-22T16:11:58.304Z,1755879118.304 [DAT](INFO): DAT read: Bearing 143.3, -16.1 (Local)

2025-08-22T16:11:58.306Z,1755879118.306 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3, -16.1 (Local)

2025-08-22T16:11:58.308Z,1755879118.308 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.893728
2025-08-22T16:11:58.548Z,1755879118.548 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.4

2025-08-22T16:11:58.552Z,1755879118.552 [DAT](INFO): DAT read: 16:11:59.1223 LVL= 29872, 29937, 23746, 32755, AGC= 55, IDX= 501, 0.14,-1.779, 3.044,-1.090,-1.593, PHS=-0.085,-1.602, 0.458, RAW= 164.7,  13.2, CAL= 165.2,  15.5, ROT= 344.8, -15.5

2025-08-22T16:11:58.554Z,1755879118.554 [DAT](INFO): got valid direction response:
 16:11:59.1223 LVL= 29872, 29937, 23746, 32755, AGC= 55, IDX= 501, 0.14,-1.779, 3.044,-1.090,-1.593, PHS=-0.085,-1.602, 0.458, RAW= 164.7,  13.2, CAL= 165.2,  15.5, ROT= 344.8, -15.5

2025-08-22T16:11:58.554Z,1755879118.554 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T16:11:58.555Z,1755879118.555 [DAT](INFO): direction in FSK: [0.929919,-0.252654,0.267238]
2025-08-22T16:11:58.555Z,1755879118.555 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:58.559Z,1755879118.559 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.145267
2025-08-22T16:11:58.744Z,1755879118.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.502563 s,
      deltaX: -0.099998 m,
      approachRate: -0.198977 m/s,
      rangeRepo size: 4

2025-08-22T16:11:58.754Z,1755879118.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.033257 m,
      bearing: 308.992829 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.502563 s,
      deltaX: -0.099386 m,
      approachRate: -0.197759 m/s,
      posRepo size: 4

2025-08-22T16:11:58.754Z,1755879118.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.03 m.
2025-08-22T16:11:58.757Z,1755879118.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.033257 m,
      nav range: 26.258945 m,
      bearing: 308.934880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 320.842727 deg,
      new cmd heading: 320.749498 deg.

2025-08-22T16:11:58.762Z,1755879118.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.598135 target range: 27.033257 and range: 27.20 m.
2025-08-22T16:11:58.802Z,1755879118.802 [DAT](INFO): DAT read: Rx Time:16:11:59.6221 

2025-08-22T16:11:58.803Z,1755879118.803 [DAT](INFO): Rx dataTimestamp_ set to:1755879118.802385
2025-08-22T16:11:58.807Z,1755879118.807 [DAT](INFO): DAT read: Bearing 143.9, -16.4 (Local)

2025-08-22T16:11:58.808Z,1755879118.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.9, -16.4 (Local)

2025-08-22T16:11:58.811Z,1755879118.811 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.397358
2025-08-22T16:11:59.053Z,1755879119.053 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.4

2025-08-22T16:11:59.057Z,1755879119.057 [DAT](INFO): DAT read: 16:11:59.6221 LVL= 29232, 27009, 21410, 32755, AGC= 55, IDX= 499,-0.37, 1.725, 0.263, 2.428, 1.932, PHS=-0.105,-1.624, 0.452, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:11:59.058Z,1755879119.058 [DAT](INFO): got valid direction response:
 16:11:59.6221 LVL= 29232, 27009, 21410, 32755, AGC= 55, IDX= 499,-0.37, 1.725, 0.263, 2.428, 1.932, PHS=-0.105,-1.624, 0.452, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:11:59.059Z,1755879119.059 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T16:11:59.060Z,1755879119.060 [DAT](INFO): direction in FSK: [0.925836,-0.256757,0.277315]
2025-08-22T16:11:59.060Z,1755879119.060 [DAT](INFO): publishing direction and range info
2025-08-22T16:11:59.064Z,1755879119.064 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.650738
2025-08-22T16:11:59.180Z,1755879119.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.504922 s,
      deltaX: -0.300001 m,
      approachRate: -0.594153 m/s,
      rangeRepo size: 4

2025-08-22T16:11:59.188Z,1755879119.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.735094 m,
      bearing: 308.605774 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.504922 s,
      deltaX: -0.298162 m,
      approachRate: -0.590512 m/s,
      posRepo size: 4

2025-08-22T16:11:59.188Z,1755879119.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.74 m.
2025-08-22T16:11:59.200Z,1755879119.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.735094 m,
      nav range: 25.969875 m,
      bearing: 308.688453 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 320.749508 deg,
      new cmd heading: 320.669379 deg.

2025-08-22T16:11:59.201Z,1755879119.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.596736 target range: 26.735094 and range: 26.90 m.
2025-08-22T16:11:59.308Z,1755879119.308 [DAT](INFO): DAT read: Rx Time:16:12:00.1219 

2025-08-22T16:11:59.310Z,1755879119.310 [DAT](INFO): Rx dataTimestamp_ set to:1755879119.308742
2025-08-22T16:11:59.313Z,1755879119.313 [DAT](INFO): DAT read: Bearing 143.3, -16.3 (Local)

2025-08-22T16:11:59.314Z,1755879119.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3, -16.3 (Local)

2025-08-22T16:11:59.318Z,1755879119.318 [DAT](INFO): DAT read: Range 11 to 50 :    26.6 m (trip time 17.7 ms) speed 0.4

2025-08-22T16:11:59.320Z,1755879119.320 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-08-22T16:11:59.326Z,1755879119.326 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.911730
2025-08-22T16:11:59.558Z,1755879119.558 [DAT](INFO): DAT read: 16:12:00.1219 LVL= 27792, 28449, 20658, 32755, AGC= 55, IDX= 497, 0.01, 2.977, 1.524,-2.611,-3.110, PHS=-0.094,-1.603, 0.455, RAW= 164.9,  13.4, CAL= 165.4,  15.8, ROT= 344.6, -15.8

2025-08-22T16:11:59.559Z,1755879119.559 [DAT](INFO): got valid direction response:
 16:12:00.1219 LVL= 27792, 28449, 20658, 32755, AGC= 55, IDX= 497, 0.01, 2.977, 1.524,-2.611,-3.110, PHS=-0.094,-1.603, 0.455, RAW= 164.9,  13.4, CAL= 165.4,  15.8, ROT= 344.6, -15.8

2025-08-22T16:11:59.560Z,1755879119.560 [DAT](INFO): #Rx 33: Read direction message, but no range.
2025-08-22T16:11:59.561Z,1755879119.561 [DAT](INFO): direction in FSK: [0.927670,-0.255523,0.272280]
2025-08-22T16:11:59.564Z,1755879119.564 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.150742
2025-08-22T16:11:59.603Z,1755879119.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.600000 m,
      deltaT: 0.257892 s,
      deltaX: -0.299999 m,
      approachRate: -1.163275 m/s,
      rangeRepo size: 4

2025-08-22T16:11:59.605Z,1755879119.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.437019 m,
      bearing: 308.668432 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.257892 s,
      deltaX: -0.298075 m,
      approachRate: -1.155812 m/s,
      posRepo size: 4

2025-08-22T16:11:59.605Z,1755879119.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.44 m.
2025-08-22T16:11:59.612Z,1755879119.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.437019 m,
      nav range: 25.767424 m,
      bearing: 308.656266 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.091883 deg/s,
      cmd heading: 320.669377 deg,
      new cmd heading: 320.593162 deg.

2025-08-22T16:11:59.613Z,1755879119.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595406 target range: 26.437019 and range: 26.60 m.
2025-08-22T16:11:59.811Z,1755879119.811 [DAT](INFO): DAT read: Rx Time:16:12:00.6216 

2025-08-22T16:11:59.813Z,1755879119.813 [DAT](INFO): Rx dataTimestamp_ set to:1755879119.811741
2025-08-22T16:11:59.815Z,1755879119.815 [DAT](INFO): DAT read: Bearing 143.3, -16.2 (Local)

2025-08-22T16:11:59.817Z,1755879119.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.3, -16.2 (Local)

2025-08-22T16:11:59.822Z,1755879119.822 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.4

2025-08-22T16:11:59.824Z,1755879119.824 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-22T16:11:59.847Z,1755879119.847 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.427469
2025-08-22T16:12:00.030Z,1755879120.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:00.033Z,1755879120.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.502999 s,
      deltaX: -0.500000 m,
      approachRate: -0.994038 m/s,
      rangeRepo size: 4

2025-08-22T16:12:00.038Z,1755879120.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.44 m.
2025-08-22T16:12:00.041Z,1755879120.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.437019 m,
      nav range: 25.533461 m,
      bearing: 308.616002 deg,
      approach rate: -0.533203 m/s,
      LOS rate: -0.092602 deg/s,
      cmd heading: 320.593152 deg,
      new cmd heading: 320.511886 deg.

2025-08-22T16:12:00.046Z,1755879120.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.593987 target range: 26.437019 and range: 26.10 m.
2025-08-22T16:12:00.062Z,1755879120.062 [DAT](INFO): DAT read: 16:12:00.6216 LVL= 30192, 29585, 21778, 32755, AGC= 56, IDX= 510, 0.40, 2.304, 0.820, 3.007, 2.503, PHS=-0.097,-1.638, 0.460, RAW= 164.8,  13.5, CAL= 165.3,  15.9, ROT= 344.7, -15.9

2025-08-22T16:12:00.063Z,1755879120.063 [DAT](INFO): got valid direction response:
 16:12:00.6216 LVL= 30192, 29585, 21778, 32755, AGC= 56, IDX= 510, 0.40, 2.304, 0.820, 3.007, 2.503, PHS=-0.097,-1.638, 0.460, RAW= 164.8,  13.5, CAL= 165.3,  15.9, ROT= 344.7, -15.9

2025-08-22T16:12:00.064Z,1755879120.064 [DAT](INFO): #Rx 35: Read direction message, but no range.
2025-08-22T16:12:00.065Z,1755879120.065 [DAT](INFO): direction in FSK: [0.927655,-0.253778,0.273959]
2025-08-22T16:12:00.068Z,1755879120.068 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.654709
2025-08-22T16:12:00.315Z,1755879120.315 [DAT](INFO): DAT read: Rx Time:16:12:01.1216 

2025-08-22T16:12:00.316Z,1755879120.316 [DAT](INFO): Rx dataTimestamp_ set to:1755879120.315247
2025-08-22T16:12:00.320Z,1755879120.320 [DAT](INFO): DAT read: Bearing 143.4, -16.4 (Local)

2025-08-22T16:12:00.321Z,1755879120.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.4, -16.4 (Local)

2025-08-22T16:12:00.336Z,1755879120.336 [DAT](INFO): DAT read: Range 11 to 50 :    26.1 m (trip time 17.4 ms) speed 0.4

2025-08-22T16:12:00.359Z,1755879120.359 [DAT](INFO): DAT read: 16:12:01.1216 LVL= 26896, 29057, 22354, 32755, AGC= 55, IDX= 510,-0.13, 2.552, 1.103,-3.033, 2.758, PHS=-0.103,-1.609, 0.449, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:12:00.360Z,1755879120.360 [DAT](INFO): got valid direction response:
 16:12:01.1216 LVL= 26896, 29057, 22354, 32755, AGC= 55, IDX= 510,-0.13, 2.552, 1.103,-3.033, 2.758, PHS=-0.103,-1.609, 0.449, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:12:00.360Z,1755879120.360 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T16:12:00.361Z,1755879120.361 [DAT](INFO): direction in FSK: [0.925836,-0.256757,0.277315]
2025-08-22T16:12:00.374Z,1755879120.374 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:00.389Z,1755879120.389 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.975479
2025-08-22T16:12:00.487Z,1755879120.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 0.503506 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:00.494Z,1755879120.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.940107 m,
      bearing: 308.473237 deg,
      lat: 36.779425 deg,
      lon: -121.859656 deg,
      deltaT: 1.006505 s,
      deltaX: -0.496912 m,
      approachRate: -0.493700 m/s,
      posRepo size: 4

2025-08-22T16:12:00.494Z,1755879120.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.94 m.
2025-08-22T16:12:00.497Z,1755879120.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.940107 m,
      nav range: 25.280832 m,
      bearing: 308.593059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092602 deg/s,
      cmd heading: 320.511872 deg,
      new cmd heading: 320.427748 deg.

2025-08-22T16:12:00.502Z,1755879120.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.592519 target range: 25.940107 and range: 26.10 m.
2025-08-22T16:12:00.563Z,1755879120.563 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.149633
2025-08-22T16:12:00.819Z,1755879120.819 [DAT](INFO): DAT read: Rx Time:16:12:01.6213 

2025-08-22T16:12:00.821Z,1755879120.821 [DAT](INFO): Rx dataTimestamp_ set to:1755879120.819872
2025-08-22T16:12:00.824Z,1755879120.824 [DAT](INFO): DAT read: Bearing 142.5, -16.2 (Local)

2025-08-22T16:12:00.825Z,1755879120.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.5, -16.2 (Local)

2025-08-22T16:12:00.862Z,1755879120.862 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-08-22T16:12:00.875Z,1755879120.875 [DAT](INFO): DAT read: 16:12:01.6213 LVL= 30384, 28289, 22546, 32755, AGC= 54, IDX= 507, 0.17, 3.075, 1.604,-2.509,-3.018, PHS=-0.088,-1.616, 0.465, RAW= 164.9,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:12:00.890Z,1755879120.890 [DAT](INFO): got valid direction response:
 16:12:01.6213 LVL= 30384, 28289, 22546, 32755, AGC= 54, IDX= 507, 0.17, 3.075, 1.604,-2.509,-3.018, PHS=-0.088,-1.616, 0.465, RAW= 164.9,  13.2, CAL= 165.3,  15.5, ROT= 344.7, -15.5

2025-08-22T16:12:00.890Z,1755879120.890 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T16:12:00.892Z,1755879120.892 [DAT](INFO): direction in FSK: [0.929477,-0.254276,0.267238]
2025-08-22T16:12:00.893Z,1755879120.893 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:00.913Z,1755879120.913 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.499399
2025-08-22T16:12:00.983Z,1755879120.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.504625 s,
      deltaX: -0.400000 m,
      approachRate: -0.792667 m/s,
      rangeRepo size: 4

2025-08-22T16:12:00.985Z,1755879120.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.542559 m,
      bearing: 308.680530 deg,
      lat: 36.779425 deg,
      lon: -121.859656 deg,
      deltaT: 0.504625 s,
      deltaX: -0.397549 m,
      approachRate: -0.787810 m/s,
      posRepo size: 4

2025-08-22T16:12:00.989Z,1755879120.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:12:00.992Z,1755879120.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.542559 m,
      nav range: 25.020153 m,
      bearing: 308.554839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.092602 deg/s,
      cmd heading: 320.427752 deg,
      new cmd heading: 320.336808 deg.

2025-08-22T16:12:00.993Z,1755879120.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590932 target range: 25.542559 and range: 25.70 m.
2025-08-22T16:12:01.067Z,1755879121.067 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.653372
2025-08-22T16:12:01.248Z,1755879121.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:12:01.251Z,1755879121.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.542559 m,
      nav range: 24.874605 m,
      bearing: 308.534795 deg,
      approach rate: -0.538267 m/s,
      LOS rate: -0.074562 deg/s,
      cmd heading: 320.336801 deg,
      new cmd heading: 320.296478 deg.

2025-08-22T16:12:01.252Z,1755879121.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.590228 target range: 25.542559 and range: 25.70 m.
2025-08-22T16:12:01.323Z,1755879121.323 [DAT](INFO): DAT read: Rx Time:16:12:02.1213 

2025-08-22T16:12:01.324Z,1755879121.324 [DAT](INFO): Rx dataTimestamp_ set to:1755879121.323351
2025-08-22T16:12:01.329Z,1755879121.329 [DAT](INFO): DAT read: Bearing 143.2, -16.6 (Local)

2025-08-22T16:12:01.331Z,1755879121.331 [DAT](INFO): Local bearing/azimuth received:
 Bearing 143.2, -16.6 (Local)

2025-08-22T16:12:01.345Z,1755879121.345 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.4

2025-08-22T16:12:01.363Z,1755879121.363 [DAT](INFO): DAT read: 16:12:02.1213 LVL= 29504, 28353, 20770, 32755, AGC= 55, IDX= 507,-0.35, 2.250, 0.795, 2.962, 2.463, PHS=-0.112,-1.623, 0.455, RAW= 165.3,  13.7, CAL= 165.8,  16.2, ROT= 344.2, -16.2

2025-08-22T16:12:01.364Z,1755879121.364 [DAT](INFO): got valid direction response:
 16:12:02.1213 LVL= 29504, 28353, 20770, 32755, AGC= 55, IDX= 507,-0.35, 2.250, 0.795, 2.962, 2.463, PHS=-0.112,-1.623, 0.455, RAW= 165.3,  13.7, CAL= 165.8,  16.2, ROT= 344.2, -16.2

2025-08-22T16:12:01.365Z,1755879121.365 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:12:01.372Z,1755879121.372 [DAT](INFO): direction in FSK: [0.924012,-0.261469,0.278991]
2025-08-22T16:12:01.373Z,1755879121.373 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:01.406Z,1755879121.406 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.993011
2025-08-22T16:12:01.571Z,1755879121.571 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.157221
2025-08-22T16:12:01.722Z,1755879121.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503479 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:01.731Z,1755879121.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.542490 m,
      bearing: 308.000063 deg,
      lat: 36.779425 deg,
      lon: -121.859656 deg,
      deltaT: 0.503479 s,
      deltaX: -0.000069 m,
      approachRate: -0.000136 m/s,
      posRepo size: 4

2025-08-22T16:12:01.731Z,1755879121.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.54 m.
2025-08-22T16:12:01.739Z,1755879121.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.542490 m,
      nav range: 24.640118 m,
      bearing: 308.433252 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074562 deg/s,
      cmd heading: 320.296476 deg,
      new cmd heading: 320.227691 deg.

2025-08-22T16:12:01.740Z,1755879121.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.589027 target range: 25.542490 and range: 25.70 m.
2025-08-22T16:12:01.827Z,1755879121.827 [DAT](INFO): DAT read: Rx Time:16:12:02.6210 

2025-08-22T16:12:01.829Z,1755879121.829 [DAT](INFO): Rx dataTimestamp_ set to:1755879121.827944
2025-08-22T16:12:01.832Z,1755879121.832 [DAT](INFO): DAT read: Bearing 142.9, -16.4 (Local)

2025-08-22T16:12:01.834Z,1755879121.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.9, -16.4 (Local)

2025-08-22T16:12:01.840Z,1755879121.840 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.4

2025-08-22T16:12:01.843Z,1755879121.843 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-08-22T16:12:01.847Z,1755879121.847 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.432846
2025-08-22T16:12:02.078Z,1755879122.078 [DAT](INFO): DAT read: 16:12:02.6210 LVL= 29872, 26865, 20770, 32755, AGC= 56, IDX= 504,-0.03, 1.560, 0.091, 2.265, 1.767, PHS=-0.106,-1.631, 0.454, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:12:02.079Z,1755879122.079 [DAT](INFO): got valid direction response:
 16:12:02.6210 LVL= 29872, 26865, 20770, 32755, AGC= 56, IDX= 504,-0.03, 1.560, 0.091, 2.265, 1.767, PHS=-0.106,-1.631, 0.454, RAW= 165.0,  13.6, CAL= 165.5,  16.1, ROT= 344.5, -16.1

2025-08-22T16:12:02.080Z,1755879122.080 [DAT](INFO): #Rx 40: Read direction message, but no range.
2025-08-22T16:12:02.080Z,1755879122.080 [DAT](INFO): direction in FSK: [0.925836,-0.256757,0.277315]
2025-08-22T16:12:02.084Z,1755879122.084 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.670664
2025-08-22T16:12:02.108Z,1755879122.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504593 s,
      deltaX: -0.500000 m,
      approachRate: -0.990898 m/s,
      rangeRepo size: 4

2025-08-22T16:12:02.114Z,1755879122.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.045555 m,
      bearing: 308.238590 deg,
      lat: 36.779425 deg,
      lon: -121.859655 deg,
      deltaT: 0.504593 s,
      deltaX: -0.496935 m,
      approachRate: -0.984823 m/s,
      posRepo size: 4

2025-08-22T16:12:02.115Z,1755879122.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-08-22T16:12:02.126Z,1755879122.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.045555 m,
      nav range: 24.384995 m,
      bearing: 308.363570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074562 deg/s,
      cmd heading: 320.227682 deg,
      new cmd heading: 320.168376 deg.

2025-08-22T16:12:02.127Z,1755879122.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587992 target range: 25.045555 and range: 25.20 m.
2025-08-22T16:12:02.331Z,1755879122.331 [DAT](INFO): DAT read: Rx Time:16:12:03.1209 

2025-08-22T16:12:02.332Z,1755879122.332 [DAT](INFO): Rx dataTimestamp_ set to:1755879122.331283
2025-08-22T16:12:02.336Z,1755879122.336 [DAT](INFO): DAT read: Bearing 142.3, -16.2 (Local)

2025-08-22T16:12:02.337Z,1755879122.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.3, -16.2 (Local)

2025-08-22T16:12:02.344Z,1755879122.344 [DAT](INFO): DAT read: Range 11 to 50 :    25.1 m (trip time 16.7 ms) speed 0.4

2025-08-22T16:12:02.379Z,1755879122.379 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-22T16:12:02.381Z,1755879122.381 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.967318
2025-08-22T16:12:02.470Z,1755879122.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:02.472Z,1755879122.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.100000 m,
      deltaT: 0.503339 s,
      deltaX: -0.100000 m,
      approachRate: -0.198674 m/s,
      rangeRepo size: 4

2025-08-22T16:12:02.473Z,1755879122.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m.
2025-08-22T16:12:02.482Z,1755879122.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.045555 m,
      nav range: 24.174982 m,
      bearing: 308.336532 deg,
      approach rate: -0.576066 m/s,
      LOS rate: -0.074811 deg/s,
      cmd heading: 320.168369 deg,
      new cmd heading: 320.113822 deg.

2025-08-22T16:12:02.483Z,1755879122.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.587040 target range: 25.045555 and range: 25.10 m.
2025-08-22T16:12:02.583Z,1755879122.583 [DAT](INFO): DAT read: 16:12:03.1209 LVL= 32752, 28705, 22002, 32755, AGC= 54, IDX= 503, 0.24,-1.793, 3.016,-1.092,-1.598, PHS=-0.093,-1.624, 0.461, RAW= 164.9,  13.4, CAL= 165.3,  15.7, ROT= 344.7, -15.7

2025-08-22T16:12:02.584Z,1755879122.584 [DAT](INFO): got valid direction response:
 16:12:03.1209 LVL= 32752, 28705, 22002, 32755, AGC= 54, IDX= 503, 0.24,-1.793, 3.016,-1.092,-1.598, PHS=-0.093,-1.624, 0.461, RAW= 164.9,  13.4, CAL= 165.3,  15.7, ROT= 344.7, -15.7

2025-08-22T16:12:02.585Z,1755879122.585 [DAT](INFO): #Rx 42: Read direction message, but no range.
2025-08-22T16:12:02.587Z,1755879122.587 [DAT](INFO): direction in FSK: [0.928571,-0.254028,0.270600]
2025-08-22T16:12:02.590Z,1755879122.590 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.176704
2025-08-22T16:12:02.843Z,1755879122.843 [DAT](INFO): DAT read: Rx Time:16:12:03.6208 

2025-08-22T16:12:02.844Z,1755879122.844 [DAT](INFO): Rx dataTimestamp_ set to:1755879122.843468
2025-08-22T16:12:02.850Z,1755879122.850 [DAT](INFO): DAT read: Bearing 142.6, -16.3 (Local)

2025-08-22T16:12:02.851Z,1755879122.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.6, -16.3 (Local)

2025-08-22T16:12:02.853Z,1755879122.853 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.5

2025-08-22T16:12:02.874Z,1755879122.874 [DAT](INFO): DAT read: 16:12:03.6208 LVL= 25840, 28481, 22434, 32755, AGC= 54, IDX= 501,-0.35, 1.286,-0.154, 1.983, 1.493, PHS=-0.105,-1.602, 0.446, RAW= 165.1,  13.7, CAL= 165.5,  16.2, ROT= 344.5, -16.2

2025-08-22T16:12:02.876Z,1755879122.876 [DAT](INFO): got valid direction response:
 16:12:03.6208 LVL= 25840, 28481, 22434, 32755, AGC= 54, IDX= 501,-0.35, 1.286,-0.154, 1.983, 1.493, PHS=-0.105,-1.602, 0.446, RAW= 165.1,  13.7, CAL= 165.5,  16.2, ROT= 344.5, -16.2

2025-08-22T16:12:02.876Z,1755879122.876 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:12:02.918Z,1755879122.918 [DAT](INFO): direction in FSK: [0.925368,-0.256628,0.278991]
2025-08-22T16:12:02.918Z,1755879122.918 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:02.930Z,1755879122.930 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.516411
2025-08-22T16:12:03.067Z,1755879123.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.512185 s,
      deltaX: -0.200001 m,
      approachRate: -0.390485 m/s,
      rangeRepo size: 4

2025-08-22T16:12:03.074Z,1755879123.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.747515 m,
      bearing: 308.166641 deg,
      lat: 36.779425 deg,
      lon: -121.859655 deg,
      deltaT: 1.015524 s,
      deltaX: -0.298040 m,
      approachRate: -0.293484 m/s,
      posRepo size: 4

2025-08-22T16:12:03.074Z,1755879123.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m.
2025-08-22T16:12:03.077Z,1755879123.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.747515 m,
      nav range: 23.872278 m,
      bearing: 308.310113 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074811 deg/s,
      cmd heading: 320.113809 deg,
      new cmd heading: 320.024780 deg.

2025-08-22T16:12:03.086Z,1755879123.086 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.672113
2025-08-22T16:12:03.087Z,1755879123.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.585486 target range: 24.747515 and range: 24.90 m.
2025-08-22T16:12:03.339Z,1755879123.339 [DAT](INFO): DAT read: Rx Time:16:12:04.1206 

2025-08-22T16:12:03.341Z,1755879123.341 [DAT](INFO): Rx dataTimestamp_ set to:1755879123.339528
2025-08-22T16:12:03.355Z,1755879123.355 [DAT](INFO): DAT read: Bearing 142.5, -16.2 (Local)

2025-08-22T16:12:03.355Z,1755879123.355 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.5, -16.2 (Local)

2025-08-22T16:12:03.410Z,1755879123.410 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.4

2025-08-22T16:12:03.427Z,1755879123.427 [DAT](INFO): DAT read: 16:12:04.1206 LVL= 26432, 27489, 20770, 32755, AGC= 54, IDX= 499,-0.05, 1.400,-0.058, 2.097, 1.607, PHS=-0.105,-1.619, 0.447, RAW= 164.9,  13.7, CAL= 165.4,  16.2, ROT= 344.6, -16.2

2025-08-22T16:12:03.428Z,1755879123.428 [DAT](INFO): got valid direction response:
 16:12:04.1206 LVL= 26432, 27489, 20770, 32755, AGC= 54, IDX= 499,-0.05, 1.400,-0.058, 2.097, 1.607, PHS=-0.105,-1.619, 0.447, RAW= 164.9,  13.7, CAL= 165.4,  16.2, ROT= 344.6, -16.2

2025-08-22T16:12:03.428Z,1755879123.428 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T16:12:03.429Z,1755879123.429 [DAT](INFO): direction in FSK: [0.925815,-0.255012,0.278991]
2025-08-22T16:12:03.435Z,1755879123.435 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:03.454Z,1755879123.454 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.040985
2025-08-22T16:12:03.514Z,1755879123.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.496060 s,
      deltaX: -0.299999 m,
      approachRate: -0.604764 m/s,
      rangeRepo size: 4

2025-08-22T16:12:03.516Z,1755879123.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.449240 m,
      bearing: 308.125433 deg,
      lat: 36.779425 deg,
      lon: -121.859657 deg,
      deltaT: 0.496060 s,
      deltaX: -0.298275 m,
      approachRate: -0.601288 m/s,
      posRepo size: 4

2025-08-22T16:12:03.517Z,1755879123.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.45 m.
2025-08-22T16:12:03.524Z,1755879123.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.449240 m,
      nav range: 23.745831 m,
      bearing: 308.125521 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074811 deg/s,
      cmd heading: 320.024771 deg,
      new cmd heading: 319.958584 deg.

2025-08-22T16:12:03.525Z,1755879123.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.584331 target range: 24.449240 and range: 24.60 m.
2025-08-22T16:12:03.587Z,1755879123.587 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.173990
2025-08-22T16:12:03.843Z,1755879123.843 [DAT](INFO): DAT read: Rx Time:16:12:04.6203 

2025-08-22T16:12:03.844Z,1755879123.844 [DAT](INFO): Rx dataTimestamp_ set to:1755879123.843226
2025-08-22T16:12:03.845Z,1755879123.845 [DAT](INFO): DAT read: Bearing 142.2, -16.1 (Local)

2025-08-22T16:12:03.845Z,1755879123.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.2, -16.1 (Local)

2025-08-22T16:12:03.847Z,1755879123.847 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-08-22T16:12:03.852Z,1755879123.852 [DAT](INFO): DAT read: 16:12:04.6203 LVL= 31216, 27697, 21362, 32755, AGC= 55, IDX= 496, 0.21, 1.546, 0.060, 2.250, 1.749, PHS=-0.101,-1.644, 0.457, RAW= 164.9,  13.6, CAL= 165.3,  16.0, ROT= 344.7, -16.0

2025-08-22T16:12:03.853Z,1755879123.853 [DAT](INFO): got valid direction response:
 16:12:04.6203 LVL= 31216, 27697, 21362, 32755, AGC= 55, IDX= 496, 0.21, 1.546, 0.060, 2.250, 1.749, PHS=-0.101,-1.644, 0.457, RAW= 164.9,  13.6, CAL= 165.3,  16.0, ROT= 344.7, -16.0

2025-08-22T16:12:03.853Z,1755879123.853 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T16:12:03.858Z,1755879123.858 [DAT](INFO): direction in FSK: [0.927192,-0.253651,0.275637]
2025-08-22T16:12:03.858Z,1755879123.858 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:03.896Z,1755879123.896 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.482431
2025-08-22T16:12:04.026Z,1755879124.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.503698 s,
      deltaX: -0.400000 m,
      approachRate: -0.794126 m/s,
      rangeRepo size: 4

2025-08-22T16:12:04.028Z,1755879124.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.051691 m,
      bearing: 308.143631 deg,
      lat: 36.779425 deg,
      lon: -121.859657 deg,
      deltaT: 0.503698 s,
      deltaX: -0.397549 m,
      approachRate: -0.789260 m/s,
      posRepo size: 4

2025-08-22T16:12:04.029Z,1755879124.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-08-22T16:12:04.035Z,1755879124.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.051691 m,
      nav range: 23.464760 m,
      bearing: 308.087490 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074811 deg/s,
      cmd heading: 319.958572 deg,
      new cmd heading: 319.881969 deg.

2025-08-22T16:12:04.036Z,1755879124.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582994 target range: 24.051691 and range: 24.20 m.
2025-08-22T16:12:04.091Z,1755879124.091 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.677376
2025-08-22T16:12:04.343Z,1755879124.343 [DAT](INFO): DAT read: Rx Time:16:12:05.1203 

2025-08-22T16:12:04.344Z,1755879124.344 [DAT](INFO): Rx dataTimestamp_ set to:1755879124.343260
2025-08-22T16:12:04.345Z,1755879124.345 [DAT](INFO): DAT read: Range 11 to 50 :    24.2 m (trip time 16.1 ms) speed 0.4

2025-08-22T16:12:04.345Z,1755879124.345 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-22T16:12:04.346Z,1755879124.346 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.932995
2025-08-22T16:12:04.449Z,1755879124.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.200001 m,
      deltaT: 0.500034 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:04.454Z,1755879124.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.05 m.
2025-08-22T16:12:04.457Z,1755879124.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.051691 m,
      nav range: 23.235540 m,
      bearing: 308.065656 deg,
      approach rate: -0.536489 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.881965 deg,
      new cmd heading: 319.837867 deg.

2025-08-22T16:12:04.462Z,1755879124.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.582224 target range: 24.051691 and range: 24.20 m.
2025-08-22T16:12:04.595Z,1755879124.595 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.181202
2025-08-22T16:12:04.847Z,1755879124.847 [DAT](INFO): DAT read: Rx Time:16:12:05.6200 

2025-08-22T16:12:04.848Z,1755879124.848 [DAT](INFO): Rx dataTimestamp_ set to:1755879124.847651
2025-08-22T16:12:04.849Z,1755879124.849 [DAT](INFO): DAT read: Bearing 142.3, -16.4 (Local)

2025-08-22T16:12:04.850Z,1755879124.850 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.3, -16.4 (Local)

2025-08-22T16:12:04.852Z,1755879124.852 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.4

2025-08-22T16:12:04.874Z,1755879124.874 [DAT](INFO): DAT read: 16:12:05.6200 LVL= 31616, 30625, 24338, 32755, AGC= 53, IDX= 509,-0.07, 0.064,-1.380, 0.767, 0.278, PHS=-0.111,-1.613, 0.445, RAW= 165.2,  13.8, CAL= 165.6,  16.4, ROT= 344.4, -16.4

2025-08-22T16:12:04.875Z,1755879124.875 [DAT](INFO): got valid direction response:
 16:12:05.6200 LVL= 31616, 30625, 24338, 32755, AGC= 53, IDX= 509,-0.07, 0.064,-1.380, 0.767, 0.278, PHS=-0.111,-1.613, 0.445, RAW= 165.2,  13.8, CAL= 165.6,  16.4, ROT= 344.4, -16.4

2025-08-22T16:12:04.876Z,1755879124.876 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T16:12:04.922Z,1755879124.922 [DAT](INFO): direction in FSK: [0.923975,-0.257979,0.282341]
2025-08-22T16:12:04.922Z,1755879124.922 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:04.934Z,1755879124.934 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.520496
2025-08-22T16:12:05.026Z,1755879125.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.504391 s,
      deltaX: -0.500000 m,
      approachRate: -0.991294 m/s,
      rangeRepo size: 4

2025-08-22T16:12:05.028Z,1755879125.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.554441 m,
      bearing: 307.695758 deg,
      lat: 36.779424 deg,
      lon: -121.859657 deg,
      deltaT: 1.004425 s,
      deltaX: -0.497250 m,
      approachRate: -0.495059 m/s,
      posRepo size: 4

2025-08-22T16:12:05.029Z,1755879125.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.55 m.
2025-08-22T16:12:05.036Z,1755879125.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.554441 m,
      nav range: 22.921919 m,
      bearing: 307.969745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.837869 deg,
      new cmd heading: 319.779581 deg.

2025-08-22T16:12:05.036Z,1755879125.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.581207 target range: 23.554441 and range: 23.70 m.
2025-08-22T16:12:05.099Z,1755879125.099 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.685247
2025-08-22T16:12:05.357Z,1755879125.357 [DAT](INFO): DAT read: Rx Time:16:12:06.1199 

2025-08-22T16:12:05.359Z,1755879125.359 [DAT](INFO): Rx dataTimestamp_ set to:1755879125.357748
2025-08-22T16:12:05.360Z,1755879125.360 [DAT](INFO): DAT read: Bearing 141.7, -16.4 (Local)

2025-08-22T16:12:05.360Z,1755879125.360 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.7, -16.4 (Local)

2025-08-22T16:12:05.364Z,1755879125.364 [DAT](INFO): DAT read: Range 11 to 50 :    23.6 m (trip time 15.7 ms) speed 0.4

2025-08-22T16:12:05.397Z,1755879125.397 [DAT](INFO): DAT read: 16:12:06.1199 LVL= 28128, 27105, 20338, 32755, AGC= 54, IDX= 508, 0.20, 2.061, 0.595, 2.772, 2.266, PHS=-0.103,-1.626, 0.462, RAW= 165.2,  13.5, CAL= 165.6,  15.9, ROT= 344.4, -15.9

2025-08-22T16:12:05.402Z,1755879125.402 [DAT](INFO): got valid direction response:
 16:12:06.1199 LVL= 28128, 27105, 20338, 32755, AGC= 54, IDX= 508, 0.20, 2.061, 0.595, 2.772, 2.266, PHS=-0.103,-1.626, 0.462, RAW= 165.2,  13.5, CAL= 165.6,  15.9, ROT= 344.4, -15.9

2025-08-22T16:12:05.403Z,1755879125.403 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T16:12:05.404Z,1755879125.404 [DAT](INFO): direction in FSK: [0.926313,-0.258631,0.273959]
2025-08-22T16:12:05.404Z,1755879125.404 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:05.413Z,1755879125.413 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.999435
2025-08-22T16:12:05.566Z,1755879125.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.600000 m,
      deltaT: 0.510097 s,
      deltaX: -0.100000 m,
      approachRate: -0.196042 m/s,
      rangeRepo size: 4

2025-08-22T16:12:05.568Z,1755879125.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.455069 m,
      bearing: 307.703021 deg,
      lat: 36.779425 deg,
      lon: -121.859657 deg,
      deltaT: 0.510097 s,
      deltaX: -0.099373 m,
      approachRate: -0.194812 m/s,
      posRepo size: 4

2025-08-22T16:12:05.569Z,1755879125.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m.
2025-08-22T16:12:05.572Z,1755879125.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.455069 m,
      nav range: 22.662870 m,
      bearing: 307.983818 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.779594 deg,
      new cmd heading: 319.722971 deg.

2025-08-22T16:12:05.573Z,1755879125.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.580218 target range: 23.455069 and range: 23.60 m.
2025-08-22T16:12:05.603Z,1755879125.603 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.189835
2025-08-22T16:12:05.856Z,1755879125.856 [DAT](INFO): DAT read: Rx Time:16:12:06.6197 

2025-08-22T16:12:05.856Z,1755879125.856 [DAT](INFO): Rx dataTimestamp_ set to:1755879125.856058
2025-08-22T16:12:05.858Z,1755879125.858 [DAT](INFO): DAT read: Bearing 142.1, -16.5 (Local)

2025-08-22T16:12:05.858Z,1755879125.858 [DAT](INFO): Local bearing/azimuth received:
 Bearing 142.1, -16.5 (Local)

2025-08-22T16:12:05.861Z,1755879125.861 [DAT](INFO): DAT read: Range 11 to 50 :    23.3 m (trip time 15.5 ms) speed 0.4

2025-08-22T16:12:05.869Z,1755879125.869 [DAT](INFO): DAT read: 16:12:06.6197 LVL= 31568, 30305, 21362, 32755, AGC= 55, IDX= 506,-0.36,-0.929,-2.360,-0.223,-0.712, PHS=-0.115,-1.603, 0.445, RAW= 165.3,  13.8, CAL= 165.8,  16.4, ROT= 344.2, -16.4

2025-08-22T16:12:05.871Z,1755879125.871 [DAT](INFO): got valid direction response:
 16:12:06.6197 LVL= 31568, 30305, 21362, 32755, AGC= 55, IDX= 506,-0.36,-0.929,-2.360,-0.223,-0.712, PHS=-0.115,-1.603, 0.445, RAW= 165.3,  13.8, CAL= 165.8,  16.4, ROT= 344.2, -16.4

2025-08-22T16:12:05.872Z,1755879125.872 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T16:12:05.873Z,1755879125.873 [DAT](INFO): direction in FSK: [0.923069,-0.261202,0.282341]
2025-08-22T16:12:05.878Z,1755879125.878 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:05.893Z,1755879125.893 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.479103
2025-08-22T16:12:06.107Z,1755879126.107 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.693611
2025-08-22T16:12:06.129Z,1755879126.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.299999 m,
      deltaT: 0.498310 s,
      deltaX: -0.300001 m,
      approachRate: -0.602037 m/s,
      rangeRepo size: 4

2025-08-22T16:12:06.131Z,1755879126.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.156910 m,
      bearing: 307.335453 deg,
      lat: 36.779424 deg,
      lon: -121.859657 deg,
      deltaT: 0.498310 s,
      deltaX: -0.298159 m,
      approachRate: -0.598340 m/s,
      posRepo size: 4

2025-08-22T16:12:06.131Z,1755879126.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m.
2025-08-22T16:12:06.150Z,1755879126.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.156910 m,
      nav range: 22.338909 m,
      bearing: 307.874465 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.722958 deg,
      new cmd heading: 319.664509 deg.

2025-08-22T16:12:06.151Z,1755879126.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.579198 target range: 23.156910 and range: 23.30 m.
2025-08-22T16:12:06.361Z,1755879126.361 [DAT](INFO): DAT read: Rx Time:16:12:07.1196 

2025-08-22T16:12:06.363Z,1755879126.363 [DAT](INFO): Rx dataTimestamp_ set to:1755879126.360943
2025-08-22T16:12:06.365Z,1755879126.365 [DAT](INFO): DAT read: Bearing 141.7, -16.3 (Local)

2025-08-22T16:12:06.366Z,1755879126.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.7, -16.3 (Local)

2025-08-22T16:12:06.369Z,1755879126.369 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.4

2025-08-22T16:12:06.394Z,1755879126.394 [DAT](INFO): DAT read: 16:12:07.1196 LVL= 28432, 29857, 21234, 32755, AGC= 55, IDX= 505,-0.04, 0.686,-0.759, 1.392, 0.898, PHS=-0.110,-1.611, 0.450, RAW= 165.2,  13.7, CAL= 165.7,  16.2, ROT= 344.3, -16.2

2025-08-22T16:12:06.395Z,1755879126.395 [DAT](INFO): got valid direction response:
 16:12:07.1196 LVL= 28432, 29857, 21234, 32755, AGC= 55, IDX= 505,-0.04, 0.686,-0.759, 1.392, 0.898, PHS=-0.110,-1.611, 0.450, RAW= 165.2,  13.7, CAL= 165.7,  16.2, ROT= 344.3, -16.2

2025-08-22T16:12:06.395Z,1755879126.395 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:12:06.396Z,1755879126.396 [DAT](INFO): direction in FSK: [0.924467,-0.259856,0.278991]
2025-08-22T16:12:06.397Z,1755879126.397 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:06.408Z,1755879126.408 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.995060
2025-08-22T16:12:06.532Z,1755879126.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504885 s,
      deltaX: -0.199999 m,
      approachRate: -0.396128 m/s,
      rangeRepo size: 4

2025-08-22T16:12:06.538Z,1755879126.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.958422 m,
      bearing: 307.379193 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.504885 s,
      deltaX: -0.198488 m,
      approachRate: -0.393136 m/s,
      posRepo size: 4

2025-08-22T16:12:06.539Z,1755879126.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m.
2025-08-22T16:12:06.546Z,1755879126.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.958422 m,
      nav range: 22.245781 m,
      bearing: 307.462385 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.664519 deg,
      new cmd heading: 319.622904 deg.

2025-08-22T16:12:06.547Z,1755879126.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.578472 target range: 22.958422 and range: 23.10 m.
2025-08-22T16:12:06.611Z,1755879126.611 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.197947
2025-08-22T16:12:06.865Z,1755879126.865 [DAT](INFO): DAT read: Rx Time:16:12:07.6193 

2025-08-22T16:12:06.866Z,1755879126.866 [DAT](INFO): Rx dataTimestamp_ set to:1755879126.864934
2025-08-22T16:12:06.868Z,1755879126.868 [DAT](INFO): DAT read: Bearing 141.2, -16.1 (Local)

2025-08-22T16:12:06.868Z,1755879126.868 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.2, -16.1 (Local)

2025-08-22T16:12:06.871Z,1755879126.871 [DAT](INFO): DAT read: Range 11 to 50 :    22.7 m (trip time 15.1 ms) speed 0.4

2025-08-22T16:12:06.878Z,1755879126.878 [DAT](INFO): DAT read: 16:12:07.6193 LVL= 29728, 29025, 21826, 32755, AGC= 55, IDX= 502, 0.28, 0.939,-0.544, 1.652, 1.144, PHS=-0.102,-1.643, 0.464, RAW= 165.1,  13.5, CAL= 165.5,  15.9, ROT= 344.5, -15.9

2025-08-22T16:12:06.880Z,1755879126.880 [DAT](INFO): got valid direction response:
 16:12:07.6193 LVL= 29728, 29025, 21826, 32755, AGC= 55, IDX= 502, 0.28, 0.939,-0.544, 1.652, 1.144, PHS=-0.102,-1.643, 0.464, RAW= 165.1,  13.5, CAL= 165.5,  15.9, ROT= 344.5, -15.9

2025-08-22T16:12:06.881Z,1755879126.881 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T16:12:06.884Z,1755879126.884 [DAT](INFO): direction in FSK: [0.926763,-0.257014,0.273959]
2025-08-22T16:12:06.884Z,1755879126.884 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:06.917Z,1755879126.917 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.503649
2025-08-22T16:12:07.110Z,1755879127.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.700001 m,
      deltaT: 0.503991 s,
      deltaX: -0.400000 m,
      approachRate: -0.793664 m/s,
      rangeRepo size: 4

2025-08-22T16:12:07.112Z,1755879127.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.560873 m,
      bearing: 307.515735 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.503991 s,
      deltaX: -0.397549 m,
      approachRate: -0.788801 m/s,
      posRepo size: 4

2025-08-22T16:12:07.113Z,1755879127.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.56 m.
2025-08-22T16:12:07.115Z,1755879127.115 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.701405
2025-08-22T16:12:07.120Z,1755879127.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.560873 m,
      nav range: 21.931929 m,
      bearing: 307.420559 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.622910 deg,
      new cmd heading: 319.563630 deg.

2025-08-22T16:12:07.121Z,1755879127.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.577437 target range: 22.560873 and range: 22.70 m.
2025-08-22T16:12:07.369Z,1755879127.369 [DAT](INFO): DAT read: Rx Time:16:12:08.1192 

2025-08-22T16:12:07.369Z,1755879127.369 [DAT](INFO): Rx dataTimestamp_ set to:1755879127.368939
2025-08-22T16:12:07.371Z,1755879127.371 [DAT](INFO): DAT read: Bearing 141.1, -16.3 (Local)

2025-08-22T16:12:07.372Z,1755879127.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -16.3 (Local)

2025-08-22T16:12:07.375Z,1755879127.375 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.4

2025-08-22T16:12:07.384Z,1755879127.384 [DAT](INFO): DAT read: 16:12:08.1192 LVL= 27552, 26929, 18706, 32755, AGC= 54, IDX= 501,-0.20,-0.968,-2.403,-0.261,-0.762, PHS=-0.104,-1.596, 0.457, RAW= 165.3,  13.5, CAL= 165.8,  15.9, ROT= 344.2, -15.9

2025-08-22T16:12:07.388Z,1755879127.388 [DAT](INFO): got valid direction response:
 16:12:08.1192 LVL= 27552, 26929, 18706, 32755, AGC= 54, IDX= 501,-0.20,-0.968,-2.403,-0.261,-0.762, PHS=-0.104,-1.596, 0.457, RAW= 165.3,  13.5, CAL= 165.8,  15.9, ROT= 344.2, -15.9

2025-08-22T16:12:07.390Z,1755879127.390 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T16:12:07.392Z,1755879127.392 [DAT](INFO): direction in FSK: [0.925405,-0.261863,0.273959]
2025-08-22T16:12:07.392Z,1755879127.392 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:07.397Z,1755879127.397 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.983641
2025-08-22T16:12:07.518Z,1755879127.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504005 s,
      deltaX: -0.200001 m,
      approachRate: -0.396823 m/s,
      rangeRepo size: 4

2025-08-22T16:12:07.520Z,1755879127.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.362204 m,
      bearing: 307.164465 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.504005 s,
      deltaX: -0.198669 m,
      approachRate: -0.394181 m/s,
      posRepo size: 4

2025-08-22T16:12:07.520Z,1755879127.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.36 m.
2025-08-22T16:12:07.535Z,1755879127.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.362204 m,
      nav range: 21.753616 m,
      bearing: 307.316427 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.563624 deg,
      new cmd heading: 319.522003 deg.

2025-08-22T16:12:07.536Z,1755879127.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.576711 target range: 22.362204 and range: 22.50 m.
2025-08-22T16:12:07.620Z,1755879127.620 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.207113
2025-08-22T16:12:07.623Z,1755879127.623 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:12:07.872Z,1755879127.872 [DAT](INFO): DAT read: Rx Time:16:12:08.6189 

2025-08-22T16:12:07.873Z,1755879127.873 [DAT](INFO): Rx dataTimestamp_ set to:1755879127.872633
2025-08-22T16:12:07.875Z,1755879127.875 [DAT](INFO): DAT read: Bearing 140.6, -16.0 (Local)

2025-08-22T16:12:07.876Z,1755879127.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.6, -16.0 (Local)

2025-08-22T16:12:07.879Z,1755879127.879 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-08-22T16:12:07.891Z,1755879127.891 [DAT](INFO): DAT read: 16:12:08.6189 LVL= 30880, 30065, 22258, 32755, AGC= 55, IDX= 498, 0.10,-0.401,-1.869, 0.305,-0.206, PHS=-0.093,-1.618, 0.467, RAW= 165.0,  13.2, CAL= 165.5,  15.6, ROT= 344.5, -15.6

2025-08-22T16:12:07.892Z,1755879127.892 [DAT](INFO): got valid direction response:
 16:12:08.6189 LVL= 30880, 30065, 22258, 32755, AGC= 55, IDX= 498, 0.10,-0.401,-1.869, 0.305,-0.206, PHS=-0.093,-1.618, 0.467, RAW= 165.0,  13.2, CAL= 165.5,  15.6, ROT= 344.5, -15.6

2025-08-22T16:12:07.893Z,1755879127.893 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T16:12:07.898Z,1755879127.898 [DAT](INFO): direction in FSK: [0.928133,-0.257394,0.268920]
2025-08-22T16:12:07.898Z,1755879127.898 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:07.926Z,1755879127.926 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.512974
2025-08-22T16:12:08.013Z,1755879128.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.503694 s,
      deltaX: -0.400000 m,
      approachRate: -0.794132 m/s,
      rangeRepo size: 4

2025-08-22T16:12:08.019Z,1755879128.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.964655 m,
      bearing: 307.347539 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.503694 s,
      deltaX: -0.397549 m,
      approachRate: -0.789266 m/s,
      posRepo size: 4

2025-08-22T16:12:08.020Z,1755879128.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-08-22T16:12:08.034Z,1755879128.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.964655 m,
      nav range: 21.467268 m,
      bearing: 307.170812 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.522014 deg,
      new cmd heading: 319.470078 deg.

2025-08-22T16:12:08.035Z,1755879128.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.575805 target range: 21.964655 and range: 22.10 m.
2025-08-22T16:12:08.123Z,1755879128.123 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.709373
2025-08-22T16:12:08.384Z,1755879128.384 [DAT](INFO): DAT read: Rx Time:16:12:09.1189 

2025-08-22T16:12:08.385Z,1755879128.385 [DAT](INFO): Rx dataTimestamp_ set to:1755879128.384364
2025-08-22T16:12:08.389Z,1755879128.389 [DAT](INFO): DAT read: Bearing 141.4, -16.0 (Local)

2025-08-22T16:12:08.389Z,1755879128.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.4, -16.0 (Local)

2025-08-22T16:12:08.391Z,1755879128.391 [DAT](INFO): DAT read: Range 11 to 50 :    22.1 m (trip time 14.7 ms) speed 0.4

2025-08-22T16:12:08.396Z,1755879128.396 [DAT](INFO): DAT read: 16:12:09.1189 LVL= 29104, 28241, 22322, 32755, AGC= 54, IDX= 498,-0.43,-0.940,-2.378,-0.238,-0.724, PHS=-0.114,-1.609, 0.442, RAW= 165.2,  13.9, CAL= 165.7,  16.5, ROT= 344.3, -16.5

2025-08-22T16:12:08.398Z,1755879128.398 [DAT](INFO): got valid direction response:
 16:12:09.1189 LVL= 29104, 28241, 22322, 32755, AGC= 54, IDX= 498,-0.43,-0.940,-2.378,-0.238,-0.724, PHS=-0.114,-1.609, 0.442, RAW= 165.2,  13.9, CAL= 165.7,  16.5, ROT= 344.3, -16.5

2025-08-22T16:12:08.398Z,1755879128.398 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T16:12:08.399Z,1755879128.399 [DAT](INFO): direction in FSK: [0.923048,-0.259457,0.284015]
2025-08-22T16:12:08.399Z,1755879128.399 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:08.416Z,1755879128.416 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.002855
2025-08-22T16:12:08.499Z,1755879128.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 0.511731 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:08.501Z,1755879128.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.964729 m,
      bearing: 307.136573 deg,
      lat: 36.779424 deg,
      lon: -121.859660 deg,
      deltaT: 0.511731 s,
      deltaX: 0.000074 m,
      approachRate: 0.000145 m/s,
      posRepo size: 4

2025-08-22T16:12:08.502Z,1755879128.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.96 m.
2025-08-22T16:12:08.504Z,1755879128.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.964729 m,
      nav range: 21.245741 m,
      bearing: 307.200839 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.470077 deg,
      new cmd heading: 319.421214 deg.

2025-08-22T16:12:08.505Z,1755879128.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.574952 target range: 21.964729 and range: 22.10 m.
2025-08-22T16:12:08.627Z,1755879128.627 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.213705
2025-08-22T16:12:08.628Z,1755879128.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:12:08.881Z,1755879128.881 [DAT](INFO): DAT read: Rx Time:16:12:09.6186 

2025-08-22T16:12:08.882Z,1755879128.882 [DAT](INFO): Rx dataTimestamp_ set to:1755879128.880990
2025-08-22T16:12:08.884Z,1755879128.884 [DAT](INFO): DAT read: Bearing 141.3, -15.8 (Local)

2025-08-22T16:12:08.885Z,1755879128.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.3, -15.8 (Local)

2025-08-22T16:12:08.888Z,1755879128.888 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.4

2025-08-22T16:12:08.892Z,1755879128.892 [DAT](INFO): DAT read: 16:12:09.6186 LVL= 30576, 27217, 21234, 32755, AGC= 54, IDX= 495,-0.04,-1.770, 3.043,-1.065,-1.554, PHS=-0.115,-1.642, 0.445, RAW= 165.0,  13.9, CAL= 165.5,  16.5, ROT= 344.5, -16.5

2025-08-22T16:12:08.893Z,1755879128.893 [DAT](INFO): got valid direction response:
 16:12:09.6186 LVL= 30576, 27217, 21234, 32755, AGC= 54, IDX= 495,-0.04,-1.770, 3.043,-1.065,-1.554, PHS=-0.115,-1.642, 0.445, RAW= 165.0,  13.9, CAL= 165.5,  16.5, ROT= 344.5, -16.5

2025-08-22T16:12:08.894Z,1755879128.894 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T16:12:08.895Z,1755879128.895 [DAT](INFO): direction in FSK: [0.923948,-0.256234,0.284015]
2025-08-22T16:12:08.895Z,1755879128.895 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:08.898Z,1755879128.898 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.485176
2025-08-22T16:12:09.029Z,1755879129.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.496626 s,
      deltaX: -0.500000 m,
      approachRate: -1.006794 m/s,
      rangeRepo size: 4

2025-08-22T16:12:09.035Z,1755879129.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.467791 m,
      bearing: 307.197812 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.496626 s,
      deltaX: -0.496939 m,
      approachRate: -1.000630 m/s,
      posRepo size: 4

2025-08-22T16:12:09.036Z,1755879129.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m.
2025-08-22T16:12:09.068Z,1755879129.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.467791 m,
      nav range: 20.879730 m,
      bearing: 307.154653 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.421228 deg,
      new cmd heading: 319.365176 deg.

2025-08-22T16:12:09.080Z,1755879129.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573974 target range: 21.467791 and range: 21.60 m.
2025-08-22T16:12:09.131Z,1755879129.131 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.717541
2025-08-22T16:12:09.385Z,1755879129.385 [DAT](INFO): DAT read: Rx Time:16:12:10.1185 

2025-08-22T16:12:09.385Z,1755879129.385 [DAT](INFO): Rx dataTimestamp_ set to:1755879129.384792
2025-08-22T16:12:09.387Z,1755879129.387 [DAT](INFO): DAT read: Bearing 140.6, -15.5 (Local)

2025-08-22T16:12:09.387Z,1755879129.387 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.6, -15.5 (Local)

2025-08-22T16:12:09.389Z,1755879129.389 [DAT](INFO): DAT read: Range 11 to 50 :    21.5 m (trip time 14.3 ms) speed 0.4

2025-08-22T16:12:09.394Z,1755879129.394 [DAT](INFO): DAT read: 16:12:10.1185 LVL= 28096, 28257, 21810, 32755, AGC= 53, IDX= 510, 0.29, 1.266,-0.210, 1.964, 1.467, PHS=-0.100,-1.632, 0.453, RAW= 164.8,  13.6, CAL= 165.3,  16.1, ROT= 344.7, -16.1

2025-08-22T16:12:09.395Z,1755879129.395 [DAT](INFO): got valid direction response:
 16:12:10.1185 LVL= 28096, 28257, 21810, 32755, AGC= 53, IDX= 510, 0.29, 1.266,-0.210, 1.964, 1.467, PHS=-0.100,-1.632, 0.453, RAW= 164.8,  13.6, CAL= 165.3,  16.1, ROT= 344.7, -16.1

2025-08-22T16:12:09.395Z,1755879129.395 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T16:12:09.396Z,1755879129.396 [DAT](INFO): direction in FSK: [0.926727,-0.253524,0.277315]
2025-08-22T16:12:09.396Z,1755879129.396 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:09.404Z,1755879129.404 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.990686
2025-08-22T16:12:09.514Z,1755879129.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.500000 m,
      deltaT: 0.503802 s,
      deltaX: -0.100000 m,
      approachRate: -0.198491 m/s,
      rangeRepo size: 4

2025-08-22T16:12:09.516Z,1755879129.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.368444 m,
      bearing: 307.401823 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.503802 s,
      deltaX: -0.099346 m,
      approachRate: -0.197193 m/s,
      posRepo size: 4

2025-08-22T16:12:09.517Z,1755879129.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m.
2025-08-22T16:12:09.523Z,1755879129.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.368444 m,
      nav range: 20.641251 m,
      bearing: 307.093103 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.365166 deg,
      new cmd heading: 319.315555 deg.

2025-08-22T16:12:09.524Z,1755879129.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.573108 target range: 21.368444 and range: 21.50 m.
2025-08-22T16:12:09.635Z,1755879129.635 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.221489
2025-08-22T16:12:09.892Z,1755879129.892 [DAT](INFO): DAT read: Rx Time:16:12:10.6183 

2025-08-22T16:12:09.892Z,1755879129.892 [DAT](INFO): Rx dataTimestamp_ set to:1755879129.891976
2025-08-22T16:12:09.894Z,1755879129.894 [DAT](INFO): DAT read: Bearing 141.2, -15.7 (Local)

2025-08-22T16:12:09.894Z,1755879129.894 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.2, -15.7 (Local)

2025-08-22T16:12:09.896Z,1755879129.896 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.4

2025-08-22T16:12:09.901Z,1755879129.901 [DAT](INFO): DAT read: 16:12:10.6183 LVL= 27472, 26705, 20386, 32755, AGC= 53, IDX= 508,-0.20,-1.661,-3.125,-0.956,-1.440, PHS=-0.119,-1.640, 0.440, RAW= 165.1,  14.1, CAL= 165.6,  16.7, ROT= 344.4, -16.7

2025-08-22T16:12:09.906Z,1755879129.906 [DAT](INFO): got valid direction response:
 16:12:10.6183 LVL= 27472, 26705, 20386, 32755, AGC= 53, IDX= 508,-0.20,-1.661,-3.125,-0.956,-1.440, PHS=-0.119,-1.640, 0.440, RAW= 165.1,  14.1, CAL= 165.6,  16.7, ROT= 344.4, -16.7

2025-08-22T16:12:09.906Z,1755879129.906 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T16:12:09.907Z,1755879129.907 [DAT](INFO): direction in FSK: [0.922539,-0.257578,0.287361]
2025-08-22T16:12:09.907Z,1755879129.907 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:09.943Z,1755879129.943 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.529827
2025-08-22T16:12:10.024Z,1755879130.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.507184 s,
      deltaX: -0.299999 m,
      approachRate: -0.591500 m/s,
      rangeRepo size: 4

2025-08-22T16:12:10.030Z,1755879130.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.070280 m,
      bearing: 306.999965 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.507184 s,
      deltaX: -0.298164 m,
      approachRate: -0.587882 m/s,
      posRepo size: 4

2025-08-22T16:12:10.031Z,1755879130.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.07 m.
2025-08-22T16:12:10.038Z,1755879130.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.070280 m,
      nav range: 20.379169 m,
      bearing: 307.025307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.315551 deg,
      new cmd heading: 319.262470 deg.

2025-08-22T16:12:10.039Z,1755879130.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.572181 target range: 21.070280 and range: 21.20 m.
2025-08-22T16:12:10.140Z,1755879130.140 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.725887
2025-08-22T16:12:10.391Z,1755879130.391 [DAT](INFO): DAT read: Rx Time:16:12:11.1182 

2025-08-22T16:12:10.392Z,1755879130.392 [DAT](INFO): Rx dataTimestamp_ set to:1755879130.391311
2025-08-22T16:12:10.393Z,1755879130.393 [DAT](INFO): DAT read: Bearing 140.6, -15.6 (Local)

2025-08-22T16:12:10.393Z,1755879130.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.6, -15.6 (Local)

2025-08-22T16:12:10.395Z,1755879130.395 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.4

2025-08-22T16:12:10.400Z,1755879130.400 [DAT](INFO): DAT read: 16:12:11.1182 LVL= 30560, 26897, 21602, 32755, AGC= 53, IDX= 507, 0.14, 0.672,-0.812, 1.379, 0.882, PHS=-0.108,-1.648, 0.453, RAW= 164.9,  13.7, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:10.401Z,1755879130.401 [DAT](INFO): got valid direction response:
 16:12:11.1182 LVL= 30560, 26897, 21602, 32755, AGC= 53, IDX= 507, 0.14, 0.672,-0.812, 1.379, 0.882, PHS=-0.108,-1.648, 0.453, RAW= 164.9,  13.7, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:10.401Z,1755879130.401 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T16:12:10.402Z,1755879130.402 [DAT](INFO): direction in FSK: [0.925344,-0.254882,0.280667]
2025-08-22T16:12:10.402Z,1755879130.402 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:10.406Z,1755879130.406 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.992786
2025-08-22T16:12:10.423Z,1755879130.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.499335 s,
      deltaX: -0.200001 m,
      approachRate: -0.400534 m/s,
      rangeRepo size: 4

2025-08-22T16:12:10.425Z,1755879130.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.871313 m,
      bearing: 307.091204 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.499335 s,
      deltaX: -0.198967 m,
      approachRate: -0.398464 m/s,
      posRepo size: 4

2025-08-22T16:12:10.426Z,1755879130.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.87 m.
2025-08-22T16:12:10.429Z,1755879130.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.871313 m,
      nav range: 20.204664 m,
      bearing: 307.096098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.262467 deg,
      new cmd heading: 319.221255 deg.

2025-08-22T16:12:10.467Z,1755879130.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.571462 target range: 20.871313 and range: 21.00 m.
2025-08-22T16:12:10.643Z,1755879130.643 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.229544
2025-08-22T16:12:10.895Z,1755879130.895 [DAT](INFO): DAT read: Rx Time:16:12:11.6180 

2025-08-22T16:12:10.896Z,1755879130.896 [DAT](INFO): Rx dataTimestamp_ set to:1755879130.895430
2025-08-22T16:12:10.897Z,1755879130.897 [DAT](INFO): DAT read: Bearing 141.0, -15.6 (Local)

2025-08-22T16:12:10.897Z,1755879130.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.0, -15.6 (Local)

2025-08-22T16:12:10.899Z,1755879130.899 [DAT](INFO): DAT read: Range 11 to 50 :    20.7 m (trip time 13.8 ms) speed 0.4

2025-08-22T16:12:10.904Z,1755879130.904 [DAT](INFO): DAT read: 16:12:11.6180 LVL= 32704, 27809, 21234, 32755, AGC= 53, IDX= 505,-0.41,-1.667,-3.137,-0.961,-1.445, PHS=-0.119,-1.646, 0.440, RAW= 165.0,  14.1, CAL= 165.6,  16.7, ROT= 344.4, -16.7

2025-08-22T16:12:10.905Z,1755879130.905 [DAT](INFO): got valid direction response:
 16:12:11.6180 LVL= 32704, 27809, 21234, 32755, AGC= 53, IDX= 505,-0.41,-1.667,-3.137,-0.961,-1.445, PHS=-0.119,-1.646, 0.440, RAW= 165.0,  14.1, CAL= 165.6,  16.7, ROT= 344.4, -16.7

2025-08-22T16:12:10.905Z,1755879130.905 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T16:12:10.906Z,1755879130.906 [DAT](INFO): direction in FSK: [0.922539,-0.257578,0.287361]
2025-08-22T16:12:10.907Z,1755879130.907 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:10.926Z,1755879130.926 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.512932
2025-08-22T16:12:10.977Z,1755879130.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.700001 m,
      deltaT: 0.504119 s,
      deltaX: -0.299999 m,
      approachRate: -0.595096 m/s,
      rangeRepo size: 4

2025-08-22T16:12:10.983Z,1755879130.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.573153 m,
      bearing: 306.817490 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.504119 s,
      deltaX: -0.298161 m,
      approachRate: -0.591449 m/s,
      posRepo size: 4

2025-08-22T16:12:10.984Z,1755879130.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-22T16:12:10.991Z,1755879130.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.573153 m,
      nav range: 19.896822 m,
      bearing: 306.885954 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051606 deg/s,
      cmd heading: 319.221267 deg,
      new cmd heading: 319.164113 deg.

2025-08-22T16:12:10.992Z,1755879130.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.570465 target range: 20.573153 and range: 20.70 m.
2025-08-22T16:12:11.147Z,1755879131.147 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.733305
2025-08-22T16:12:11.386Z,1755879131.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:11.388Z,1755879131.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.57 m.
2025-08-22T16:12:11.391Z,1755879131.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.573153 m,
      nav range: 19.661987 m,
      bearing: 306.830590 deg,
      approach rate: -0.571046 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 319.164112 deg,
      new cmd heading: 319.052063 deg.

2025-08-22T16:12:11.391Z,1755879131.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.568509 target range: 20.573153 and range: 20.70 m.
2025-08-22T16:12:11.399Z,1755879131.399 [DAT](INFO): DAT read: Rx Time:16:12:12.1178 

2025-08-22T16:12:11.400Z,1755879131.400 [DAT](INFO): Rx dataTimestamp_ set to:1755879131.399405
2025-08-22T16:12:11.401Z,1755879131.401 [DAT](INFO): DAT read: Bearing 141.2, -15.7 (Local)

2025-08-22T16:12:11.401Z,1755879131.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.2, -15.7 (Local)

2025-08-22T16:12:11.403Z,1755879131.403 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.4

2025-08-22T16:12:11.408Z,1755879131.408 [DAT](INFO): DAT read: 16:12:12.1178 LVL= 28352, 31121, 20898, 32755, AGC= 54, IDX= 503,-0.04,-1.530,-2.987,-0.821,-1.302, PHS=-0.126,-1.640, 0.437, RAW= 165.2,  14.2, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:11.409Z,1755879131.409 [DAT](INFO): got valid direction response:
 16:12:12.1178 LVL= 28352, 31121, 20898, 32755, AGC= 54, IDX= 503,-0.04,-1.530,-2.987,-0.821,-1.302, PHS=-0.126,-1.640, 0.437, RAW= 165.2,  14.2, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:11.409Z,1755879131.409 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T16:12:11.411Z,1755879131.411 [DAT](INFO): direction in FSK: [0.921117,-0.258914,0.290702]
2025-08-22T16:12:11.411Z,1755879131.411 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:11.415Z,1755879131.415 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.001469
2025-08-22T16:12:11.651Z,1755879131.651 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.237301
2025-08-22T16:12:11.748Z,1755879131.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.503975 s,
      deltaX: -0.300001 m,
      approachRate: -0.595270 m/s,
      rangeRepo size: 4

2025-08-22T16:12:11.751Z,1755879131.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.274879 m,
      bearing: 306.667186 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.503975 s,
      deltaX: -0.298273 m,
      approachRate: -0.591841 m/s,
      posRepo size: 4

2025-08-22T16:12:11.751Z,1755879131.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.27 m.
2025-08-22T16:12:11.754Z,1755879131.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.274879 m,
      nav range: 19.488728 m,
      bearing: 306.834326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 319.052070 deg,
      new cmd heading: 318.953967 deg.

2025-08-22T16:12:11.755Z,1755879131.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.566797 target range: 20.274879 and range: 20.40 m.
2025-08-22T16:12:11.903Z,1755879131.903 [DAT](INFO): DAT read: Rx Time:16:12:12.6175 

2025-08-22T16:12:11.904Z,1755879131.904 [DAT](INFO): Rx dataTimestamp_ set to:1755879131.903487
2025-08-22T16:12:11.905Z,1755879131.905 [DAT](INFO): DAT read: Bearing 140.4, -15.5 (Local)

2025-08-22T16:12:11.905Z,1755879131.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.4, -15.5 (Local)

2025-08-22T16:12:11.907Z,1755879131.907 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-08-22T16:12:11.912Z,1755879131.912 [DAT](INFO): DAT read: 16:12:12.6175 LVL= 26784, 25409, 19282, 32755, AGC= 53, IDX= 500, 0.26,-1.304,-2.779,-0.594,-1.092, PHS=-0.110,-1.641, 0.455, RAW= 165.1,  13.7, CAL= 165.6,  16.3, ROT= 344.4, -16.3

2025-08-22T16:12:11.913Z,1755879131.913 [DAT](INFO): got valid direction response:
 16:12:12.6175 LVL= 26784, 25409, 19282, 32755, AGC= 53, IDX= 500, 0.26,-1.304,-2.779,-0.594,-1.092, PHS=-0.110,-1.641, 0.455, RAW= 165.1,  13.7, CAL= 165.6,  16.3, ROT= 344.4, -16.3

2025-08-22T16:12:11.914Z,1755879131.914 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T16:12:11.915Z,1755879131.915 [DAT](INFO): direction in FSK: [0.924449,-0.258111,0.280667]
2025-08-22T16:12:11.915Z,1755879131.915 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:11.919Z,1755879131.919 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.505356
2025-08-22T16:12:12.155Z,1755879132.155 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.741282
2025-08-22T16:12:12.222Z,1755879132.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504082 s,
      deltaX: -0.400000 m,
      approachRate: -0.793521 m/s,
      rangeRepo size: 4

2025-08-22T16:12:12.224Z,1755879132.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.877335 m,
      bearing: 306.726672 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.504082 s,
      deltaX: -0.397545 m,
      approachRate: -0.788651 m/s,
      posRepo size: 4

2025-08-22T16:12:12.224Z,1755879132.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-08-22T16:12:12.231Z,1755879132.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.877335 m,
      nav range: 19.250483 m,
      bearing: 306.730695 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.953961 deg,
      new cmd heading: 318.827186 deg.

2025-08-22T16:12:12.232Z,1755879132.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.564584 target range: 19.877335 and range: 20.00 m.
2025-08-22T16:12:12.407Z,1755879132.407 [DAT](INFO): DAT read: Rx Time:16:12:13.1175 

2025-08-22T16:12:12.408Z,1755879132.408 [DAT](INFO): Rx dataTimestamp_ set to:1755879132.407611
2025-08-22T16:12:12.409Z,1755879132.409 [DAT](INFO): DAT read: Bearing 141.1, -15.6 (Local)

2025-08-22T16:12:12.410Z,1755879132.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.1, -15.6 (Local)

2025-08-22T16:12:12.412Z,1755879132.412 [DAT](INFO): DAT read: Range 11 to 50 :    20.0 m (trip time 13.3 ms) speed 0.4

2025-08-22T16:12:12.416Z,1755879132.416 [DAT](INFO): DAT read: 16:12:13.1175 LVL= 32752, 28561, 23138, 32755, AGC= 53, IDX= 500,-0.28,-1.819, 3.008,-1.107,-1.588, PHS=-0.129,-1.642, 0.437, RAW= 165.3,  14.2, CAL= 165.8,  17.0, ROT= 344.2, -17.0

2025-08-22T16:12:12.418Z,1755879132.418 [DAT](INFO): got valid direction response:
 16:12:13.1175 LVL= 32752, 28561, 23138, 32755, AGC= 53, IDX= 500,-0.28,-1.819, 3.008,-1.107,-1.588, PHS=-0.129,-1.642, 0.437, RAW= 165.3,  14.2, CAL= 165.8,  17.0, ROT= 344.2, -17.0

2025-08-22T16:12:12.418Z,1755879132.418 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T16:12:12.419Z,1755879132.419 [DAT](INFO): direction in FSK: [0.920174,-0.260383,0.292372]
2025-08-22T16:12:12.419Z,1755879132.419 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:12.427Z,1755879132.427 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.013462
2025-08-22T16:12:12.595Z,1755879132.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 0.504124 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:12.597Z,1755879132.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.877281 m,
      bearing: 306.464963 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.504124 s,
      deltaX: -0.000053 m,
      approachRate: -0.000106 m/s,
      posRepo size: 4

2025-08-22T16:12:12.598Z,1755879132.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m.
2025-08-22T16:12:12.601Z,1755879132.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.877281 m,
      nav range: 19.055336 m,
      bearing: 306.714706 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.827193 deg,
      new cmd heading: 318.723248 deg.

2025-08-22T16:12:12.618Z,1755879132.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.562770 target range: 19.877281 and range: 20.00 m.
2025-08-22T16:12:12.659Z,1755879132.659 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.245373
2025-08-22T16:12:12.911Z,1755879132.911 [DAT](INFO): DAT read: Rx Time:16:12:13.6172 

2025-08-22T16:12:12.912Z,1755879132.912 [DAT](INFO): Rx dataTimestamp_ set to:1755879132.911335
2025-08-22T16:12:12.913Z,1755879132.913 [DAT](INFO): DAT read: Bearing 141.0, -15.4 (Local)

2025-08-22T16:12:12.913Z,1755879132.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 141.0, -15.4 (Local)

2025-08-22T16:12:12.915Z,1755879132.915 [DAT](INFO): DAT read: Range 11 to 50 :    19.5 m (trip time 13.0 ms) speed 0.4

2025-08-22T16:12:12.920Z,1755879132.920 [DAT](INFO): DAT read: 16:12:13.6172 LVL= 32752, 30065, 23522, 32755, AGC= 52, IDX= 497, 0.02,-1.845, 2.976,-1.136,-1.617, PHS=-0.126,-1.645, 0.437, RAW= 165.1,  14.2, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:12.921Z,1755879132.921 [DAT](INFO): got valid direction response:
 16:12:13.6172 LVL= 32752, 30065, 23522, 32755, AGC= 52, IDX= 497, 0.02,-1.845, 2.976,-1.136,-1.617, PHS=-0.126,-1.645, 0.437, RAW= 165.1,  14.2, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:12.921Z,1755879132.921 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T16:12:12.922Z,1755879132.922 [DAT](INFO): direction in FSK: [0.921117,-0.258914,0.290702]
2025-08-22T16:12:12.922Z,1755879132.922 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:12.926Z,1755879132.926 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.512831
2025-08-22T16:12:13.103Z,1755879133.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.500000 m,
      deltaT: 0.503724 s,
      deltaX: -0.500000 m,
      approachRate: -0.992607 m/s,
      rangeRepo size: 4

2025-08-22T16:12:13.105Z,1755879133.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.380348 m,
      bearing: 306.495982 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.503724 s,
      deltaX: -0.496933 m,
      approachRate: -0.986518 m/s,
      posRepo size: 4

2025-08-22T16:12:13.105Z,1755879133.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m.
2025-08-22T16:12:13.112Z,1755879133.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.380348 m,
      nav range: 18.778879 m,
      bearing: 306.594302 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.723237 deg,
      new cmd heading: 318.586102 deg.

2025-08-22T16:12:13.113Z,1755879133.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.560377 target range: 19.380348 and range: 19.50 m.
2025-08-22T16:12:13.164Z,1755879133.164 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.750723
2025-08-22T16:12:13.415Z,1755879133.415 [DAT](INFO): DAT read: Rx Time:16:12:14.1171 

2025-08-22T16:12:13.416Z,1755879133.416 [DAT](INFO): Rx dataTimestamp_ set to:1755879133.415325
2025-08-22T16:12:13.417Z,1755879133.417 [DAT](INFO): DAT read: Bearing 152.6, -17.9 (Local)

2025-08-22T16:12:13.417Z,1755879133.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 152.6, -17.9 (Local)

2025-08-22T16:12:13.419Z,1755879133.419 [DAT](INFO): DAT read: Range 11 to 50 :    19.4 m (trip time 12.9 ms) speed 0.4

2025-08-22T16:12:13.424Z,1755879133.424 [DAT](INFO): DAT read: 16:12:14.1171 LVL= 27088, 26865, 22002, 32755, AGC= 52, IDX= 512, 0.30, 0.776,-0.587, 1.646, 1.289, PHS=-0.411,-1.830, 0.313, RAW= 169.4,  19.8, CAL= 170.3,  27.6, ROT= 339.7, -27.6

2025-08-22T16:12:13.425Z,1755879133.425 [DAT](INFO): got valid direction response:
 16:12:14.1171 LVL= 27088, 26865, 22002, 32755, AGC= 52, IDX= 512, 0.30, 0.776,-0.587, 1.646, 1.289, PHS=-0.411,-1.830, 0.313, RAW= 169.4,  19.8, CAL= 170.3,  27.6, ROT= 339.7, -27.6

2025-08-22T16:12:13.425Z,1755879133.425 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:12:13.426Z,1755879133.426 [DAT](INFO): direction in FSK: [0.831161,-0.307456,0.463296]
2025-08-22T16:12:13.426Z,1755879133.426 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:13.438Z,1755879133.438 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.024826
2025-08-22T16:12:13.545Z,1755879133.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.400000 m,
      deltaT: 0.503990 s,
      deltaX: -0.100000 m,
      approachRate: -0.198417 m/s,
      rangeRepo size: 4

2025-08-22T16:12:13.555Z,1755879133.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.281134 m,
      bearing: 301.707116 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.503990 s,
      deltaX: -0.099215 m,
      approachRate: -0.196858 m/s,
      posRepo size: 4

2025-08-22T16:12:13.556Z,1755879133.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m.
2025-08-22T16:12:13.563Z,1755879133.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.281134 m,
      nav range: 18.539108 m,
      bearing: 306.563597 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.586114 deg,
      new cmd heading: 318.464492 deg.

2025-08-22T16:12:13.564Z,1755879133.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.558254 target range: 19.281134 and range: 19.40 m.
2025-08-22T16:12:13.667Z,1755879133.667 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.253510
2025-08-22T16:12:13.919Z,1755879133.919 [DAT](INFO): DAT read: Rx Time:16:12:14.6169 

2025-08-22T16:12:13.920Z,1755879133.920 [DAT](INFO): Rx dataTimestamp_ set to:1755879133.919374
2025-08-22T16:12:13.921Z,1755879133.921 [DAT](INFO): DAT read: Bearing 140.9, -15.3 (Local)

2025-08-22T16:12:13.921Z,1755879133.921 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.9, -15.3 (Local)

2025-08-22T16:12:13.923Z,1755879133.923 [DAT](INFO): DAT read: Range 11 to 50 :    19.1 m (trip time 12.7 ms) speed 0.4

2025-08-22T16:12:13.928Z,1755879133.928 [DAT](INFO): DAT read: 16:12:14.6169 LVL= 29920, 28593, 21490, 32755, AGC= 53, IDX= 510,-0.24, 2.914, 1.460,-2.659,-3.137, PHS=-0.131,-1.641, 0.433, RAW= 165.2,  14.3, CAL= 165.8,  17.1, ROT= 344.2, -17.1

2025-08-22T16:12:13.929Z,1755879133.929 [DAT](INFO): got valid direction response:
 16:12:14.6169 LVL= 29920, 28593, 21490, 32755, AGC= 53, IDX= 510,-0.24, 2.914, 1.460,-2.659,-3.137, PHS=-0.131,-1.641, 0.433, RAW= 165.2,  14.3, CAL= 165.8,  17.1, ROT= 344.2, -17.1

2025-08-22T16:12:13.929Z,1755879133.929 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:12:13.930Z,1755879133.930 [DAT](INFO): direction in FSK: [0.919681,-0.260243,0.294040]
2025-08-22T16:12:13.930Z,1755879133.931 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:13.938Z,1755879133.938 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.524864
2025-08-22T16:12:14.019Z,1755879134.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.100000 m,
      deltaT: 0.504049 s,
      deltaX: -0.299999 m,
      approachRate: -0.595179 m/s,
      rangeRepo size: 4

2025-08-22T16:12:14.020Z,1755879134.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.982973 m,
      bearing: 306.233105 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.504049 s,
      deltaX: -0.298161 m,
      approachRate: -0.591531 m/s,
      posRepo size: 4

2025-08-22T16:12:14.021Z,1755879134.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.98 m.
2025-08-22T16:12:14.024Z,1755879134.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.982973 m,
      nav range: 18.261885 m,
      bearing: 306.315537 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.464482 deg,
      new cmd heading: 318.337639 deg.

2025-08-22T16:12:14.025Z,1755879134.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.556040 target range: 18.982973 and range: 19.10 m.
2025-08-22T16:12:14.171Z,1755879134.171 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.758121
2025-08-22T16:12:14.423Z,1755879134.423 [DAT](INFO): DAT read: Rx Time:16:12:15.1168 

2025-08-22T16:12:14.424Z,1755879134.424 [DAT](INFO): Rx dataTimestamp_ set to:1755879134.423626
2025-08-22T16:12:14.425Z,1755879134.425 [DAT](INFO): DAT read: Bearing 139.7, -15.1 (Local)

2025-08-22T16:12:14.426Z,1755879134.426 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.7, -15.1 (Local)

2025-08-22T16:12:14.428Z,1755879134.428 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.4

2025-08-22T16:12:14.433Z,1755879134.433 [DAT](INFO): DAT read: 16:12:15.1168 LVL= 27456, 26337, 24242, 32755, AGC= 52, IDX= 509, 0.03,-0.363,-1.812, 0.338,-0.156, PHS=-0.106,-1.612, 0.450, RAW= 165.1,  13.6, CAL= 165.6,  16.2, ROT= 344.4, -16.2

2025-08-22T16:12:14.434Z,1755879134.434 [DAT](INFO): got valid direction response:
 16:12:15.1168 LVL= 27456, 26337, 24242, 32755, AGC= 52, IDX= 509, 0.03,-0.363,-1.812, 0.338,-0.156, PHS=-0.106,-1.612, 0.450, RAW= 165.1,  13.6, CAL= 165.6,  16.2, ROT= 344.4, -16.2

2025-08-22T16:12:14.434Z,1755879134.434 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:12:14.435Z,1755879134.435 [DAT](INFO): direction in FSK: [0.924919,-0.258242,0.278991]
2025-08-22T16:12:14.436Z,1755879134.436 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:14.439Z,1755879134.439 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.026085
2025-08-22T16:12:14.473Z,1755879134.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.504252 s,
      deltaX: -0.200001 m,
      approachRate: -0.396629 m/s,
      rangeRepo size: 4

2025-08-22T16:12:14.483Z,1755879134.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.784405 m,
      bearing: 306.452885 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.504252 s,
      deltaX: -0.198568 m,
      approachRate: -0.393788 m/s,
      posRepo size: 4

2025-08-22T16:12:14.484Z,1755879134.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.78 m.
2025-08-22T16:12:14.491Z,1755879134.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.784405 m,
      nav range: 18.047569 m,
      bearing: 306.202948 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.337632 deg,
      new cmd heading: 318.211678 deg.

2025-08-22T16:12:14.492Z,1755879134.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.553842 target range: 18.784405 and range: 18.90 m.
2025-08-22T16:12:14.675Z,1755879134.675 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.261536
2025-08-22T16:12:14.927Z,1755879134.927 [DAT](INFO): DAT read: Rx Time:16:12:15.6166 

2025-08-22T16:12:14.928Z,1755879134.928 [DAT](INFO): Rx dataTimestamp_ set to:1755879134.927348
2025-08-22T16:12:14.929Z,1755879134.929 [DAT](INFO): DAT read: Bearing 139.8, -15.0 (Local)

2025-08-22T16:12:14.929Z,1755879134.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.8, -15.0 (Local)

2025-08-22T16:12:14.935Z,1755879134.935 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.4

2025-08-22T16:12:14.939Z,1755879134.939 [DAT](INFO): DAT read: 16:12:15.6166 LVL= 28864, 26097, 21298, 32755, AGC= 52, IDX= 506, 0.39,-1.680,-3.141,-0.980,-1.469, PHS=-0.109,-1.627, 0.445, RAW= 165.0,  13.8, CAL= 165.5,  16.4, ROT= 344.5, -16.4

2025-08-22T16:12:14.940Z,1755879134.940 [DAT](INFO): got valid direction response:
 16:12:15.6166 LVL= 28864, 26097, 21298, 32755, AGC= 52, IDX= 506, 0.39,-1.680,-3.141,-0.980,-1.469, PHS=-0.109,-1.627, 0.445, RAW= 165.0,  13.8, CAL= 165.5,  16.4, ROT= 344.5, -16.4

2025-08-22T16:12:14.941Z,1755879134.941 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T16:12:14.942Z,1755879134.942 [DAT](INFO): direction in FSK: [0.924424,-0.256366,0.282341]
2025-08-22T16:12:14.942Z,1755879134.942 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:14.957Z,1755879134.957 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.543430
2025-08-22T16:12:14.994Z,1755879134.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.503722 s,
      deltaX: -0.299999 m,
      approachRate: -0.595565 m/s,
      rangeRepo size: 4

2025-08-22T16:12:14.996Z,1755879134.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.486240 m,
      bearing: 306.424806 deg,
      lat: 36.779423 deg,
      lon: -121.859659 deg,
      deltaT: 0.503722 s,
      deltaX: -0.298164 m,
      approachRate: -0.591922 m/s,
      posRepo size: 4

2025-08-22T16:12:14.997Z,1755879134.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m.
2025-08-22T16:12:15.018Z,1755879135.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.486240 m,
      nav range: 17.771540 m,
      bearing: 306.145540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.136235 deg/s,
      cmd heading: 318.211683 deg,
      new cmd heading: 318.070695 deg.

2025-08-22T16:12:15.019Z,1755879135.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.551381 target range: 18.486240 and range: 18.60 m.
2025-08-22T16:12:15.179Z,1755879135.179 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.765697
2025-08-22T16:12:15.404Z,1755879135.404 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:15.413Z,1755879135.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m.
2025-08-22T16:12:15.426Z,1755879135.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.486240 m,
      nav range: 17.555588 m,
      bearing: 306.100387 deg,
      approach rate: -0.510170 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 318.070708 deg,
      new cmd heading: 317.979291 deg.

2025-08-22T16:12:15.427Z,1755879135.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.549786 target range: 18.486240 and range: 18.60 m.
2025-08-22T16:12:15.431Z,1755879135.431 [DAT](INFO): DAT read: Rx Time:16:12:16.1165 

2025-08-22T16:12:15.432Z,1755879135.432 [DAT](INFO): Rx dataTimestamp_ set to:1755879135.431419
2025-08-22T16:12:15.433Z,1755879135.433 [DAT](INFO): DAT read: Bearing 140.0, -15.3 (Local)

2025-08-22T16:12:15.433Z,1755879135.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 140.0, -15.3 (Local)

2025-08-22T16:12:15.435Z,1755879135.435 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.4

2025-08-22T16:12:15.440Z,1755879135.440 [DAT](INFO): DAT read: 16:12:16.1165 LVL= 28400, 27521, 20850, 32755, AGC= 52, IDX= 505,-0.18, 3.033, 1.599,-2.546,-3.029, PHS=-0.120,-1.610, 0.438, RAW= 165.3,  14.0, CAL= 165.8,  16.7, ROT= 344.2, -16.7

2025-08-22T16:12:15.441Z,1755879135.441 [DAT](INFO): got valid direction response:
 16:12:16.1165 LVL= 28400, 27521, 20850, 32755, AGC= 52, IDX= 505,-0.18, 3.033, 1.599,-2.546,-3.029, PHS=-0.120,-1.610, 0.438, RAW= 165.3,  14.0, CAL= 165.8,  16.7, ROT= 344.2, -16.7

2025-08-22T16:12:15.442Z,1755879135.442 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T16:12:15.443Z,1755879135.443 [DAT](INFO): direction in FSK: [0.921634,-0.260796,0.287361]
2025-08-22T16:12:15.443Z,1755879135.443 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:15.449Z,1755879135.449 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.035480
2025-08-22T16:12:15.683Z,1755879135.683 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.270157
2025-08-22T16:12:15.832Z,1755879135.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.504071 s,
      deltaX: -0.100000 m,
      approachRate: -0.198386 m/s,
      rangeRepo size: 4

2025-08-22T16:12:15.847Z,1755879135.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.386971 m,
      bearing: 305.996345 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.504071 s,
      deltaX: -0.099270 m,
      approachRate: -0.196936 m/s,
      posRepo size: 4

2025-08-22T16:12:15.849Z,1755879135.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m.
2025-08-22T16:12:15.868Z,1755879135.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.386971 m,
      nav range: 17.430489 m,
      bearing: 306.345508 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.979293 deg,
      new cmd heading: 317.894028 deg.

2025-08-22T16:12:15.874Z,1755879135.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.548297 target range: 18.386971 and range: 18.50 m.
2025-08-22T16:12:15.938Z,1755879135.938 [DAT](INFO): DAT read: Rx Time:16:12:16.6162 

2025-08-22T16:12:15.938Z,1755879135.938 [DAT](INFO): Rx dataTimestamp_ set to:1755879135.937728
2025-08-22T16:12:15.939Z,1755879135.939 [DAT](INFO): DAT read: Bearing 139.4, -15.0 (Local)

2025-08-22T16:12:15.940Z,1755879135.940 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.4, -15.0 (Local)

2025-08-22T16:12:15.942Z,1755879135.942 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-08-22T16:12:15.946Z,1755879135.946 [DAT](INFO): DAT read: 16:12:16.6162 LVL= 28384, 27825, 20642, 32755, AGC= 52, IDX= 502, 0.13,-3.100, 1.712,-2.396,-2.889, PHS=-0.110,-1.637, 0.449, RAW= 165.0,  13.8, CAL= 165.5,  16.4, ROT= 344.5, -16.4

2025-08-22T16:12:15.947Z,1755879135.947 [DAT](INFO): got valid direction response:
 16:12:16.6162 LVL= 28384, 27825, 20642, 32755, AGC= 52, IDX= 502, 0.13,-3.100, 1.712,-2.396,-2.889, PHS=-0.110,-1.637, 0.449, RAW= 165.0,  13.8, CAL= 165.5,  16.4, ROT= 344.5, -16.4

2025-08-22T16:12:15.948Z,1755879135.948 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T16:12:15.948Z,1755879135.948 [DAT](INFO): direction in FSK: [0.924424,-0.256366,0.282341]
2025-08-22T16:12:15.949Z,1755879135.949 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:15.956Z,1755879135.956 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.543121
2025-08-22T16:12:16.188Z,1755879136.188 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.774616
2025-08-22T16:12:16.313Z,1755879136.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.506309 s,
      deltaX: -0.500000 m,
      approachRate: -0.987539 m/s,
      rangeRepo size: 4

2025-08-22T16:12:16.329Z,1755879136.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.890026 m,
      bearing: 306.218567 deg,
      lat: 36.779424 deg,
      lon: -121.859659 deg,
      deltaT: 0.506309 s,
      deltaX: -0.496944 m,
      approachRate: -0.981504 m/s,
      posRepo size: 4

2025-08-22T16:12:16.336Z,1755879136.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-22T16:12:16.352Z,1755879136.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.890026 m,
      nav range: 17.217150 m,
      bearing: 306.268446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.894025 deg,
      new cmd heading: 317.785708 deg.

2025-08-22T16:12:16.358Z,1755879136.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.546407 target range: 17.890026 and range: 18.00 m.
2025-08-22T16:12:16.439Z,1755879136.439 [DAT](INFO): DAT read: Rx Time:16:12:17.1162 

2025-08-22T16:12:16.440Z,1755879136.440 [DAT](INFO): Rx dataTimestamp_ set to:1755879136.439510
2025-08-22T16:12:16.441Z,1755879136.441 [DAT](INFO): DAT read: Bearing 139.8, -15.0 (Local)

2025-08-22T16:12:16.441Z,1755879136.441 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.8, -15.0 (Local)

2025-08-22T16:12:16.443Z,1755879136.443 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.4

2025-08-22T16:12:16.448Z,1755879136.448 [DAT](INFO): DAT read: 16:12:17.1162 LVL= 28656, 27281, 22706, 32755, AGC= 52, IDX= 502,-0.42, 3.082, 1.629,-2.501,-2.977, PHS=-0.122,-1.632, 0.432, RAW= 165.0,  14.2, CAL= 165.6,  16.9, ROT= 344.4, -16.9

2025-08-22T16:12:16.449Z,1755879136.449 [DAT](INFO): got valid direction response:
 16:12:17.1162 LVL= 28656, 27281, 22706, 32755, AGC= 52, IDX= 502,-0.42, 3.082, 1.629,-2.501,-2.977, PHS=-0.122,-1.632, 0.432, RAW= 165.0,  14.2, CAL= 165.6,  16.9, ROT= 344.4, -16.9

2025-08-22T16:12:16.449Z,1755879136.449 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:12:16.450Z,1755879136.450 [DAT](INFO): direction in FSK: [0.921567,-0.257306,0.290702]
2025-08-22T16:12:16.451Z,1755879136.451 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:16.462Z,1755879136.462 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.048939
2025-08-22T16:12:16.691Z,1755879136.691 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.277267
2025-08-22T16:12:16.740Z,1755879136.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.501782 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:16.746Z,1755879136.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.890064 m,
      bearing: 306.037416 deg,
      lat: 36.779424 deg,
      lon: -121.859660 deg,
      deltaT: 0.501782 s,
      deltaX: 0.000038 m,
      approachRate: 0.000076 m/s,
      posRepo size: 4

2025-08-22T16:12:16.747Z,1755879136.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m.
2025-08-22T16:12:16.758Z,1755879136.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.890064 m,
      nav range: 17.019758 m,
      bearing: 306.171565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.785698 deg,
      new cmd heading: 317.692716 deg.

2025-08-22T16:12:16.759Z,1755879136.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.544784 target range: 17.890064 and range: 18.00 m.
2025-08-22T16:12:16.943Z,1755879136.943 [DAT](INFO): DAT read: Rx Time:16:12:17.6159 

2025-08-22T16:12:16.944Z,1755879136.944 [DAT](INFO): Rx dataTimestamp_ set to:1755879136.943460
2025-08-22T16:12:16.945Z,1755879136.945 [DAT](INFO): DAT read: Bearing 139.2, -14.9 (Local)

2025-08-22T16:12:16.945Z,1755879136.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.2, -14.9 (Local)

2025-08-22T16:12:16.947Z,1755879136.947 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.4

2025-08-22T16:12:16.952Z,1755879136.952 [DAT](INFO): DAT read: 16:12:17.6159 LVL= 28640, 26353, 22114, 32755, AGC= 52, IDX= 499,-0.04, 2.091, 0.635, 2.796, 2.309, PHS=-0.116,-1.629, 0.443, RAW= 165.1,  13.9, CAL= 165.6,  16.6, ROT= 344.4, -16.6

2025-08-22T16:12:16.953Z,1755879136.953 [DAT](INFO): got valid direction response:
 16:12:17.6159 LVL= 28640, 26353, 22114, 32755, AGC= 52, IDX= 499,-0.04, 2.091, 0.635, 2.796, 2.309, PHS=-0.116,-1.629, 0.443, RAW= 165.1,  13.9, CAL= 165.6,  16.6, ROT= 344.4, -16.6

2025-08-22T16:12:16.954Z,1755879136.954 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:12:16.954Z,1755879136.954 [DAT](INFO): direction in FSK: [0.923020,-0.257712,0.285688]
2025-08-22T16:12:16.955Z,1755879136.955 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:16.974Z,1755879136.974 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.560966
2025-08-22T16:12:17.195Z,1755879137.195 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.782021
2025-08-22T16:12:17.219Z,1755879137.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.503950 s,
      deltaX: -0.400000 m,
      approachRate: -0.793729 m/s,
      rangeRepo size: 4

2025-08-22T16:12:17.221Z,1755879137.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.492508 m,
      bearing: 306.042947 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.503950 s,
      deltaX: -0.397556 m,
      approachRate: -0.788880 m/s,
      posRepo size: 4

2025-08-22T16:12:17.221Z,1755879137.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.49 m.
2025-08-22T16:12:17.224Z,1755879137.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.492508 m,
      nav range: 16.844208 m,
      bearing: 306.043007 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.692725 deg,
      new cmd heading: 317.589457 deg.

2025-08-22T16:12:17.225Z,1755879137.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.542982 target range: 17.492508 and range: 17.60 m.
2025-08-22T16:12:17.447Z,1755879137.447 [DAT](INFO): DAT read: Rx Time:16:12:18.1158 

2025-08-22T16:12:17.448Z,1755879137.448 [DAT](INFO): Rx dataTimestamp_ set to:1755879137.447224
2025-08-22T16:12:17.449Z,1755879137.449 [DAT](INFO): DAT read: Bearing 138.8, -14.7 (Local)

2025-08-22T16:12:17.449Z,1755879137.449 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.8, -14.7 (Local)

2025-08-22T16:12:17.451Z,1755879137.451 [DAT](INFO): DAT read: Range 11 to 50 :    17.4 m (trip time 11.6 ms) speed 0.4

2025-08-22T16:12:17.456Z,1755879137.456 [DAT](INFO): DAT read: 16:12:18.1158 LVL= 31280, 28913, 20722, 32755, AGC= 51, IDX= 498, 0.30,-1.346,-2.811,-0.648,-1.137, PHS=-0.107,-1.628, 0.446, RAW= 164.9,  13.8, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:17.457Z,1755879137.457 [DAT](INFO): got valid direction response:
 16:12:18.1158 LVL= 31280, 28913, 20722, 32755, AGC= 51, IDX= 498, 0.30,-1.346,-2.811,-0.648,-1.137, PHS=-0.107,-1.628, 0.446, RAW= 164.9,  13.8, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:17.458Z,1755879137.458 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:12:17.459Z,1755879137.459 [DAT](INFO): direction in FSK: [0.925344,-0.254882,0.280667]
2025-08-22T16:12:17.459Z,1755879137.459 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:17.462Z,1755879137.462 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.049126
2025-08-22T16:12:17.636Z,1755879137.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.400000 m,
      deltaT: 0.503764 s,
      deltaX: -0.200001 m,
      approachRate: -0.397013 m/s,
      rangeRepo size: 4

2025-08-22T16:12:17.642Z,1755879137.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.293718 m,
      bearing: 306.049422 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.503764 s,
      deltaX: -0.198790 m,
      approachRate: -0.394609 m/s,
      posRepo size: 4

2025-08-22T16:12:17.643Z,1755879137.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m.
2025-08-22T16:12:17.652Z,1755879137.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.293718 m,
      nav range: 16.654800 m,
      bearing: 305.994894 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.589453 deg,
      new cmd heading: 317.499259 deg.

2025-08-22T16:12:17.656Z,1755879137.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.541408 target range: 17.293718 and range: 17.40 m.
2025-08-22T16:12:17.700Z,1755879137.700 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.286594
2025-08-22T16:12:17.955Z,1755879137.955 [DAT](INFO): DAT read: Rx Time:16:12:18.6156 

2025-08-22T16:12:17.957Z,1755879137.957 [DAT](INFO): Rx dataTimestamp_ set to:1755879137.955755
2025-08-22T16:12:17.961Z,1755879137.961 [DAT](INFO): DAT read: Bearing 139.2, -14.6 (Local)

2025-08-22T16:12:17.966Z,1755879137.966 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.2, -14.6 (Local)

2025-08-22T16:12:17.969Z,1755879137.969 [DAT](INFO): DAT read: Range 11 to 50 :    17.1 m (trip time 11.4 ms) speed 0.4

2025-08-22T16:12:17.973Z,1755879137.973 [DAT](INFO): DAT read: 16:12:18.6156 LVL= 28272, 26977, 21106, 32755, AGC= 52, IDX= 496,-0.20, 1.960, 0.500, 2.659, 2.181, PHS=-0.119,-1.636, 0.434, RAW= 164.9,  14.1, CAL= 165.5,  16.8, ROT= 344.5, -16.8

2025-08-22T16:12:17.990Z,1755879137.990 [DAT](INFO): got valid direction response:
 16:12:18.6156 LVL= 28272, 26977, 21106, 32755, AGC= 52, IDX= 496,-0.20, 1.960, 0.500, 2.659, 2.181, PHS=-0.119,-1.636, 0.434, RAW= 164.9,  14.1, CAL= 165.5,  16.8, ROT= 344.5, -16.8

2025-08-22T16:12:17.991Z,1755879137.991 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:12:17.992Z,1755879137.992 [DAT](INFO): direction in FSK: [0.922502,-0.255833,0.289032]
2025-08-22T16:12:17.992Z,1755879137.992 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:17.000Z,1755879138.000 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.586559
2025-08-22T16:12:18.110Z,1755879138.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 0.508531 s,
      deltaX: -0.299999 m,
      approachRate: -0.589933 m/s,
      rangeRepo size: 4

2025-08-22T16:12:18.112Z,1755879138.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.995552 m,
      bearing: 305.856916 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.508531 s,
      deltaX: -0.298166 m,
      approachRate: -0.586329 m/s,
      posRepo size: 4

2025-08-22T16:12:18.113Z,1755879138.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m.
2025-08-22T16:12:18.120Z,1755879138.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.995552 m,
      nav range: 16.388134 m,
      bearing: 305.955746 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.499267 deg,
      new cmd heading: 317.400420 deg.

2025-08-22T16:12:18.120Z,1755879138.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.539682 target range: 16.995552 and range: 17.10 m.
2025-08-22T16:12:18.203Z,1755879138.203 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.789436
2025-08-22T16:12:18.455Z,1755879138.455 [DAT](INFO): DAT read: Rx Time:16:12:19.1154 

2025-08-22T16:12:18.455Z,1755879138.455 [DAT](INFO): Rx dataTimestamp_ set to:1755879138.455176
2025-08-22T16:12:18.457Z,1755879138.457 [DAT](INFO): DAT read: Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:18.457Z,1755879138.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:18.459Z,1755879138.459 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.4

2025-08-22T16:12:18.463Z,1755879138.463 [DAT](INFO): DAT read: 16:12:19.1154 LVL= 28912, 27985, 21890, 32755, AGC= 52, IDX= 510, 0.12,-2.490, 2.324,-1.790,-2.281, PHS=-0.107,-1.633, 0.447, RAW= 164.9,  13.8, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:18.464Z,1755879138.464 [DAT](INFO): got valid direction response:
 16:12:19.1154 LVL= 28912, 27985, 21890, 32755, AGC= 52, IDX= 510, 0.12,-2.490, 2.324,-1.790,-2.281, PHS=-0.107,-1.633, 0.447, RAW= 164.9,  13.8, CAL= 165.4,  16.3, ROT= 344.6, -16.3

2025-08-22T16:12:18.465Z,1755879138.465 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:12:18.466Z,1755879138.466 [DAT](INFO): direction in FSK: [0.925344,-0.254882,0.280667]
2025-08-22T16:12:18.466Z,1755879138.466 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:18.470Z,1755879138.470 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.056297
2025-08-22T16:12:18.541Z,1755879138.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.499421 s,
      deltaX: -0.300001 m,
      approachRate: -0.600698 m/s,
      rangeRepo size: 4

2025-08-22T16:12:18.547Z,1755879138.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.697422 m,
      bearing: 305.966668 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.499421 s,
      deltaX: -0.298130 m,
      approachRate: -0.596951 m/s,
      posRepo size: 4

2025-08-22T16:12:18.548Z,1755879138.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-22T16:12:18.555Z,1755879138.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.697422 m,
      nav range: 16.158745 m,
      bearing: 305.914664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107984 deg/s,
      cmd heading: 317.400421 deg,
      new cmd heading: 317.303837 deg.

2025-08-22T16:12:18.556Z,1755879138.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537997 target range: 16.697422 and range: 16.80 m.
2025-08-22T16:12:18.707Z,1755879138.707 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.293404
2025-08-22T16:12:18.909Z,1755879138.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:18.918Z,1755879138.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-22T16:12:18.928Z,1755879138.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.697422 m,
      nav range: 15.971686 m,
      bearing: 305.881651 deg,
      approach rate: -0.496928 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 317.303842 deg,
      new cmd heading: 317.237042 deg.

2025-08-22T16:12:18.948Z,1755879138.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.536831 target range: 16.697422 and range: 16.80 m.
2025-08-22T16:12:18.964Z,1755879138.964 [DAT](INFO): DAT read: Rx Time:16:12:19.6152 

2025-08-22T16:12:18.966Z,1755879138.966 [DAT](INFO): Rx dataTimestamp_ set to:1755879138.964801
2025-08-22T16:12:18.968Z,1755879138.968 [DAT](INFO): DAT read: Bearing 139.0, -14.7 (Local)

2025-08-22T16:12:18.968Z,1755879138.968 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.0, -14.7 (Local)

2025-08-22T16:12:18.970Z,1755879138.970 [DAT](INFO): DAT read: Range 11 to 50 :    16.5 m (trip time 11.0 ms) speed 0.4

2025-08-22T16:12:18.979Z,1755879138.979 [DAT](INFO): DAT read: 16:12:19.6152 LVL= 28896, 28945, 21618, 32755, AGC= 52, IDX= 508,-0.42, 0.673,-0.784, 1.381, 0.900, PHS=-0.124,-1.639, 0.438, RAW= 165.2,  14.1, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:18.980Z,1755879138.980 [DAT](INFO): got valid direction response:
 16:12:19.6152 LVL= 28896, 28945, 21618, 32755, AGC= 52, IDX= 508,-0.42, 0.673,-0.784, 1.381, 0.900, PHS=-0.124,-1.639, 0.438, RAW= 165.2,  14.1, CAL= 165.7,  16.9, ROT= 344.3, -16.9

2025-08-22T16:12:18.980Z,1755879138.980 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:12:18.981Z,1755879138.981 [DAT](INFO): direction in FSK: [0.921117,-0.258914,0.290702]
2025-08-22T16:12:18.990Z,1755879138.990 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:18.993Z,1755879138.993 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.579784
2025-08-22T16:12:19.211Z,1755879139.211 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.797333
2025-08-22T16:12:19.415Z,1755879139.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 0.509625 s,
      deltaX: -0.299999 m,
      approachRate: -0.588667 m/s,
      rangeRepo size: 4

2025-08-22T16:12:19.417Z,1755879139.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.399073 m,
      bearing: 305.436671 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.509625 s,
      deltaX: -0.298349 m,
      approachRate: -0.585429 m/s,
      posRepo size: 4

2025-08-22T16:12:19.418Z,1755879139.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.40 m.
2025-08-22T16:12:19.421Z,1755879139.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.399073 m,
      nav range: 15.676300 m,
      bearing: 305.745039 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 317.237043 deg,
      new cmd heading: 317.148744 deg.

2025-08-22T16:12:19.422Z,1755879139.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.535290 target range: 16.399073 and range: 16.50 m.
2025-08-22T16:12:19.463Z,1755879139.463 [DAT](INFO): DAT read: Rx Time:16:12:20.1151 

2025-08-22T16:12:19.464Z,1755879139.464 [DAT](INFO): Rx dataTimestamp_ set to:1755879139.463446
2025-08-22T16:12:19.465Z,1755879139.465 [DAT](INFO): DAT read: Bearing 139.0, -14.5 (Local)

2025-08-22T16:12:19.466Z,1755879139.466 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.0, -14.5 (Local)

2025-08-22T16:12:19.468Z,1755879139.468 [DAT](INFO): DAT read: Range 11 to 50 :    16.4 m (trip time 10.9 ms) speed 0.4

2025-08-22T16:12:19.473Z,1755879139.473 [DAT](INFO): DAT read: 16:12:20.1151 LVL= 30320, 27601, 20978, 32755, AGC= 52, IDX= 507,-0.03, 2.041, 0.565, 2.749, 2.269, PHS=-0.125,-1.659, 0.436, RAW= 165.0,  14.2, CAL= 165.6,  17.0, ROT= 344.4, -17.0

2025-08-22T16:12:19.475Z,1755879139.475 [DAT](INFO): got valid direction response:
 16:12:20.1151 LVL= 30320, 27601, 20978, 32755, AGC= 52, IDX= 507,-0.03, 2.041, 0.565, 2.749, 2.269, PHS=-0.125,-1.659, 0.436, RAW= 165.0,  14.2, CAL= 165.6,  17.0, ROT= 344.4, -17.0

2025-08-22T16:12:19.476Z,1755879139.476 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T16:12:19.506Z,1755879139.506 [DAT](INFO): direction in FSK: [0.921077,-0.257169,0.292372]
2025-08-22T16:12:19.507Z,1755879139.507 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:19.521Z,1755879139.521 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.107601
2025-08-22T16:12:19.716Z,1755879139.716 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.302750
2025-08-22T16:12:19.868Z,1755879139.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.400000 m,
      deltaT: 0.498645 s,
      deltaX: -0.100000 m,
      approachRate: -0.200544 m/s,
      rangeRepo size: 4

2025-08-22T16:12:19.874Z,1755879139.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.299685 m,
      bearing: 305.534050 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.498645 s,
      deltaX: -0.099388 m,
      approachRate: -0.199316 m/s,
      posRepo size: 4

2025-08-22T16:12:19.875Z,1755879139.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m.
2025-08-22T16:12:19.882Z,1755879139.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.299685 m,
      nav range: 15.480972 m,
      bearing: 305.655437 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 317.148742 deg,
      new cmd heading: 317.068319 deg.

2025-08-22T16:12:19.883Z,1755879139.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.533886 target range: 16.299685 and range: 16.40 m.
2025-08-22T16:12:19.972Z,1755879139.972 [DAT](INFO): DAT read: Rx Time:16:12:20.6148 

2025-08-22T16:12:19.974Z,1755879139.974 [DAT](INFO): Rx dataTimestamp_ set to:1755879139.972445
2025-08-22T16:12:19.978Z,1755879139.978 [DAT](INFO): DAT read: Bearing 138.3, -14.5 (Local)

2025-08-22T16:12:19.979Z,1755879139.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.3, -14.5 (Local)

2025-08-22T16:12:19.993Z,1755879139.993 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-08-22T16:12:20.021Z,1755879140.021 [DAT](INFO): DAT read: 16:12:20.6148 LVL= 26032, 26417, 21154, 32755, AGC= 51, IDX= 504, 0.27, 2.247, 0.777, 2.950, 2.461, PHS=-0.112,-1.639, 0.444, RAW= 164.9,  13.9, CAL= 165.5,  16.5, ROT= 344.5, -16.5

2025-08-22T16:12:20.026Z,1755879140.026 [DAT](INFO): got valid direction response:
 16:12:20.6148 LVL= 26032, 26417, 21154, 32755, AGC= 51, IDX= 504, 0.27, 2.247, 0.777, 2.950, 2.461, PHS=-0.112,-1.639, 0.444, RAW= 164.9,  13.9, CAL= 165.5,  16.5, ROT= 344.5, -16.5

2025-08-22T16:12:20.026Z,1755879140.026 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T16:12:20.027Z,1755879140.027 [DAT](INFO): direction in FSK: [0.923948,-0.256234,0.284015]
2025-08-22T16:12:20.028Z,1755879140.028 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:20.051Z,1755879140.051 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.637589
2025-08-22T16:12:20.219Z,1755879140.219 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.805290
2025-08-22T16:12:20.358Z,1755879140.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.508999 s,
      deltaX: -0.500000 m,
      approachRate: -0.982320 m/s,
      rangeRepo size: 4

2025-08-22T16:12:20.366Z,1755879140.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.802689 m,
      bearing: 305.508500 deg,
      lat: 36.779424 deg,
      lon: -121.859661 deg,
      deltaT: 0.508999 s,
      deltaX: -0.496996 m,
      approachRate: -0.976418 m/s,
      posRepo size: 4

2025-08-22T16:12:20.366Z,1755879140.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T16:12:20.369Z,1755879140.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.802689 m,
      nav range: 15.210094 m,
      bearing: 305.577492 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 317.068310 deg,
      new cmd heading: 316.982258 deg.

2025-08-22T16:12:20.374Z,1755879140.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.532384 target range: 15.802689 and range: 15.90 m.
2025-08-22T16:12:20.472Z,1755879140.472 [DAT](INFO): DAT read: Rx Time:16:12:21.1148 

2025-08-22T16:12:20.472Z,1755879140.472 [DAT](INFO): Rx dataTimestamp_ set to:1755879140.472155
2025-08-22T16:12:20.474Z,1755879140.474 [DAT](INFO): DAT read: Bearing 139.1, -14.8 (Local)

2025-08-22T16:12:20.474Z,1755879140.474 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.1, -14.8 (Local)

2025-08-22T16:12:20.476Z,1755879140.476 [DAT](INFO): DAT read: Range 11 to 50 :    15.9 m (trip time 10.6 ms) speed 0.4

2025-08-22T16:12:20.481Z,1755879140.481 [DAT](INFO): DAT read: 16:12:21.1148 LVL= 32752, 29105, 22482, 32755, AGC= 51, IDX= 504,-0.25, 1.132,-0.334, 1.851, 1.372, PHS=-0.137,-1.660, 0.435, RAW= 165.3,  14.4, CAL= 165.9,  17.3, ROT= 344.1, -17.3

2025-08-22T16:12:20.482Z,1755879140.482 [DAT](INFO): got valid direction response:
 16:12:21.1148 LVL= 32752, 29105, 22482, 32755, AGC= 51, IDX= 504,-0.25, 1.132,-0.334, 1.851, 1.372, PHS=-0.137,-1.660, 0.435, RAW= 165.3,  14.4, CAL= 165.9,  17.3, ROT= 344.1, -17.3

2025-08-22T16:12:20.483Z,1755879140.483 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T16:12:20.484Z,1755879140.484 [DAT](INFO): direction in FSK: [0.918233,-0.261565,0.297375]
2025-08-22T16:12:20.484Z,1755879140.484 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:20.488Z,1755879140.488 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.074928
2025-08-22T16:12:20.723Z,1755879140.723 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.309376
2025-08-22T16:12:20.741Z,1755879140.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 0.499710 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:20.743Z,1755879140.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.802689 m,
      bearing: 305.091432 deg,
      lat: 36.779424 deg,
      lon: -121.859662 deg,
      deltaT: 0.499710 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:12:20.743Z,1755879140.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m.
2025-08-22T16:12:20.746Z,1755879140.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.802689 m,
      nav range: 15.055901 m,
      bearing: 305.305217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 316.982249 deg,
      new cmd heading: 316.913481 deg.

2025-08-22T16:12:20.747Z,1755879140.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.531184 target range: 15.802689 and range: 15.90 m.
2025-08-22T16:12:20.982Z,1755879140.982 [DAT](INFO): DAT read: Rx Time:16:12:21.6145 

2025-08-22T16:12:20.983Z,1755879140.983 [DAT](INFO): Rx dataTimestamp_ set to:1755879140.982326
2025-08-22T16:12:20.990Z,1755879140.990 [DAT](INFO): DAT read: Bearing 138.7, -14.4 (Local)

2025-08-22T16:12:20.992Z,1755879140.992 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.7, -14.4 (Local)

2025-08-22T16:12:21.008Z,1755879141.008 [DAT](INFO): DAT read: Range 11 to 50 :    15.5 m (trip time 10.3 ms) speed 0.4

2025-08-22T16:12:21.025Z,1755879141.025 [DAT](INFO): DAT read: 16:12:21.6145 LVL= 32752, 30449, 23154, 32755, AGC= 53, IDX= 501, 0.04, 1.874, 0.375, 2.589, 2.102, PHS=-0.126,-1.682, 0.443, RAW= 165.0,  14.2, CAL= 165.6,  16.9, ROT= 344.4, -16.9

2025-08-22T16:12:21.030Z,1755879141.030 [DAT](INFO): got valid direction response:
 16:12:21.6145 LVL= 32752, 30449, 23154, 32755, AGC= 53, IDX= 501, 0.04, 1.874, 0.375, 2.589, 2.102, PHS=-0.126,-1.682, 0.443, RAW= 165.0,  14.2, CAL= 165.6,  16.9, ROT= 344.4, -16.9

2025-08-22T16:12:21.030Z,1755879141.030 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T16:12:21.031Z,1755879141.031 [DAT](INFO): direction in FSK: [0.921567,-0.257306,0.290702]
2025-08-22T16:12:21.032Z,1755879141.032 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:21.040Z,1755879141.040 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.626225
2025-08-22T16:12:21.227Z,1755879141.227 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.813438
2025-08-22T16:12:21.285Z,1755879141.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.500000 m,
      deltaT: 0.510171 s,
      deltaX: -0.400000 m,
      approachRate: -0.784050 m/s,
      rangeRepo size: 4

2025-08-22T16:12:21.329Z,1755879141.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.405137 m,
      bearing: 305.214594 deg,
      lat: 36.779424 deg,
      lon: -121.859662 deg,
      deltaT: 0.510171 s,
      deltaX: -0.397552 m,
      approachRate: -0.779252 m/s,
      posRepo size: 4

2025-08-22T16:12:21.336Z,1755879141.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m.
2025-08-22T16:12:21.347Z,1755879141.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.405137 m,
      nav range: 14.776135 m,
      bearing: 305.214649 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 316.913483 deg,
      new cmd heading: 316.818204 deg.

2025-08-22T16:12:21.349Z,1755879141.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.529521 target range: 15.405137 and range: 15.50 m.
2025-08-22T16:12:21.479Z,1755879141.479 [DAT](INFO): DAT read: Rx Time:16:12:22.1144 

2025-08-22T16:12:21.480Z,1755879141.480 [DAT](INFO): Rx dataTimestamp_ set to:1755879141.479556
2025-08-22T16:12:21.481Z,1755879141.481 [DAT](INFO): DAT read: Bearing 138.7, -14.5 (Local)

2025-08-22T16:12:21.481Z,1755879141.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.7, -14.5 (Local)

2025-08-22T16:12:21.483Z,1755879141.483 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.4

2025-08-22T16:12:21.488Z,1755879141.488 [DAT](INFO): DAT read: 16:12:22.1144 LVL= 32752, 30193, 21330, 32755, AGC= 51, IDX= 500, 0.32,-3.021, 1.784,-2.305,-2.790, PHS=-0.129,-1.664, 0.441, RAW= 165.2,  14.2, CAL= 165.8,  17.0, ROT= 344.2, -17.0

2025-08-22T16:12:21.489Z,1755879141.489 [DAT](INFO): got valid direction response:
 16:12:22.1144 LVL= 32752, 30193, 21330, 32755, AGC= 51, IDX= 500, 0.32,-3.021, 1.784,-2.305,-2.790, PHS=-0.129,-1.664, 0.441, RAW= 165.2,  14.2, CAL= 165.8,  17.0, ROT= 344.2, -17.0

2025-08-22T16:12:21.490Z,1755879141.490 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T16:12:21.491Z,1755879141.491 [DAT](INFO): direction in FSK: [0.920174,-0.260383,0.292372]
2025-08-22T16:12:21.491Z,1755879141.491 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:21.494Z,1755879141.494 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.081070
2025-08-22T16:12:21.698Z,1755879141.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.497230 s,
      deltaX: -0.200000 m,
      approachRate: -0.402228 m/s,
      rangeRepo size: 4

2025-08-22T16:12:21.700Z,1755879141.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.206298 m,
      bearing: 304.957446 deg,
      lat: 36.779424 deg,
      lon: -121.859663 deg,
      deltaT: 0.497230 s,
      deltaX: -0.198839 m,
      approachRate: -0.399894 m/s,
      posRepo size: 4

2025-08-22T16:12:21.701Z,1755879141.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m.
2025-08-22T16:12:21.704Z,1755879141.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.206298 m,
      nav range: 14.592664 m,
      bearing: 305.046173 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 316.818215 deg,
      new cmd heading: 316.743609 deg.

2025-08-22T16:12:21.704Z,1755879141.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.528219 target range: 15.206298 and range: 15.30 m.
2025-08-22T16:12:21.730Z,1755879141.730 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.317101
2025-08-22T16:12:21.988Z,1755879141.988 [DAT](INFO): DAT read: Rx Time:16:12:22.6142 

2025-08-22T16:12:21.990Z,1755879141.990 [DAT](INFO): Rx dataTimestamp_ set to:1755879141.988555
2025-08-22T16:12:21.994Z,1755879141.994 [DAT](INFO): DAT read: Bearing 139.1, -14.6 (Local)

2025-08-22T16:12:21.995Z,1755879141.995 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.1, -14.6 (Local)

2025-08-22T16:12:22.009Z,1755879142.009 [DAT](INFO): DAT read: Range 11 to 50 :    15.0 m (trip time 10.0 ms) speed 0.4

2025-08-22T16:12:22.040Z,1755879142.040 [DAT](INFO): DAT read: 16:12:22.6142 LVL= 32752, 29777, 20914, 32755, AGC= 52, IDX= 498,-0.23, 0.151,-1.312, 0.874, 0.397, PHS=-0.144,-1.663, 0.433, RAW= 165.5,  14.5, CAL= 166.1,  17.4, ROT= 343.9, -17.4

2025-08-22T16:12:22.058Z,1755879142.058 [DAT](INFO): got valid direction response:
 16:12:22.6142 LVL= 32752, 29777, 20914, 32755, AGC= 52, IDX= 498,-0.23, 0.151,-1.312, 0.874, 0.397, PHS=-0.144,-1.663, 0.433, RAW= 165.5,  14.5, CAL= 166.1,  17.4, ROT= 343.9, -17.4

2025-08-22T16:12:22.058Z,1755879142.058 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T16:12:22.059Z,1755879142.059 [DAT](INFO): direction in FSK: [0.916814,-0.264625,0.299041]
2025-08-22T16:12:22.059Z,1755879142.059 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:22.079Z,1755879142.079 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.665657
2025-08-22T16:12:22.193Z,1755879142.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.000000 m,
      deltaT: 0.508999 s,
      deltaX: -0.300000 m,
      approachRate: -0.589392 m/s,
      rangeRepo size: 4

2025-08-22T16:12:22.200Z,1755879142.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.908134 m,
      bearing: 304.595101 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.508999 s,
      deltaX: -0.298163 m,
      approachRate: -0.585784 m/s,
      posRepo size: 4

2025-08-22T16:12:22.200Z,1755879142.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m.
2025-08-22T16:12:22.207Z,1755879142.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.908134 m,
      nav range: 14.319454 m,
      bearing: 304.947809 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 316.743602 deg,
      new cmd heading: 316.655832 deg.

2025-08-22T16:12:22.208Z,1755879142.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.526687 target range: 14.908134 and range: 15.00 m.
2025-08-22T16:12:22.235Z,1755879142.235 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.821377
2025-08-22T16:12:22.487Z,1755879142.487 [DAT](INFO): DAT read: Rx Time:16:12:23.1140 

2025-08-22T16:12:22.488Z,1755879142.488 [DAT](INFO): Rx dataTimestamp_ set to:1755879142.487251
2025-08-22T16:12:22.489Z,1755879142.489 [DAT](INFO): DAT read: Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:22.489Z,1755879142.489 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:22.491Z,1755879142.491 [DAT](INFO): DAT read: Range 11 to 50 :    14.7 m (trip time 9.8 ms) speed 0.4

2025-08-22T16:12:22.496Z,1755879142.496 [DAT](INFO): DAT read: 16:12:23.1140 LVL= 27888, 28241, 20978, 32755, AGC= 51, IDX= 496, 0.02, 1.682, 0.215, 2.400, 1.913, PHS=-0.130,-1.653, 0.442, RAW= 165.3,  14.2, CAL= 165.9,  16.9, ROT= 344.1, -16.9

2025-08-22T16:12:22.497Z,1755879142.497 [DAT](INFO): got valid direction response:
 16:12:23.1140 LVL= 27888, 28241, 20978, 32755, AGC= 51, IDX= 496, 0.02, 1.682, 0.215, 2.400, 1.913, PHS=-0.130,-1.653, 0.442, RAW= 165.3,  14.2, CAL= 165.9,  16.9, ROT= 344.1, -16.9

2025-08-22T16:12:22.497Z,1755879142.497 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T16:12:22.498Z,1755879142.498 [DAT](INFO): direction in FSK: [0.920207,-0.262128,0.290702]
2025-08-22T16:12:22.498Z,1755879142.498 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:22.562Z,1755879142.562 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.148586
2025-08-22T16:12:22.619Z,1755879142.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 0.498696 s,
      deltaX: -0.300000 m,
      approachRate: -0.601569 m/s,
      rangeRepo size: 4

2025-08-22T16:12:22.621Z,1755879142.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.609859 m,
      bearing: 304.781819 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.498696 s,
      deltaX: -0.298275 m,
      approachRate: -0.598110 m/s,
      posRepo size: 4

2025-08-22T16:12:22.626Z,1755879142.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-22T16:12:22.628Z,1755879142.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.609859 m,
      nav range: 14.084032 m,
      bearing: 304.873425 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.088728 deg/s,
      cmd heading: 316.655821 deg,
      new cmd heading: 316.580166 deg.

2025-08-22T16:12:22.629Z,1755879142.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.525366 target range: 14.609859 and range: 14.70 m.
2025-08-22T16:12:22.739Z,1755879142.739 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.325699
2025-08-22T16:12:22.968Z,1755879142.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:22.995Z,1755879142.995 [DAT](INFO): DAT read: Rx Time:16:12:23.6137 

2025-08-22T16:12:22.996Z,1755879142.996 [DAT](INFO): Rx dataTimestamp_ set to:1755879142.995353
2025-08-22T16:12:23.001Z,1755879143.001 [DAT](INFO): DAT read: Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:23.002Z,1755879143.002 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.5, -14.5 (Local)

2025-08-22T16:12:23.012Z,1755879143.012 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-08-22T16:12:23.021Z,1755879143.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m.
2025-08-22T16:12:23.032Z,1755879143.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.609859 m,
      nav range: 13.897755 m,
      bearing: 304.826973 deg,
      approach rate: -0.464604 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.580170 deg,
      new cmd heading: 316.486021 deg.

2025-08-22T16:12:23.033Z,1755879143.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.523723 target range: 14.609859 and range: 14.70 m.
2025-08-22T16:12:23.036Z,1755879143.036 [DAT](INFO): DAT read: 16:12:23.6137 LVL= 29424, 26737, 20722, 32755, AGC= 51, IDX= 509, 0.32, 0.627,-0.843, 1.347, 0.863, PHS=-0.134,-1.661, 0.440, RAW= 165.3,  14.3, CAL= 165.9,  17.1, ROT= 344.1, -17.1

2025-08-22T16:12:23.046Z,1755879143.046 [DAT](INFO): got valid direction response:
 16:12:23.6137 LVL= 29424, 26737, 20722, 32755, AGC= 51, IDX= 509, 0.32, 0.627,-0.843, 1.347, 0.863, PHS=-0.134,-1.661, 0.440, RAW= 165.3,  14.3, CAL= 165.9,  17.1, ROT= 344.1, -17.1

2025-08-22T16:12:23.046Z,1755879143.046 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T16:12:23.047Z,1755879143.047 [DAT](INFO): direction in FSK: [0.919226,-0.261848,0.294040]
2025-08-22T16:12:23.047Z,1755879143.047 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:23.060Z,1755879143.060 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.646263
2025-08-22T16:12:23.248Z,1755879143.248 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.834660
2025-08-22T16:12:23.455Z,1755879143.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.508102 s,
      deltaX: -0.400000 m,
      approachRate: -0.787243 m/s,
      rangeRepo size: 4

2025-08-22T16:12:23.457Z,1755879143.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.212306 m,
      bearing: 304.673776 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.508102 s,
      deltaX: -0.397553 m,
      approachRate: -0.782428 m/s,
      posRepo size: 4

2025-08-22T16:12:23.462Z,1755879143.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-22T16:12:23.464Z,1755879143.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.212306 m,
      nav range: 13.601162 m,
      bearing: 304.673825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.486022 deg,
      new cmd heading: 316.383884 deg.

2025-08-22T16:12:23.465Z,1755879143.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.521941 target range: 14.212306 and range: 14.30 m.
2025-08-22T16:12:23.499Z,1755879143.499 [DAT](INFO): DAT read: Rx Time:16:12:24.1137 

2025-08-22T16:12:23.499Z,1755879143.499 [DAT](INFO): Rx dataTimestamp_ set to:1755879143.499121
2025-08-22T16:12:23.503Z,1755879143.503 [DAT](INFO): DAT read: Bearing 138.9, -14.5 (Local)

2025-08-22T16:12:23.504Z,1755879143.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.9, -14.5 (Local)

2025-08-22T16:12:23.507Z,1755879143.507 [DAT](INFO): DAT read: Range 11 to 50 :    14.3 m (trip time 9.5 ms) speed 0.4

2025-08-22T16:12:23.512Z,1755879143.512 [DAT](INFO): DAT read: 16:12:24.1137 LVL= 30368, 26849, 20802, 32755, AGC= 51, IDX= 509,-0.26, 0.542,-0.927, 1.268, 0.793, PHS=-0.149,-1.675, 0.431, RAW= 165.5,  14.6, CAL= 166.1,  17.6, ROT= 343.9, -17.6

2025-08-22T16:12:23.513Z,1755879143.513 [DAT](INFO): got valid direction response:
 16:12:24.1137 LVL= 30368, 26849, 20802, 32755, AGC= 51, IDX= 509,-0.26, 0.542,-0.927, 1.268, 0.793, PHS=-0.149,-1.675, 0.431, RAW= 165.5,  14.6, CAL= 166.1,  17.6, ROT= 343.9, -17.6

2025-08-22T16:12:23.513Z,1755879143.513 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T16:12:23.514Z,1755879143.514 [DAT](INFO): direction in FSK: [0.915806,-0.264334,0.302370]
2025-08-22T16:12:23.514Z,1755879143.514 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:23.518Z,1755879143.518 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.104687
2025-08-22T16:12:23.752Z,1755879143.752 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.338223
2025-08-22T16:12:23.884Z,1755879143.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.300000 m,
      deltaT: 0.503768 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:23.887Z,1755879143.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.212306 m,
      bearing: 304.437051 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.503768 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:12:23.887Z,1755879143.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m.
2025-08-22T16:12:23.891Z,1755879143.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.212306 m,
      nav range: 13.393473 m,
      bearing: 304.518603 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.383897 deg,
      new cmd heading: 316.283009 deg.

2025-08-22T16:12:23.892Z,1755879143.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520180 target range: 14.212306 and range: 14.30 m.
2025-08-22T16:12:24.007Z,1755879144.007 [DAT](INFO): DAT read: Rx Time:16:12:24.6133 

2025-08-22T16:12:24.008Z,1755879144.008 [DAT](INFO): Rx dataTimestamp_ set to:1755879144.007403
2025-08-22T16:12:24.012Z,1755879144.012 [DAT](INFO): DAT read: Bearing 138.1, -14.5 (Local)

2025-08-22T16:12:24.014Z,1755879144.014 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.1, -14.5 (Local)

2025-08-22T16:12:24.020Z,1755879144.020 [DAT](INFO): DAT read: Range 11 to 50 :    13.7 m (trip time 9.1 ms) speed 0.4

2025-08-22T16:12:24.085Z,1755879144.085 [DAT](INFO): DAT read: 16:12:24.6133 LVL= 31680, 29361, 21074, 32755, AGC= 51, IDX= 506, 0.01, 0.249,-1.220, 0.973, 0.484, PHS=-0.133,-1.658, 0.445, RAW= 165.4,  14.2, CAL= 166.0,  17.0, ROT= 344.0, -17.0

2025-08-22T16:12:24.118Z,1755879144.118 [DAT](INFO): got valid direction response:
 16:12:24.6133 LVL= 31680, 29361, 21074, 32755, AGC= 51, IDX= 506, 0.01, 0.249,-1.220, 0.973, 0.484, PHS=-0.133,-1.658, 0.445, RAW= 165.4,  14.2, CAL= 166.0,  17.0, ROT= 344.0, -17.0

2025-08-22T16:12:24.118Z,1755879144.118 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T16:12:24.119Z,1755879144.119 [DAT](INFO): direction in FSK: [0.919259,-0.263593,0.292372]
2025-08-22T16:12:24.119Z,1755879144.119 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:24.123Z,1755879144.123 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.709885
2025-08-22T16:12:24.255Z,1755879144.255 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.841557
2025-08-22T16:12:24.426Z,1755879144.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.700000 m,
      deltaT: 0.508282 s,
      deltaX: -0.600000 m,
      approachRate: -1.180448 m/s,
      rangeRepo size: 4

2025-08-22T16:12:24.428Z,1755879144.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.615978 m,
      bearing: 304.510495 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.508282 s,
      deltaX: -0.596328 m,
      approachRate: -1.173222 m/s,
      posRepo size: 4

2025-08-22T16:12:24.429Z,1755879144.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m.
2025-08-22T16:12:24.436Z,1755879144.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.615978 m,
      nav range: 13.076551 m,
      bearing: 304.378044 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.283002 deg,
      new cmd heading: 316.156706 deg.

2025-08-22T16:12:24.437Z,1755879144.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517975 target range: 13.615978 and range: 13.70 m.
2025-08-22T16:12:24.508Z,1755879144.508 [DAT](INFO): DAT read: Rx Time:16:12:25.1132 

2025-08-22T16:12:24.509Z,1755879144.509 [DAT](INFO): Rx dataTimestamp_ set to:1755879144.508467
2025-08-22T16:12:24.511Z,1755879144.511 [DAT](INFO): DAT read: Bearing 137.8, -14.5 (Local)

2025-08-22T16:12:24.511Z,1755879144.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.8, -14.5 (Local)

2025-08-22T16:12:24.515Z,1755879144.515 [DAT](INFO): DAT read: Range 11 to 50 :    13.5 m (trip time 9.0 ms) speed 0.4

2025-08-22T16:12:24.522Z,1755879144.522 [DAT](INFO): DAT read: 16:12:25.1132 LVL= 30832, 28257, 22130, 32755, AGC= 51, IDX= 505, 0.28, 2.354, 0.880, 3.082, 2.587, PHS=-0.130,-1.662, 0.451, RAW= 165.5,  14.1, CAL= 166.0,  16.8, ROT= 344.0, -16.8

2025-08-22T16:12:24.523Z,1755879144.523 [DAT](INFO): got valid direction response:
 16:12:25.1132 LVL= 30832, 28257, 22130, 32755, AGC= 51, IDX= 505, 0.28, 2.354, 0.880, 3.082, 2.587, PHS=-0.130,-1.662, 0.451, RAW= 165.5,  14.1, CAL= 166.0,  16.8, ROT= 344.0, -16.8

2025-08-22T16:12:24.524Z,1755879144.524 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T16:12:24.525Z,1755879144.525 [DAT](INFO): direction in FSK: [0.920235,-0.263873,0.289032]
2025-08-22T16:12:24.525Z,1755879144.525 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:24.528Z,1755879144.528 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.115177
2025-08-22T16:12:24.759Z,1755879144.759 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.345322
2025-08-22T16:12:24.823Z,1755879144.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 0.501064 s,
      deltaX: -0.200000 m,
      approachRate: -0.399150 m/s,
      rangeRepo size: 4

2025-08-22T16:12:24.840Z,1755879144.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.417205 m,
      bearing: 304.389759 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.501064 s,
      deltaX: -0.198773 m,
      approachRate: -0.396703 m/s,
      posRepo size: 4

2025-08-22T16:12:24.843Z,1755879144.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m.
2025-08-22T16:12:24.855Z,1755879144.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.417205 m,
      nav range: 12.868367 m,
      bearing: 304.369912 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.156698 deg,
      new cmd heading: 316.065245 deg.

2025-08-22T16:12:24.856Z,1755879144.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516379 target range: 13.417205 and range: 13.50 m.
2025-08-22T16:12:25.015Z,1755879145.015 [DAT](INFO): DAT read: Rx Time:16:12:25.6130 

2025-08-22T16:12:25.016Z,1755879145.016 [DAT](INFO): Rx dataTimestamp_ set to:1755879145.015141
2025-08-22T16:12:25.020Z,1755879145.020 [DAT](INFO): DAT read: Bearing 138.6, -14.8 (Local)

2025-08-22T16:12:25.022Z,1755879145.022 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.6, -14.8 (Local)

2025-08-22T16:12:25.028Z,1755879145.028 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.4

2025-08-22T16:12:25.045Z,1755879145.045 [DAT](INFO): DAT read: 16:12:25.6130 LVL= 29744, 27041, 22082, 32755, AGC= 50, IDX= 503,-0.28,-0.726,-2.167, 0.004,-0.472, PHS=-0.152,-1.650, 0.432, RAW= 165.8,  14.6, CAL= 166.4,  17.6, ROT= 343.6, -17.6

2025-08-22T16:12:25.071Z,1755879145.071 [DAT](INFO): got valid direction response:
 16:12:25.6130 LVL= 29744, 27041, 22082, 32755, AGC= 50, IDX= 503,-0.28,-0.726,-2.167, 0.004,-0.472, PHS=-0.152,-1.650, 0.432, RAW= 165.8,  14.6, CAL= 166.4,  17.6, ROT= 343.6, -17.6

2025-08-22T16:12:25.072Z,1755879145.072 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T16:12:25.073Z,1755879145.073 [DAT](INFO): direction in FSK: [0.914409,-0.269125,0.302370]
2025-08-22T16:12:25.074Z,1755879145.074 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:25.095Z,1755879145.095 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.682037
2025-08-22T16:12:25.263Z,1755879145.263 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.849335
2025-08-22T16:12:25.288Z,1755879145.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.506674 s,
      deltaX: -0.300000 m,
      approachRate: -0.592097 m/s,
      rangeRepo size: 4

2025-08-22T16:12:25.305Z,1755879145.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.119044 m,
      bearing: 303.902825 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.506674 s,
      deltaX: -0.298161 m,
      approachRate: -0.588466 m/s,
      posRepo size: 4

2025-08-22T16:12:25.339Z,1755879145.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m.
2025-08-22T16:12:25.349Z,1755879145.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.119044 m,
      nav range: 12.596537 m,
      bearing: 304.305134 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 316.065255 deg,
      new cmd heading: 315.955054 deg.

2025-08-22T16:12:25.354Z,1755879145.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514456 target range: 13.119044 and range: 13.20 m.
2025-08-22T16:12:25.515Z,1755879145.515 [DAT](INFO): DAT read: Rx Time:16:12:26.1129 

2025-08-22T16:12:25.516Z,1755879145.516 [DAT](INFO): Rx dataTimestamp_ set to:1755879145.515444
2025-08-22T16:12:25.517Z,1755879145.517 [DAT](INFO): DAT read: Bearing 138.0, -14.6 (Local)

2025-08-22T16:12:25.517Z,1755879145.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.0, -14.6 (Local)

2025-08-22T16:12:25.519Z,1755879145.519 [DAT](INFO): DAT read: Range 11 to 50 :    13.1 m (trip time 8.7 ms) speed 0.4

2025-08-22T16:12:25.529Z,1755879145.529 [DAT](INFO): DAT read: 16:12:26.1129 LVL= 28112, 28577, 21842, 32755, AGC= 50, IDX= 502, 0.01, 1.627, 0.169, 2.358, 1.870, PHS=-0.141,-1.656, 0.445, RAW= 165.7,  14.3, CAL= 166.2,  17.1, ROT= 343.8, -17.1

2025-08-22T16:12:25.530Z,1755879145.530 [DAT](INFO): got valid direction response:
 16:12:26.1129 LVL= 28112, 28577, 21842, 32755, AGC= 50, IDX= 502, 0.01, 1.627, 0.169, 2.358, 1.870, PHS=-0.141,-1.656, 0.445, RAW= 165.7,  14.3, CAL= 166.2,  17.1, ROT= 343.8, -17.1

2025-08-22T16:12:25.530Z,1755879145.530 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T16:12:25.531Z,1755879145.531 [DAT](INFO): direction in FSK: [0.917842,-0.266658,0.294040]
2025-08-22T16:12:25.532Z,1755879145.532 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:25.535Z,1755879145.535 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.121975
2025-08-22T16:12:25.680Z,1755879145.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.100000 m,
      deltaT: 0.500303 s,
      deltaX: -0.099999 m,
      approachRate: -0.199878 m/s,
      rangeRepo size: 4

2025-08-22T16:12:25.682Z,1755879145.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.019671 m,
      bearing: 304.069574 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.500303 s,
      deltaX: -0.099373 m,
      approachRate: -0.198625 m/s,
      posRepo size: 4

2025-08-22T16:12:25.683Z,1755879145.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m.
2025-08-22T16:12:25.686Z,1755879145.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.019671 m,
      nav range: 12.378097 m,
      bearing: 304.212309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 315.955043 deg,
      new cmd heading: 315.861358 deg.

2025-08-22T16:12:25.687Z,1755879145.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512821 target range: 13.019671 and range: 13.10 m.
2025-08-22T16:12:25.768Z,1755879145.768 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.354523
2025-08-22T16:12:26.021Z,1755879146.021 [DAT](INFO): DAT read: Rx Time:16:12:26.6126 

2025-08-22T16:12:26.024Z,1755879146.024 [DAT](INFO): Rx dataTimestamp_ set to:1755879146.021040
2025-08-22T16:12:26.028Z,1755879146.028 [DAT](INFO): DAT read: Bearing 137.8, -14.6 (Local)

2025-08-22T16:12:26.029Z,1755879146.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.8, -14.6 (Local)

2025-08-22T16:12:26.063Z,1755879146.063 [DAT](INFO): DAT read: Range 11 to 50 :    12.6 m (trip time 8.4 ms) speed 0.4

2025-08-22T16:12:26.092Z,1755879146.092 [DAT](INFO): DAT read: 16:12:26.6126 LVL= 28144, 26513, 20594, 32755, AGC= 50, IDX= 499, 0.33, 0.981,-0.476, 1.713, 1.222, PHS=-0.139,-1.653, 0.447, RAW= 165.7,  14.2, CAL= 166.2,  17.0, ROT= 343.8, -17.0

2025-08-22T16:12:26.093Z,1755879146.093 [DAT](INFO): got valid direction response:
 16:12:26.6126 LVL= 28144, 26513, 20594, 32755, AGC= 50, IDX= 499, 0.33, 0.981,-0.476, 1.713, 1.222, PHS=-0.139,-1.653, 0.447, RAW= 165.7,  14.2, CAL= 166.2,  17.0, ROT= 343.8, -17.0

2025-08-22T16:12:26.102Z,1755879146.102 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T16:12:26.103Z,1755879146.103 [DAT](INFO): direction in FSK: [0.918333,-0.266801,0.292372]
2025-08-22T16:12:26.103Z,1755879146.103 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:26.127Z,1755879146.127 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.713249
2025-08-22T16:12:26.252Z,1755879146.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 0.505596 s,
      deltaX: -0.500000 m,
      approachRate: -0.988932 m/s,
      rangeRepo size: 4

2025-08-22T16:12:26.258Z,1755879146.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.522738 m,
      bearing: 303.995517 deg,
      lat: 36.779423 deg,
      lon: -121.859661 deg,
      deltaT: 0.505596 s,
      deltaX: -0.496934 m,
      approachRate: -0.982868 m/s,
      posRepo size: 4

2025-08-22T16:12:26.258Z,1755879146.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.52 m.
2025-08-22T16:12:26.261Z,1755879146.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.522738 m,
      nav range: 12.076942 m,
      bearing: 304.096938 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 315.861361 deg,
      new cmd heading: 315.727112 deg.

2025-08-22T16:12:26.266Z,1755879146.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510478 target range: 12.522738 and range: 12.60 m.
2025-08-22T16:12:26.271Z,1755879146.271 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.857319
2025-08-22T16:12:26.523Z,1755879146.523 [DAT](INFO): DAT read: Rx Time:16:12:27.1125 

2025-08-22T16:12:26.524Z,1755879146.524 [DAT](INFO): Rx dataTimestamp_ set to:1755879146.523227
2025-08-22T16:12:26.525Z,1755879146.525 [DAT](INFO): DAT read: Bearing 138.2, -14.8 (Local)

2025-08-22T16:12:26.525Z,1755879146.525 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.2, -14.8 (Local)

2025-08-22T16:12:26.528Z,1755879146.528 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.4

2025-08-22T16:12:26.533Z,1755879146.533 [DAT](INFO): DAT read: 16:12:27.1125 LVL= 29280, 28945, 21362, 32755, AGC= 50, IDX= 498,-0.18,-1.242,-2.680,-0.507,-0.985, PHS=-0.154,-1.650, 0.435, RAW= 165.9,  14.6, CAL= 166.5,  17.6, ROT= 343.5, -17.6

2025-08-22T16:12:26.534Z,1755879146.534 [DAT](INFO): got valid direction response:
 16:12:27.1125 LVL= 29280, 28945, 21362, 32755, AGC= 50, IDX= 498,-0.18,-1.242,-2.680,-0.507,-0.985, PHS=-0.154,-1.650, 0.435, RAW= 165.9,  14.6, CAL= 166.5,  17.6, ROT= 343.5, -17.6

2025-08-22T16:12:26.535Z,1755879146.535 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T16:12:26.536Z,1755879146.536 [DAT](INFO): direction in FSK: [0.913938,-0.270721,0.302370]
2025-08-22T16:12:26.536Z,1755879146.536 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:26.540Z,1755879146.540 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.126289
2025-08-22T16:12:26.666Z,1755879146.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.502187 s,
      deltaX: -0.100000 m,
      approachRate: -0.199130 m/s,
      rangeRepo size: 4

2025-08-22T16:12:26.668Z,1755879146.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.423376 m,
      bearing: 303.600069 deg,
      lat: 36.779422 deg,
      lon: -121.859662 deg,
      deltaT: 0.502187 s,
      deltaX: -0.099361 m,
      approachRate: -0.197857 m/s,
      posRepo size: 4

2025-08-22T16:12:26.669Z,1755879146.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-22T16:12:26.676Z,1755879146.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.423376 m,
      nav range: 11.829876 m,
      bearing: 303.675446 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117411 deg/s,
      cmd heading: 315.727106 deg,
      new cmd heading: 315.629770 deg.

2025-08-22T16:12:26.682Z,1755879146.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508779 target range: 12.423376 and range: 12.50 m.
2025-08-22T16:12:26.776Z,1755879146.776 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.362671
2025-08-22T16:12:27.031Z,1755879147.031 [DAT](INFO): DAT read: Rx Time:16:12:27.6123 

2025-08-22T16:12:27.033Z,1755879147.033 [DAT](INFO): Rx dataTimestamp_ set to:1755879147.031798
2025-08-22T16:12:27.037Z,1755879147.037 [DAT](INFO): DAT read: Bearing 137.4, -14.8 (Local)

2025-08-22T16:12:27.038Z,1755879147.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.4, -14.8 (Local)

2025-08-22T16:12:27.044Z,1755879147.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:27.050Z,1755879147.050 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.4

2025-08-22T16:12:27.073Z,1755879147.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.42 m.
2025-08-22T16:12:27.095Z,1755879147.095 [DAT](INFO): DAT read: 16:12:27.6123 LVL= 30640, 30865, 22466, 32755, AGC= 50, IDX= 495, 0.10,-0.274,-1.727, 0.468,-0.032, PHS=-0.141,-1.650, 0.456, RAW= 166.0,  14.1, CAL= 166.5,  16.9, ROT= 343.5, -16.9

2025-08-22T16:12:27.096Z,1755879147.096 [DAT](INFO): got valid direction response:
 16:12:27.6123 LVL= 30640, 30865, 22466, 32755, AGC= 50, IDX= 495, 0.10,-0.274,-1.727, 0.468,-0.032, PHS=-0.141,-1.650, 0.456, RAW= 166.0,  14.1, CAL= 166.5,  16.9, ROT= 343.5, -16.9

2025-08-22T16:12:27.096Z,1755879147.096 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T16:12:27.097Z,1755879147.097 [DAT](INFO): direction in FSK: [0.917412,-0.271750,0.290702]
2025-08-22T16:12:27.097Z,1755879147.097 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:27.099Z,1755879147.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.423376 m,
      nav range: 11.649694 m,
      bearing: 303.590284 deg,
      approach rate: -0.443529 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 315.629762 deg,
      new cmd heading: 315.456804 deg.

2025-08-22T16:12:27.100Z,1755879147.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505760 target range: 12.423376 and range: 12.50 m.
2025-08-22T16:12:27.127Z,1755879147.127 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.700039
2025-08-22T16:12:27.281Z,1755879147.281 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.867207
2025-08-22T16:12:27.485Z,1755879147.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.508571 s,
      deltaX: -0.300000 m,
      approachRate: -0.589889 m/s,
      rangeRepo size: 4

2025-08-22T16:12:27.487Z,1755879147.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125237 m,
      bearing: 303.542214 deg,
      lat: 36.779422 deg,
      lon: -121.859662 deg,
      deltaT: 0.508571 s,
      deltaX: -0.298139 m,
      approachRate: -0.586228 m/s,
      posRepo size: 4

2025-08-22T16:12:27.488Z,1755879147.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-22T16:12:27.491Z,1755879147.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.125237 m,
      nav range: 11.413255 m,
      bearing: 303.434516 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 315.456795 deg,
      new cmd heading: 315.281209 deg.

2025-08-22T16:12:27.491Z,1755879147.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502695 target range: 12.125237 and range: 12.20 m.
2025-08-22T16:12:27.532Z,1755879147.532 [DAT](INFO): DAT read: Rx Time:16:12:28.1123 

2025-08-22T16:12:27.532Z,1755879147.532 [DAT](INFO): Rx dataTimestamp_ set to:1755879147.532125
2025-08-22T16:12:27.537Z,1755879147.537 [DAT](INFO): DAT read: Bearing 138.1, -14.9 (Local)

2025-08-22T16:12:27.537Z,1755879147.537 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.1, -14.9 (Local)

2025-08-22T16:12:27.540Z,1755879147.540 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.4

2025-08-22T16:12:27.546Z,1755879147.546 [DAT](INFO): DAT read: 16:12:28.1123 LVL= 27072, 26385, 19954, 32755, AGC= 49, IDX= 511,-0.41,-1.052,-2.481,-0.313,-0.788, PHS=-0.162,-1.648, 0.431, RAW= 166.1,  14.7, CAL= 166.7,  17.8, ROT= 343.3, -17.8

2025-08-22T16:12:27.548Z,1755879147.548 [DAT](INFO): got valid direction response:
 16:12:28.1123 LVL= 27072, 26385, 19954, 32755, AGC= 49, IDX= 511,-0.41,-1.052,-2.481,-0.313,-0.788, PHS=-0.162,-1.648, 0.431, RAW= 166.1,  14.7, CAL= 166.7,  17.8, ROT= 343.3, -17.8

2025-08-22T16:12:27.548Z,1755879147.548 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T16:12:27.549Z,1755879147.549 [DAT](INFO): direction in FSK: [0.911971,-0.273605,0.305695]
2025-08-22T16:12:27.550Z,1755879147.550 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:27.553Z,1755879147.553 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.139801
2025-08-22T16:12:27.786Z,1755879147.786 [DAT](INFO): DAT read: Rx Time:16:12:28.6120 

2025-08-22T16:12:27.788Z,1755879147.788 [DAT](INFO): Rx dataTimestamp_ set to:1755879147.786714
2025-08-22T16:12:27.790Z,1755879147.790 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.375919
2025-08-22T16:12:27.911Z,1755879147.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.500327 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:27.917Z,1755879147.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.125237 m,
      bearing: 303.174388 deg,
      lat: 36.779423 deg,
      lon: -121.859662 deg,
      deltaT: 0.500327 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:12:27.918Z,1755879147.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m.
2025-08-22T16:12:27.921Z,1755879147.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.125237 m,
      nav range: 11.295117 m,
      bearing: 303.574451 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 315.281204 deg,
      new cmd heading: 315.105250 deg.

2025-08-22T16:12:27.926Z,1755879147.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499624 target range: 12.125237 and range: 12.20 m.
2025-08-22T16:12:28.039Z,1755879148.039 [DAT](INFO): DAT read: Bearing 138.2, -14.6 (Local)

2025-08-22T16:12:28.040Z,1755879148.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.2, -14.6 (Local)

2025-08-22T16:12:28.042Z,1755879148.042 [DAT](INFO): DAT read: Range 11 to 50 :    11.7 m (trip time 7.8 ms) speed 0.4

2025-08-22T16:12:28.046Z,1755879148.046 [DAT](INFO): DAT read: 16:12:28.6120 LVL= 32752, 31073, 23426, 32755, AGC= 50, IDX= 508,-0.01,-1.913, 2.902,-1.170,-1.645, PHS=-0.166,-1.692, 0.431, RAW= 165.8,  14.9, CAL= 166.5,  18.0, ROT= 343.5, -18.0

2025-08-22T16:12:28.047Z,1755879148.047 [DAT](INFO): got valid direction response:
 16:12:28.6120 LVL= 32752, 31073, 23426, 32755, AGC= 50, IDX= 508,-0.01,-1.913, 2.902,-1.170,-1.645, PHS=-0.166,-1.692, 0.431, RAW= 165.8,  14.9, CAL= 166.5,  18.0, ROT= 343.5, -18.0

2025-08-22T16:12:28.048Z,1755879148.048 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T16:12:28.049Z,1755879148.049 [DAT](INFO): direction in FSK: [0.911892,-0.270115,0.309017]
2025-08-22T16:12:28.055Z,1755879148.055 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:28.122Z,1755879148.122 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.708466
2025-08-22T16:12:28.290Z,1755879148.290 [DAT](INFO): DAT read: Rx Time:16:12:29.1119 

2025-08-22T16:12:28.292Z,1755879148.292 [DAT](INFO): Rx dataTimestamp_ set to:1755879148.291029
2025-08-22T16:12:28.295Z,1755879148.295 [DAT](INFO): DAT read: Bearing 137.9, -14.6 (Local)

2025-08-22T16:12:28.296Z,1755879148.296 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.9, -14.6 (Local)

2025-08-22T16:12:28.299Z,1755879148.299 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.884586
2025-08-22T16:12:28.372Z,1755879148.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.700000 m,
      deltaT: 0.504185 s,
      deltaX: -0.500000 m,
      approachRate: -0.991699 m/s,
      rangeRepo size: 4

2025-08-22T16:12:28.378Z,1755879148.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.628395 m,
      bearing: 303.281870 deg,
      lat: 36.779423 deg,
      lon: -121.859663 deg,
      deltaT: 0.504185 s,
      deltaX: -0.496842 m,
      approachRate: -0.985437 m/s,
      posRepo size: 4

2025-08-22T16:12:28.379Z,1755879148.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m.
2025-08-22T16:12:28.387Z,1755879148.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.628395 m,
      nav range: 11.053123 m,
      bearing: 303.281909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 315.105259 deg,
      new cmd heading: 314.903566 deg.

2025-08-22T16:12:28.388Z,1755879148.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496104 target range: 11.628395 and range: 11.70 m.
2025-08-22T16:12:28.540Z,1755879148.540 [DAT](INFO): DAT read: Range 11 to 50 :    11.6 m (trip time 7.7 ms) speed 0.4

2025-08-22T16:12:28.545Z,1755879148.545 [DAT](INFO): DAT read: 16:12:29.1119 LVL= 32752, 28769, 21682, 32755, AGC= 50, IDX= 507, 0.35, 0.273,-1.204, 1.020, 0.539, PHS=-0.165,-1.699, 0.437, RAW= 165.9,  14.8, CAL= 166.5,  17.9, ROT= 343.5, -17.9

2025-08-22T16:12:28.546Z,1755879148.546 [DAT](INFO): got valid direction response:
 16:12:29.1119 LVL= 32752, 28769, 21682, 32755, AGC= 50, IDX= 507, 0.35, 0.273,-1.204, 1.020, 0.539, PHS=-0.165,-1.699, 0.437, RAW= 165.9,  14.8, CAL= 166.5,  17.9, ROT= 343.5, -17.9

2025-08-22T16:12:28.546Z,1755879148.546 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T16:12:28.547Z,1755879148.547 [DAT](INFO): direction in FSK: [0.912407,-0.270268,0.307357]
2025-08-22T16:12:28.547Z,1755879148.547 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:28.551Z,1755879148.551 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.137424
2025-08-22T16:12:28.745Z,1755879148.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.600000 m,
      deltaT: 0.501784 s,
      deltaX: -0.099999 m,
      approachRate: -0.199288 m/s,
      rangeRepo size: 4

2025-08-22T16:12:28.749Z,1755879148.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.529008 m,
      bearing: 303.206070 deg,
      lat: 36.779423 deg,
      lon: -121.859663 deg,
      deltaT: 0.501784 s,
      deltaX: -0.099387 m,
      approachRate: -0.198068 m/s,
      posRepo size: 4

2025-08-22T16:12:28.750Z,1755879148.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m.
2025-08-22T16:12:28.752Z,1755879148.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.529008 m,
      nav range: 10.944138 m,
      bearing: 303.246297 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 314.903577 deg,
      new cmd heading: 314.744731 deg.

2025-08-22T16:12:28.754Z,1755879148.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493332 target range: 11.529008 and range: 11.60 m.
2025-08-22T16:12:28.794Z,1755879148.794 [DAT](INFO): DAT read: Rx Time:16:12:29.6117 

2025-08-22T16:12:28.796Z,1755879148.796 [DAT](INFO): Rx dataTimestamp_ set to:1755879148.794961
2025-08-22T16:12:28.799Z,1755879148.799 [DAT](INFO): DAT read: Bearing 139.3, -14.6 (Local)

2025-08-22T16:12:28.800Z,1755879148.800 [DAT](INFO): Local bearing/azimuth received:
 Bearing 139.3, -14.6 (Local)

2025-08-22T16:12:28.802Z,1755879148.802 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.388554
2025-08-22T16:12:29.045Z,1755879149.045 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.4

2025-08-22T16:12:29.049Z,1755879149.049 [DAT](INFO): DAT read: 16:12:29.6117 LVL= 32224, 29073, 21618, 32755, AGC= 50, IDX= 505,-0.12, 2.936, 1.463,-2.598,-3.044, PHS=-0.201,-1.732, 0.401, RAW= 165.9,  15.9, CAL= 166.7,  19.4, ROT= 343.3, -19.4

2025-08-22T16:12:29.052Z,1755879149.052 [DAT](INFO): got valid direction response:
 16:12:29.6117 LVL= 32224, 29073, 21618, 32755, AGC= 50, IDX= 505,-0.12, 2.936, 1.463,-2.598,-3.044, PHS=-0.201,-1.732, 0.401, RAW= 165.9,  15.9, CAL= 166.7,  19.4, ROT= 343.3, -19.4

2025-08-22T16:12:29.054Z,1755879149.054 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T16:12:29.057Z,1755879149.057 [DAT](INFO): direction in FSK: [0.903440,-0.271045,0.332161]
2025-08-22T16:12:29.059Z,1755879149.059 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:29.123Z,1755879149.123 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.710018
2025-08-22T16:12:29.214Z,1755879149.214 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-3

2025-08-22T16:12:29.255Z,1755879149.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.504357 s,
      deltaX: -0.300000 m,
      approachRate: -0.594817 m/s,
      rangeRepo size: 4

2025-08-22T16:12:29.257Z,1755879149.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.230844 m,
      bearing: 302.777756 deg,
      lat: 36.779423 deg,
      lon: -121.859663 deg,
      deltaT: 0.504357 s,
      deltaX: -0.298164 m,
      approachRate: -0.591177 m/s,
      posRepo size: 4

2025-08-22T16:12:29.262Z,1755879149.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m.
2025-08-22T16:12:29.265Z,1755879149.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.230844 m,
      nav range: 10.685375 m,
      bearing: 303.122660 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 314.744734 deg,
      new cmd heading: 314.527531 deg.

2025-08-22T16:12:29.270Z,1755879149.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489541 target range: 11.230844 and range: 11.30 m.
2025-08-22T16:12:29.299Z,1755879149.299 [DAT](INFO): DAT read: Rx Time:16:12:30.1116 

2025-08-22T16:12:29.300Z,1755879149.300 [DAT](INFO): Rx dataTimestamp_ set to:1755879149.299378
2025-08-22T16:12:29.304Z,1755879149.304 [DAT](INFO): DAT read: Bearing 137.3, -14.7 (Local)

2025-08-22T16:12:29.305Z,1755879149.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.3, -14.7 (Local)

2025-08-22T16:12:29.309Z,1755879149.309 [DAT](INFO): DAT read: Range 11 to 50 :    11.1 m (trip time 7.4 ms) speed 0.4

2025-08-22T16:12:29.320Z,1755879149.320 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-22T16:12:29.332Z,1755879149.332 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.918068
2025-08-22T16:12:29.552Z,1755879149.552 [DAT](INFO): DAT read: 16:12:30.1116 LVL= 32432, 28961, 21586, 32755, AGC= 50, IDX= 504, 0.20,-0.286,-1.760, 0.470,-0.022, PHS=-0.162,-1.693, 0.448, RAW= 166.1,  14.6, CAL= 166.6,  17.6, ROT= 343.4, -17.6

2025-08-22T16:12:29.557Z,1755879149.557 [DAT](INFO): got valid direction response:
 16:12:30.1116 LVL= 32432, 28961, 21586, 32755, AGC= 50, IDX= 504, 0.20,-0.286,-1.760, 0.470,-0.022, PHS=-0.162,-1.693, 0.448, RAW= 166.1,  14.6, CAL= 166.6,  17.6, ROT= 343.4, -17.6

2025-08-22T16:12:29.557Z,1755879149.557 [DAT](INFO): #Rx 97: Read direction message, but no range.
2025-08-22T16:12:29.558Z,1755879149.558 [DAT](INFO): direction in FSK: [0.913464,-0.272315,0.302370]
2025-08-22T16:12:29.561Z,1755879149.561 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.147850
2025-08-22T16:12:29.676Z,1755879149.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 0.256927 s,
      deltaX: -0.200000 m,
      approachRate: -0.778430 m/s,
      rangeRepo size: 4

2025-08-22T16:12:29.682Z,1755879149.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.032071 m,
      bearing: 302.825830 deg,
      lat: 36.779423 deg,
      lon: -121.859664 deg,
      deltaT: 0.256927 s,
      deltaX: -0.198772 m,
      approachRate: -0.773653 m/s,
      posRepo size: 4

2025-08-22T16:12:29.682Z,1755879149.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-22T16:12:29.685Z,1755879149.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.032071 m,
      nav range: 10.478420 m,
      bearing: 302.919821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.212875 deg/s,
      cmd heading: 314.527534 deg,
      new cmd heading: 314.348526 deg.

2025-08-22T16:12:29.690Z,1755879149.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486417 target range: 11.032071 and range: 11.10 m.
2025-08-22T16:12:29.803Z,1755879149.803 [DAT](INFO): DAT read: Rx Time:16:12:30.6114 

2025-08-22T16:12:29.805Z,1755879149.805 [DAT](INFO): Rx dataTimestamp_ set to:1755879149.804108
2025-08-22T16:12:29.809Z,1755879149.809 [DAT](INFO): DAT read: Bearing 138.2, -14.8 (Local)

2025-08-22T16:12:29.810Z,1755879149.810 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.2, -14.8 (Local)

2025-08-22T16:12:29.830Z,1755879149.830 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.4

2025-08-22T16:12:29.833Z,1755879149.833 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-08-22T16:12:29.843Z,1755879149.843 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.430042
2025-08-22T16:12:30.047Z,1755879150.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:30.055Z,1755879150.055 [DAT](INFO): DAT read: 16:12:30.6114 LVL= 32400, 30289, 22466, 32755, AGC= 50, IDX= 502,-0.29, 3.050, 1.575,-2.472,-2.943, PHS=-0.188,-1.721, 0.427, RAW= 166.2,  15.3, CAL= 166.9,  18.6, ROT= 343.1, -18.6

2025-08-22T16:12:30.056Z,1755879150.056 [DAT](INFO): got valid direction response:
 16:12:30.6114 LVL= 32400, 30289, 22466, 32755, AGC= 50, IDX= 502,-0.29, 3.050, 1.575,-2.472,-2.943, PHS=-0.188,-1.721, 0.427, RAW= 166.2,  15.3, CAL= 166.9,  18.6, ROT= 343.1, -18.6

2025-08-22T16:12:30.056Z,1755879150.056 [DAT](INFO): #Rx 99: Read direction message, but no range.
2025-08-22T16:12:30.057Z,1755879150.057 [DAT](INFO): direction in FSK: [0.906838,-0.275518,0.318959]
2025-08-22T16:12:30.061Z,1755879150.061 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.647514
2025-08-22T16:12:30.062Z,1755879150.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504730 s,
      deltaX: -0.300000 m,
      approachRate: -0.594378 m/s,
      rangeRepo size: 4

2025-08-22T16:12:30.063Z,1755879150.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m.
2025-08-22T16:12:30.070Z,1755879150.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.032071 m,
      nav range: 10.275931 m,
      bearing: 302.817497 deg,
      approach rate: -0.541151 m/s,
      LOS rate: -0.278848 deg/s,
      cmd heading: 314.348528 deg,
      new cmd heading: 314.139849 deg.

2025-08-22T16:12:30.071Z,1755879150.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482775 target range: 11.032071 and range: 10.80 m.
2025-08-22T16:12:30.309Z,1755879150.309 [DAT](INFO): DAT read: Rx Time:16:12:31.1112 

2025-08-22T16:12:30.312Z,1755879150.312 [DAT](INFO): Rx dataTimestamp_ set to:1755879150.310923
2025-08-22T16:12:30.317Z,1755879150.317 [DAT](INFO): DAT read: Bearing 136.6, -14.7 (Local)

2025-08-22T16:12:30.318Z,1755879150.318 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.6, -14.7 (Local)

2025-08-22T16:12:30.334Z,1755879150.334 [DAT](INFO): DAT read: Range 11 to 50 :    10.5 m (trip time 7.0 ms) speed 0.4

2025-08-22T16:12:30.337Z,1755879150.337 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-22T16:12:30.354Z,1755879150.354 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.940823
2025-08-22T16:12:30.505Z,1755879150.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.500000 m,
      deltaT: 0.506815 s,
      deltaX: -0.300000 m,
      approachRate: -0.591932 m/s,
      rangeRepo size: 4

2025-08-22T16:12:30.507Z,1755879150.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.435760 m,
      bearing: 302.427218 deg,
      lat: 36.779423 deg,
      lon: -121.859663 deg,
      deltaT: 1.011545 s,
      deltaX: -0.596312 m,
      approachRate: -0.589506 m/s,
      posRepo size: 4

2025-08-22T16:12:30.508Z,1755879150.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m.
2025-08-22T16:12:30.511Z,1755879150.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.435760 m,
      nav range: 9.957474 m,
      bearing: 302.697369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.278848 deg/s,
      cmd heading: 314.139852 deg,
      new cmd heading: 313.886042 deg.

2025-08-22T16:12:30.512Z,1755879150.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478345 target range: 10.435760 and range: 10.50 m.
2025-08-22T16:12:30.558Z,1755879150.558 [DAT](INFO): DAT read: 16:12:31.1112 LVL= 30544, 29089, 20914, 32755, AGC= 49, IDX= 500, 0.05,-1.571,-3.048,-0.811,-1.312, PHS=-0.156,-1.691, 0.457, RAW= 166.1,  14.4, CAL= 166.7,  17.3, ROT= 343.3, -17.3

2025-08-22T16:12:30.559Z,1755879150.559 [DAT](INFO): got valid direction response:
 16:12:31.1112 LVL= 30544, 29089, 20914, 32755, AGC= 49, IDX= 500, 0.05,-1.571,-3.048,-0.811,-1.312, PHS=-0.156,-1.691, 0.457, RAW= 166.1,  14.4, CAL= 166.7,  17.3, ROT= 343.3, -17.3

2025-08-22T16:12:30.560Z,1755879150.560 [DAT](INFO): #Rx 101: Read direction message, but no range.
2025-08-22T16:12:30.561Z,1755879150.561 [DAT](INFO): direction in FSK: [0.914491,-0.274361,0.297375]
2025-08-22T16:12:30.564Z,1755879150.564 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.150837
2025-08-22T16:12:30.811Z,1755879150.811 [DAT](INFO): DAT read: Rx Time:16:12:31.6109 

2025-08-22T16:12:30.813Z,1755879150.813 [DAT](INFO): Rx dataTimestamp_ set to:1755879150.812030
2025-08-22T16:12:30.819Z,1755879150.819 [DAT](INFO): DAT read: Bearing 136.5, -14.8 (Local)

2025-08-22T16:12:30.820Z,1755879150.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.5, -14.8 (Local)

2025-08-22T16:12:30.855Z,1755879150.855 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-08-22T16:12:30.868Z,1755879150.868 [DAT](INFO): DAT read: 16:12:31.6109 LVL= 32144, 30369, 20818, 32755, AGC= 49, IDX= 497, 0.43,-2.545, 2.259,-1.779,-2.281, PHS=-0.162,-1.699, 0.457, RAW= 166.2,  14.5, CAL= 166.8,  17.5, ROT= 343.2, -17.5

2025-08-22T16:12:30.869Z,1755879150.869 [DAT](INFO): got valid direction response:
 16:12:31.6109 LVL= 32144, 30369, 20818, 32755, AGC= 49, IDX= 497, 0.43,-2.545, 2.259,-1.779,-2.281, PHS=-0.162,-1.699, 0.457, RAW= 166.2,  14.5, CAL= 166.8,  17.5, ROT= 343.2, -17.5

2025-08-22T16:12:30.869Z,1755879150.869 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T16:12:30.882Z,1755879150.882 [DAT](INFO): direction in FSK: [0.913012,-0.275654,0.300706]
2025-08-22T16:12:30.883Z,1755879150.883 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:30.906Z,1755879150.906 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.493015
2025-08-22T16:12:30.946Z,1755879150.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.501107 s,
      deltaX: -0.400000 m,
      approachRate: -0.798232 m/s,
      rangeRepo size: 4

2025-08-22T16:12:30.948Z,1755879150.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.038207 m,
      bearing: 302.358819 deg,
      lat: 36.779422 deg,
      lon: -121.859663 deg,
      deltaT: 0.501107 s,
      deltaX: -0.397552 m,
      approachRate: -0.793348 m/s,
      posRepo size: 4

2025-08-22T16:12:30.949Z,1755879150.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T16:12:30.956Z,1755879150.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.038207 m,
      nav range: 9.713128 m,
      bearing: 302.357918 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.278848 deg/s,
      cmd heading: 313.886042 deg,
      new cmd heading: 313.642172 deg.

2025-08-22T16:12:30.957Z,1755879150.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474089 target range: 10.038207 and range: 10.10 m.
2025-08-22T16:12:31.059Z,1755879151.059 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.645744
2025-08-22T16:12:31.315Z,1755879151.315 [DAT](INFO): DAT read: Rx Time:16:12:32.1109 

2025-08-22T16:12:31.317Z,1755879151.317 [DAT](INFO): Rx dataTimestamp_ set to:1755879151.315538
2025-08-22T16:12:31.321Z,1755879151.321 [DAT](INFO): DAT read: Bearing 150.8, -14.0 (Local)

2025-08-22T16:12:31.322Z,1755879151.322 [DAT](INFO): Local bearing/azimuth received:
 Bearing 150.8, -14.0 (Local)

2025-08-22T16:12:31.330Z,1755879151.330 [DAT](INFO): DAT read: Range 11 to 50 :    10.1 m (trip time 6.7 ms) speed 0.4

2025-08-22T16:12:31.332Z,1755879151.332 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-22T16:12:31.333Z,1755879151.333 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.919468
2025-08-22T16:12:31.424Z,1755879151.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.100000 m,
      deltaT: 0.503508 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:31.424Z,1755879151.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T16:12:31.431Z,1755879151.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.038207 m,
      nav range: 9.456168 m,
      bearing: 302.243436 deg,
      approach rate: -0.533579 m/s,
      LOS rate: -0.244182 deg/s,
      cmd heading: 313.642177 deg,
      new cmd heading: 313.406993 deg.

2025-08-22T16:12:31.434Z,1755879151.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469984 target range: 10.038207 and range: 10.10 m.
2025-08-22T16:12:31.566Z,1755879151.566 [DAT](INFO): DAT read: 16:12:32.1109 LVL= 30592, 30177, 21410, 32755, AGC= 49, IDX= 513,-0.13,-2.476, 2.356,-1.706,-1.951, PHS=-0.423,-1.931, 0.201, RAW= 166.5,  21.8, CAL= 167.9,  31.3, ROT= 342.1, -31.3

2025-08-22T16:12:31.567Z,1755879151.567 [DAT](INFO): got valid direction response:
 16:12:32.1109 LVL= 30592, 30177, 21410, 32755, AGC= 49, IDX= 513,-0.13,-2.476, 2.356,-1.706,-1.951, PHS=-0.423,-1.931, 0.201, RAW= 166.5,  21.8, CAL= 167.9,  31.3, ROT= 342.1, -31.3

2025-08-22T16:12:31.568Z,1755879151.568 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-08-22T16:12:31.568Z,1755879151.568 [DAT](INFO): direction in FSK: [0.813098,-0.262624,0.519519]
2025-08-22T16:12:31.572Z,1755879151.572 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.158779
2025-08-22T16:12:31.744Z,1755879151.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m.
2025-08-22T16:12:31.747Z,1755879151.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.038207 m,
      nav range: 9.279302 m,
      bearing: 302.163176 deg,
      approach rate: -0.551799 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 313.407000 deg,
      new cmd heading: 313.243422 deg.

2025-08-22T16:12:31.748Z,1755879151.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467129 target range: 10.038207 and range: 10.10 m.
2025-08-22T16:12:31.819Z,1755879151.819 [DAT](INFO): DAT read: Rx Time:16:12:32.6106 

2025-08-22T16:12:31.821Z,1755879151.821 [DAT](INFO): Rx dataTimestamp_ set to:1755879151.820030
2025-08-22T16:12:31.828Z,1755879151.828 [DAT](INFO): DAT read: Bearing 136.6, -14.8 (Local)

2025-08-22T16:12:31.829Z,1755879151.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.6, -14.8 (Local)

2025-08-22T16:12:31.850Z,1755879151.850 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-08-22T16:12:31.874Z,1755879151.874 [DAT](INFO): DAT read: 16:12:32.6106 LVL= 29024, 30129, 19106, 32755, AGC= 48, IDX= 510, 0.15,-2.781, 2.023,-2.008,-2.507, PHS=-0.172,-1.708, 0.455, RAW= 166.4,  14.6, CAL= 166.9,  17.7, ROT= 343.1, -17.7

2025-08-22T16:12:31.875Z,1755879151.875 [DAT](INFO): got valid direction response:
 16:12:32.6106 LVL= 29024, 30129, 19106, 32755, AGC= 48, IDX= 510, 0.15,-2.781, 2.023,-2.008,-2.507, PHS=-0.172,-1.708, 0.455, RAW= 166.4,  14.6, CAL= 166.9,  17.7, ROT= 343.1, -17.7

2025-08-22T16:12:31.876Z,1755879151.876 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T16:12:31.877Z,1755879151.877 [DAT](INFO): direction in FSK: [0.911520,-0.276940,0.304033]
2025-08-22T16:12:31.877Z,1755879151.877 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:31.885Z,1755879151.885 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.471432
2025-08-22T16:12:32.068Z,1755879152.068 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.654926
2025-08-22T16:12:32.241Z,1755879152.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.504492 s,
      deltaX: -0.500000 m,
      approachRate: -0.991096 m/s,
      rangeRepo size: 4

2025-08-22T16:12:32.244Z,1755879152.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541267 m,
      bearing: 301.885194 deg,
      lat: 36.779422 deg,
      lon: -121.859663 deg,
      deltaT: 1.008000 s,
      deltaX: -0.496940 m,
      approachRate: -0.492996 m/s,
      posRepo size: 4

2025-08-22T16:12:32.244Z,1755879152.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m.
2025-08-22T16:12:32.245Z,1755879152.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-08-22T16:12:32.245Z,1755879152.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-22T16:12:32.248Z,1755879152.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 9.020813 m,
      bearing: 302.044135 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 313.243431 deg,
      new cmd heading: 312.989953 deg.

2025-08-22T16:12:32.249Z,1755879152.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462705 target range: 9.541267 and range: 9.60 m.
2025-08-22T16:12:32.324Z,1755879152.324 [DAT](INFO): DAT read: Rx Time:16:12:33.1106 

2025-08-22T16:12:32.327Z,1755879152.327 [DAT](INFO): Rx dataTimestamp_ set to:1755879152.325673
2025-08-22T16:12:32.331Z,1755879152.331 [DAT](INFO): DAT read: Bearing 136.7, -15.1 (Local)

2025-08-22T16:12:32.332Z,1755879152.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.7, -15.1 (Local)

2025-08-22T16:12:32.337Z,1755879152.337 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-08-22T16:12:32.362Z,1755879152.362 [DAT](INFO): DAT read: 16:12:33.1106 LVL= 28256, 32289, 19746, 32755, AGC= 48, IDX= 510,-0.42, 2.906, 1.454,-2.596,-3.092, PHS=-0.183,-1.691, 0.452, RAW= 166.8,  14.8, CAL= 167.4,  17.9, ROT= 342.6, -17.9

2025-08-22T16:12:32.363Z,1755879152.363 [DAT](INFO): got valid direction response:
 16:12:33.1106 LVL= 28256, 32289, 19746, 32755, AGC= 48, IDX= 510,-0.42, 2.906, 1.454,-2.596,-3.092, PHS=-0.183,-1.691, 0.452, RAW= 166.8,  14.8, CAL= 167.4,  17.9, ROT= 342.6, -17.9

2025-08-22T16:12:32.363Z,1755879152.363 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T16:12:32.364Z,1755879152.364 [DAT](INFO): direction in FSK: [0.908050,-0.284566,0.307357]
2025-08-22T16:12:32.365Z,1755879152.365 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:32.378Z,1755879152.378 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.964939
2025-08-22T16:12:32.572Z,1755879152.572 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.158772
2025-08-22T16:12:32.675Z,1755879152.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.505643 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:32.682Z,1755879152.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.541287 m,
      bearing: 301.379513 deg,
      lat: 36.779422 deg,
      lon: -121.859663 deg,
      deltaT: 0.505643 s,
      deltaX: 0.000020 m,
      approachRate: 0.000040 m/s,
      posRepo size: 4

2025-08-22T16:12:32.683Z,1755879152.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:32.685Z,1755879152.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 8.801790 m,
      bearing: 301.937782 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 312.989949 deg,
      new cmd heading: 312.768178 deg.

2025-08-22T16:12:32.694Z,1755879152.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458835 target range: 9.541267 and range: 9.60 m.
2025-08-22T16:12:32.828Z,1755879152.828 [DAT](INFO): DAT read: Rx Time:16:12:33.6103 

2025-08-22T16:12:32.830Z,1755879152.830 [DAT](INFO): Rx dataTimestamp_ set to:1755879152.828944
2025-08-22T16:12:32.833Z,1755879152.833 [DAT](INFO): DAT read: Bearing 136.9, -15.0 (Local)

2025-08-22T16:12:32.834Z,1755879152.834 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.9, -15.0 (Local)

2025-08-22T16:12:32.837Z,1755879152.837 [DAT](INFO): DAT read: Range 11 to 50 :     9.2 m (trip time 6.1 ms) speed 0.4

2025-08-22T16:12:32.843Z,1755879152.843 [DAT](INFO): DAT read: 16:12:33.6103 LVL= 29216, 28449, 20018, 32755, AGC= 48, IDX= 507,-0.10, 1.945, 0.475, 2.728, 2.242, PHS=-0.195,-1.722, 0.442, RAW= 166.6,  15.1, CAL= 167.3,  18.5, ROT= 342.7, -18.5

2025-08-22T16:12:32.844Z,1755879152.844 [DAT](INFO): got valid direction response:
 16:12:33.6103 LVL= 29216, 28449, 20018, 32755, AGC= 48, IDX= 507,-0.10, 1.945, 0.475, 2.728, 2.242, PHS=-0.195,-1.722, 0.442, RAW= 166.6,  15.1, CAL= 167.3,  18.5, ROT= 342.7, -18.5

2025-08-22T16:12:32.844Z,1755879152.844 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:12:32.845Z,1755879152.845 [DAT](INFO): direction in FSK: [0.905422,-0.282007,0.317305]
2025-08-22T16:12:32.845Z,1755879152.845 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:32.849Z,1755879152.849 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.435493
2025-08-22T16:12:33.074Z,1755879153.074 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.661129
2025-08-22T16:12:33.082Z,1755879153.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 0.503271 s,
      deltaX: -0.400001 m,
      approachRate: -0.794802 m/s,
      rangeRepo size: 4

2025-08-22T16:12:33.084Z,1755879153.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.143734 m,
      bearing: 301.206209 deg,
      lat: 36.779422 deg,
      lon: -121.859663 deg,
      deltaT: 1.008914 s,
      deltaX: -0.397533 m,
      approachRate: -0.394021 m/s,
      posRepo size: 4

2025-08-22T16:12:33.085Z,1755879153.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.14 m. 9.54 m.
2025-08-22T16:12:33.092Z,1755879153.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 8.587178 m,
      bearing: 301.835251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 312.768186 deg,
      new cmd heading: 312.562756 deg.

2025-08-22T16:12:33.093Z,1755879153.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455249 target range: 9.541267 and range: 9.20 m.
2025-08-22T16:12:33.333Z,1755879153.333 [DAT](INFO): DAT read: Rx Time:16:12:34.1102 

2025-08-22T16:12:33.337Z,1755879153.337 [DAT](INFO): Rx dataTimestamp_ set to:1755879153.332994
2025-08-22T16:12:33.340Z,1755879153.340 [DAT](INFO): DAT read: Bearing 136.1, -14.9 (Local)

2025-08-22T16:12:33.341Z,1755879153.341 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.1, -14.9 (Local)

2025-08-22T16:12:33.348Z,1755879153.348 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.4

2025-08-22T16:12:33.361Z,1755879153.361 [DAT](INFO): DAT read: 16:12:34.1102 LVL= 29888, 29009, 19698, 32755, AGC= 48, IDX= 506, 0.14,-1.714, 3.080,-0.929,-1.429, PHS=-0.183,-1.729, 0.456, RAW= 166.5,  14.8, CAL= 167.1,  18.0, ROT= 342.9, -18.0

2025-08-22T16:12:33.382Z,1755879153.382 [DAT](INFO): got valid direction response:
 16:12:34.1102 LVL= 29888, 29009, 19698, 32755, AGC= 48, IDX= 506, 0.14,-1.714, 3.080,-0.929,-1.429, PHS=-0.183,-1.729, 0.456, RAW= 166.5,  14.8, CAL= 167.1,  18.0, ROT= 342.9, -18.0

2025-08-22T16:12:33.383Z,1755879153.383 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:12:33.384Z,1755879153.384 [DAT](INFO): direction in FSK: [0.909013,-0.279649,0.309017]
2025-08-22T16:12:33.384Z,1755879153.384 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:33.392Z,1755879153.392 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.978947
2025-08-22T16:12:33.464Z,1755879153.464 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022719595302,35.0,  0.0,1492.0,  0
2025-08-22T16:12:33.505Z,1755879153.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.504050 s,
      deltaX: -0.200000 m,
      approachRate: -0.396786 m/s,
      rangeRepo size: 4

2025-08-22T16:12:33.511Z,1755879153.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.944960 m,
      bearing: 301.268093 deg,
      lat: 36.779422 deg,
      lon: -121.859664 deg,
      deltaT: 1.512964 s,
      deltaX: -0.596308 m,
      approachRate: -0.394132 m/s,
      posRepo size: 4

2025-08-22T16:12:33.518Z,1755879153.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.94 m. 9.54 m.
2025-08-22T16:12:33.521Z,1755879153.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 8.364108 m,
      bearing: 301.727416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 312.562762 deg,
      new cmd heading: 312.344988 deg.

2025-08-22T16:12:33.526Z,1755879153.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451448 target range: 9.541267 and range: 9.00 m.
2025-08-22T16:12:33.580Z,1755879153.580 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.165878
2025-08-22T16:12:33.834Z,1755879153.834 [DAT](INFO): DAT read: Rx Time:16:12:34.6099 

2025-08-22T16:12:33.835Z,1755879153.835 [DAT](INFO): Rx dataTimestamp_ set to:1755879153.834179
2025-08-22T16:12:33.836Z,1755879153.836 [DAT](INFO): DAT read: Bearing 136.0, -14.9 (Local)

2025-08-22T16:12:33.836Z,1755879153.836 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.0, -14.9 (Local)

2025-08-22T16:12:33.838Z,1755879153.838 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-08-22T16:12:33.843Z,1755879153.843 [DAT](INFO): DAT read: 16:12:34.6099 LVL= 32752, 30705, 21698, 32755, AGC= 49, IDX= 503, 0.45,-3.037, 1.750,-2.246,-2.747, PHS=-0.188,-1.741, 0.457, RAW= 166.6,  14.9, CAL= 167.2,  18.1, ROT= 342.8, -18.1

2025-08-22T16:12:33.844Z,1755879153.844 [DAT](INFO): got valid direction response:
 16:12:34.6099 LVL= 32752, 30705, 21698, 32755, AGC= 49, IDX= 503, 0.45,-3.037, 1.750,-2.246,-2.747, PHS=-0.188,-1.741, 0.457, RAW= 166.6,  14.9, CAL= 167.2,  18.1, ROT= 342.8, -18.1

2025-08-22T16:12:33.844Z,1755879153.844 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T16:12:33.845Z,1755879153.845 [DAT](INFO): direction in FSK: [0.908007,-0.281075,0.310676]
2025-08-22T16:12:33.845Z,1755879153.845 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:33.849Z,1755879153.849 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.435310
2025-08-22T16:12:33.947Z,1755879153.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.501185 s,
      deltaX: -0.400000 m,
      approachRate: -0.798108 m/s,
      rangeRepo size: 4

2025-08-22T16:12:33.949Z,1755879153.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.547406 m,
      bearing: 301.015202 deg,
      lat: 36.779422 deg,
      lon: -121.859664 deg,
      deltaT: 2.014149 s,
      deltaX: -0.993861 m,
      approachRate: -0.493440 m/s,
      posRepo size: 4

2025-08-22T16:12:33.962Z,1755879153.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 9.54 m.
2025-08-22T16:12:33.964Z,1755879153.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 8.138803 m,
      bearing: 301.616991 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 312.344988 deg,
      new cmd heading: 312.121591 deg.

2025-08-22T16:12:33.974Z,1755879153.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447549 target range: 9.541267 and range: 8.60 m.
2025-08-22T16:12:34.084Z,1755879154.084 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.670650
2025-08-22T16:12:34.335Z,1755879154.335 [DAT](INFO): DAT read: Rx Time:16:12:35.1098 

2025-08-22T16:12:34.336Z,1755879154.336 [DAT](INFO): Rx dataTimestamp_ set to:1755879154.335645
2025-08-22T16:12:34.337Z,1755879154.337 [DAT](INFO): DAT read: Bearing 136.5, -15.3 (Local)

2025-08-22T16:12:34.338Z,1755879154.338 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.5, -15.3 (Local)

2025-08-22T16:12:34.340Z,1755879154.340 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.4

2025-08-22T16:12:34.344Z,1755879154.344 [DAT](INFO): DAT read: 16:12:35.1098 LVL= 32752, 29937, 22754, 32755, AGC= 49, IDX= 502,-0.15, 1.773, 0.285, 2.576, 2.086, PHS=-0.211,-1.756, 0.446, RAW= 166.9,  15.4, CAL= 167.6,  18.8, ROT= 342.4, -18.8

2025-08-22T16:12:34.345Z,1755879154.345 [DAT](INFO): got valid direction response:
 16:12:35.1098 LVL= 32752, 29937, 22754, 32755, AGC= 49, IDX= 502,-0.15, 1.773, 0.285, 2.576, 2.086, PHS=-0.211,-1.756, 0.446, RAW= 166.9,  15.4, CAL= 167.6,  18.8, ROT= 342.4, -18.8

2025-08-22T16:12:34.346Z,1755879154.346 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T16:12:34.346Z,1755879154.346 [DAT](INFO): direction in FSK: [0.902337,-0.286238,0.322266]
2025-08-22T16:12:34.347Z,1755879154.347 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:34.359Z,1755879154.359 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.946091
2025-08-22T16:12:34.506Z,1755879154.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.501466 s,
      deltaX: -0.200001 m,
      approachRate: -0.398832 m/s,
      rangeRepo size: 4

2025-08-22T16:12:34.508Z,1755879154.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.348638 m,
      bearing: 300.268814 deg,
      lat: 36.779422 deg,
      lon: -121.859664 deg,
      deltaT: 2.515615 s,
      deltaX: -1.192630 m,
      approachRate: -0.474091 m/s,
      posRepo size: 4

2025-08-22T16:12:34.514Z,1755879154.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.54 m.
2025-08-22T16:12:34.516Z,1755879154.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 7.839435 m,
      bearing: 301.473309 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 312.121586 deg,
      new cmd heading: 311.835901 deg.

2025-08-22T16:12:34.517Z,1755879154.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442563 target range: 9.541267 and range: 8.40 m.
2025-08-22T16:12:34.588Z,1755879154.588 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.174381
2025-08-22T16:12:34.839Z,1755879154.839 [DAT](INFO): DAT read: Rx Time:16:12:35.6095 

2025-08-22T16:12:34.840Z,1755879154.840 [DAT](INFO): Rx dataTimestamp_ set to:1755879154.839610
2025-08-22T16:12:34.841Z,1755879154.841 [DAT](INFO): DAT read: Bearing 135.9, -15.3 (Local)

2025-08-22T16:12:34.842Z,1755879154.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.9, -15.3 (Local)

2025-08-22T16:12:34.844Z,1755879154.844 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.4

2025-08-22T16:12:34.848Z,1755879154.848 [DAT](INFO): DAT read: 16:12:35.6095 LVL= 32752, 30401, 21490, 32755, AGC= 48, IDX= 499, 0.12, 2.097, 0.607, 2.903, 2.402, PHS=-0.203,-1.750, 0.458, RAW= 166.9,  15.1, CAL= 167.6,  18.4, ROT= 342.4, -18.4

2025-08-22T16:12:34.849Z,1755879154.849 [DAT](INFO): got valid direction response:
 16:12:35.6095 LVL= 32752, 30401, 21490, 32755, AGC= 48, IDX= 499, 0.12, 2.097, 0.607, 2.903, 2.402, PHS=-0.203,-1.750, 0.458, RAW= 166.9,  15.1, CAL= 167.6,  18.4, ROT= 342.4, -18.4

2025-08-22T16:12:34.850Z,1755879154.850 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T16:12:34.851Z,1755879154.851 [DAT](INFO): direction in FSK: [0.904460,-0.286911,0.315649]
2025-08-22T16:12:34.851Z,1755879154.851 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:34.855Z,1755879154.855 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.441730
2025-08-22T16:12:34.964Z,1755879154.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.503965 s,
      deltaX: -0.400000 m,
      approachRate: -0.793705 m/s,
      rangeRepo size: 4

2025-08-22T16:12:34.975Z,1755879154.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.951084 m,
      bearing: 300.098776 deg,
      lat: 36.779421 deg,
      lon: -121.859664 deg,
      deltaT: 3.019580 s,
      deltaX: -1.590183 m,
      approachRate: -0.526624 m/s,
      posRepo size: 4

2025-08-22T16:12:34.976Z,1755879154.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.95 m. 9.54 m.
2025-08-22T16:12:34.982Z,1755879154.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 7.598353 m,
      bearing: 301.354938 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 311.835893 deg,
      new cmd heading: 311.600067 deg.

2025-08-22T16:12:34.983Z,1755879154.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438447 target range: 9.541267 and range: 8.00 m.
2025-08-22T16:12:35.091Z,1755879155.091 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.677483
2025-08-22T16:12:35.343Z,1755879155.343 [DAT](INFO): DAT read: Rx Time:16:12:36.1094 

2025-08-22T16:12:35.344Z,1755879155.344 [DAT](INFO): Rx dataTimestamp_ set to:1755879155.343247
2025-08-22T16:12:35.345Z,1755879155.345 [DAT](INFO): DAT read: Bearing 135.5, -15.7 (Local)

2025-08-22T16:12:35.345Z,1755879155.345 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.5, -15.7 (Local)

2025-08-22T16:12:35.347Z,1755879155.347 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.4

2025-08-22T16:12:35.352Z,1755879155.352 [DAT](INFO): DAT read: 16:12:36.1094 LVL= 32752, 30113, 22258, 32755, AGC= 49, IDX= 498, 0.45, 2.868, 1.393,-2.591,-3.105, PHS=-0.209,-1.741, 0.470, RAW= 167.4,  14.9, CAL= 168.0,  18.3, ROT= 342.0, -18.3

2025-08-22T16:12:35.353Z,1755879155.353 [DAT](INFO): got valid direction response:
 16:12:36.1094 LVL= 32752, 30113, 22258, 32755, AGC= 49, IDX= 498, 0.45, 2.868, 1.393,-2.591,-3.105, PHS=-0.209,-1.741, 0.470, RAW= 167.4,  14.9, CAL= 168.0,  18.3, ROT= 342.0, -18.3

2025-08-22T16:12:35.353Z,1755879155.353 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T16:12:35.362Z,1755879155.362 [DAT](INFO): direction in FSK: [0.902957,-0.293389,0.313992]
2025-08-22T16:12:35.362Z,1755879155.362 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:35.407Z,1755879155.407 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.993500
2025-08-22T16:12:35.472Z,1755879155.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.503637 s,
      deltaX: -0.200000 m,
      approachRate: -0.397111 m/s,
      rangeRepo size: 4

2025-08-22T16:12:35.478Z,1755879155.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.752386 m,
      bearing: 299.698817 deg,
      lat: 36.779421 deg,
      lon: -121.859664 deg,
      deltaT: 3.523217 s,
      deltaX: -1.788882 m,
      approachRate: -0.507741 m/s,
      posRepo size: 4

2025-08-22T16:12:35.479Z,1755879155.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.75 m. 9.54 m.
2025-08-22T16:12:35.481Z,1755879155.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 7.338984 m,
      bearing: 301.241665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 311.600060 deg,
      new cmd heading: 311.341210 deg.

2025-08-22T16:12:35.486Z,1755879155.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433929 target range: 9.541267 and range: 7.80 m.
2025-08-22T16:12:35.596Z,1755879155.596 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.181877
2025-08-22T16:12:35.847Z,1755879155.847 [DAT](INFO): DAT read: Rx Time:16:12:36.6092 

2025-08-22T16:12:35.848Z,1755879155.848 [DAT](INFO): Rx dataTimestamp_ set to:1755879155.847436
2025-08-22T16:12:35.849Z,1755879155.849 [DAT](INFO): DAT read: Bearing 135.9, -16.1 (Local)

2025-08-22T16:12:35.849Z,1755879155.849 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.9, -16.1 (Local)

2025-08-22T16:12:35.851Z,1755879155.851 [DAT](INFO): DAT read: Range 11 to 50 :     7.5 m (trip time 5.0 ms) speed 0.4

2025-08-22T16:12:35.856Z,1755879155.856 [DAT](INFO): DAT read: 16:12:36.6092 LVL= 32752, 30113, 20466, 32755, AGC= 49, IDX= 496,-0.16, 0.761,-0.694, 1.602, 1.095, PHS=-0.233,-1.744, 0.463, RAW= 168.0,  15.3, CAL= 168.6,  18.9, ROT= 341.4, -18.9

2025-08-22T16:12:35.857Z,1755879155.857 [DAT](INFO): got valid direction response:
 16:12:36.6092 LVL= 32752, 30113, 20466, 32755, AGC= 49, IDX= 496,-0.16, 0.761,-0.694, 1.602, 1.095, PHS=-0.233,-1.744, 0.463, RAW= 168.0,  15.3, CAL= 168.6,  18.9, ROT= 341.4, -18.9

2025-08-22T16:12:35.857Z,1755879155.857 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T16:12:35.858Z,1755879155.858 [DAT](INFO): direction in FSK: [0.896670,-0.301763,0.323917]
2025-08-22T16:12:35.859Z,1755879155.859 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:35.863Z,1755879155.863 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.449425
2025-08-22T16:12:35.961Z,1755879155.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.500000 m,
      deltaT: 0.504189 s,
      deltaX: -0.300000 m,
      approachRate: -0.595015 m/s,
      rangeRepo size: 4

2025-08-22T16:12:35.967Z,1755879155.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.454217 m,
      bearing: 299.085220 deg,
      lat: 36.779421 deg,
      lon: -121.859663 deg,
      deltaT: 4.027406 s,
      deltaX: -2.087050 m,
      approachRate: -0.518212 m/s,
      posRepo size: 4

2025-08-22T16:12:35.968Z,1755879155.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.45 m. 9.54 m.
2025-08-22T16:12:35.975Z,1755879155.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 7.092823 m,
      bearing: 301.126485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 311.341223 deg,
      new cmd heading: 311.091357 deg.

2025-08-22T16:12:35.976Z,1755879155.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429568 target range: 9.541267 and range: 7.50 m.
2025-08-22T16:12:36.099Z,1755879156.099 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.685261
2025-08-22T16:12:36.351Z,1755879156.351 [DAT](INFO): DAT read: Rx Time:16:12:37.1091 

2025-08-22T16:12:36.352Z,1755879156.352 [DAT](INFO): Rx dataTimestamp_ set to:1755879156.351340
2025-08-22T16:12:36.353Z,1755879156.353 [DAT](INFO): DAT read: Bearing 134.7, -15.7 (Local)

2025-08-22T16:12:36.353Z,1755879156.353 [DAT](INFO): Local bearing/azimuth received:
 Bearing 134.7, -15.7 (Local)

2025-08-22T16:12:36.355Z,1755879156.355 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.4

2025-08-22T16:12:36.360Z,1755879156.360 [DAT](INFO): DAT read: 16:12:37.1091 LVL= 32752, 29025, 20866, 32755, AGC= 49, IDX= 511, 0.11,-2.202, 2.602,-1.367,-1.892, PHS=-0.207,-1.744, 0.482, RAW= 167.6,  14.7, CAL= 168.2,  18.0, ROT= 341.8, -18.0

2025-08-22T16:12:36.361Z,1755879156.361 [DAT](INFO): got valid direction response:
 16:12:37.1091 LVL= 32752, 29025, 20866, 32755, AGC= 49, IDX= 511, 0.11,-2.202, 2.602,-1.367,-1.892, PHS=-0.207,-1.744, 0.482, RAW= 167.6,  14.7, CAL= 168.2,  18.0, ROT= 341.8, -18.0

2025-08-22T16:12:36.361Z,1755879156.361 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-08-22T16:12:36.367Z,1755879156.367 [DAT](INFO): direction in FSK: [0.903477,-0.297048,0.309017]
2025-08-22T16:12:36.367Z,1755879156.367 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:36.370Z,1755879156.370 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.957039
2025-08-22T16:12:36.386Z,1755879156.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.503904 s,
      deltaX: -0.100000 m,
      approachRate: -0.198450 m/s,
      rangeRepo size: 4

2025-08-22T16:12:36.388Z,1755879156.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.354839 m,
      bearing: 299.020304 deg,
      lat: 36.779421 deg,
      lon: -121.859664 deg,
      deltaT: 4.531310 s,
      deltaX: -2.186429 m,
      approachRate: -0.482516 m/s,
      posRepo size: 4

2025-08-22T16:12:36.389Z,1755879156.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.35 m. 9.54 m.
2025-08-22T16:12:36.396Z,1755879156.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 6.874290 m,
      bearing: 301.014823 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 311.091348 deg,
      new cmd heading: 310.876635 deg.

2025-08-22T16:12:36.397Z,1755879156.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425821 target range: 9.541267 and range: 7.40 m.
2025-08-22T16:12:36.603Z,1755879156.603 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.189438
2025-08-22T16:12:36.728Z,1755879156.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:36.735Z,1755879156.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 6.677780 m,
      bearing: 300.908161 deg,
      approach rate: -0.566433 m/s,
      LOS rate: -0.316497 deg/s,
      cmd heading: 310.876634 deg,
      new cmd heading: 310.657032 deg.

2025-08-22T16:12:36.736Z,1755879156.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421988 target range: 9.541267 and range: 7.40 m.
2025-08-22T16:12:36.856Z,1755879156.856 [DAT](INFO): DAT read: Rx Time:16:12:37.6089 

2025-08-22T16:12:36.856Z,1755879156.856 [DAT](INFO): Rx dataTimestamp_ set to:1755879156.856189
2025-08-22T16:12:36.858Z,1755879156.858 [DAT](INFO): DAT read: Bearing 133.9, -15.9 (Local)

2025-08-22T16:12:36.859Z,1755879156.859 [DAT](INFO): Local bearing/azimuth received:
 Bearing 133.9, -15.9 (Local)

2025-08-22T16:12:36.862Z,1755879156.862 [DAT](INFO): DAT read: Range 11 to 50 :     7.1 m (trip time 4.7 ms) speed 0.4

2025-08-22T16:12:36.867Z,1755879156.867 [DAT](INFO): DAT read: 16:12:37.6089 LVL= 29552, 26561, 17170, 32563, AGC= 47, IDX= 508, 0.49,-3.101, 1.718,-2.260,-2.802, PHS=-0.197,-1.719, 0.498, RAW= 167.8,  14.3, CAL= 168.3,  17.4, ROT= 341.7, -17.4

2025-08-22T16:12:36.868Z,1755879156.868 [DAT](INFO): got valid direction response:
 16:12:37.6089 LVL= 29552, 26561, 17170, 32563, AGC= 47, IDX= 508, 0.49,-3.101, 1.718,-2.260,-2.802, PHS=-0.197,-1.719, 0.498, RAW= 167.8,  14.3, CAL= 168.3,  17.4, ROT= 341.7, -17.4

2025-08-22T16:12:36.868Z,1755879156.868 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T16:12:36.869Z,1755879156.869 [DAT](INFO): direction in FSK: [0.905980,-0.299624,0.299041]
2025-08-22T16:12:36.869Z,1755879156.869 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:36.881Z,1755879156.881 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.467445
2025-08-22T16:12:37.096Z,1755879157.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 0.504849 s,
      deltaX: -0.300000 m,
      approachRate: -0.594237 m/s,
      rangeRepo size: 4

2025-08-22T16:12:37.098Z,1755879157.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.056670 m,
      bearing: 298.617205 deg,
      lat: 36.779421 deg,
      lon: -121.859665 deg,
      deltaT: 5.036159 s,
      deltaX: -2.484598 m,
      approachRate: -0.493352 m/s,
      posRepo size: 4

2025-08-22T16:12:37.099Z,1755879157.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.54 m.
2025-08-22T16:12:37.102Z,1755879157.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 6.468428 m,
      bearing: 300.797970 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 310.657030 deg,
      new cmd heading: 310.469727 deg.

2025-08-22T16:12:37.102Z,1755879157.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418719 target range: 9.541267 and range: 7.10 m.
2025-08-22T16:12:37.107Z,1755879157.107 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.693340
2025-08-22T16:12:37.359Z,1755879157.359 [DAT](INFO): DAT read: Rx Time:16:12:38.1088 

2025-08-22T16:12:37.360Z,1755879157.360 [DAT](INFO): Rx dataTimestamp_ set to:1755879157.359391
2025-08-22T16:12:37.361Z,1755879157.361 [DAT](INFO): DAT read: Bearing 135.2, -16.1 (Local)

2025-08-22T16:12:37.361Z,1755879157.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.2, -16.1 (Local)

2025-08-22T16:12:37.363Z,1755879157.363 [DAT](INFO): DAT read: Range 11 to 50 :     6.9 m (trip time 4.6 ms) speed 0.4

2025-08-22T16:12:37.371Z,1755879157.371 [DAT](INFO): DAT read: 16:12:38.1088 LVL= 32752, 29329, 18994, 32755, AGC= 48, IDX= 508,-0.04, 2.692, 1.235,-2.743, 3.030, PHS=-0.235,-1.750, 0.467, RAW= 168.1,  15.3, CAL= 168.7,  18.9, ROT= 341.3, -18.9

2025-08-22T16:12:37.372Z,1755879157.372 [DAT](INFO): got valid direction response:
 16:12:38.1088 LVL= 32752, 29329, 18994, 32755, AGC= 48, IDX= 508,-0.04, 2.692, 1.235,-2.743, 3.030, PHS=-0.235,-1.750, 0.467, RAW= 168.1,  15.3, CAL= 168.7,  18.9, ROT= 341.3, -18.9

2025-08-22T16:12:37.373Z,1755879157.373 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:12:37.374Z,1755879157.374 [DAT](INFO): direction in FSK: [0.896142,-0.303327,0.323917]
2025-08-22T16:12:37.374Z,1755879157.374 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:37.379Z,1755879157.379 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.965191
2025-08-22T16:12:37.553Z,1755879157.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.900000 m,
      deltaT: 0.503202 s,
      deltaX: -0.200000 m,
      approachRate: -0.397454 m/s,
      rangeRepo size: 4

2025-08-22T16:12:37.559Z,1755879157.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.857905 m,
      bearing: 298.044991 deg,
      lat: 36.779421 deg,
      lon: -121.859666 deg,
      deltaT: 5.539361 s,
      deltaX: -2.683362 m,
      approachRate: -0.484417 m/s,
      posRepo size: 4

2025-08-22T16:12:37.560Z,1755879157.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.54 m.
2025-08-22T16:12:37.567Z,1755879157.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 6.230790 m,
      bearing: 300.682380 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 310.469718 deg,
      new cmd heading: 310.236268 deg.

2025-08-22T16:12:37.568Z,1755879157.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414644 target range: 9.541267 and range: 6.90 m.
2025-08-22T16:12:37.611Z,1755879157.611 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.197384
2025-08-22T16:12:37.863Z,1755879157.863 [DAT](INFO): DAT read: Rx Time:16:12:38.6085 

2025-08-22T16:12:37.864Z,1755879157.864 [DAT](INFO): Rx dataTimestamp_ set to:1755879157.863286
2025-08-22T16:12:37.865Z,1755879157.865 [DAT](INFO): DAT read: Bearing 135.0, -15.4 (Local)

2025-08-22T16:12:37.865Z,1755879157.865 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.0, -15.4 (Local)

2025-08-22T16:12:37.867Z,1755879157.867 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-08-22T16:12:37.872Z,1755879157.872 [DAT](INFO): DAT read: 16:12:38.6085 LVL= 32752, 26769, 20674, 32755, AGC= 48, IDX= 505, 0.36, 2.829, 1.345,-2.632,-3.128, PHS=-0.225,-1.765, 0.452, RAW= 167.3,  15.4, CAL= 168.0,  19.0, ROT= 342.0, -19.0

2025-08-22T16:12:37.873Z,1755879157.873 [DAT](INFO): got valid direction response:
 16:12:38.6085 LVL= 32752, 26769, 20674, 32755, AGC= 48, IDX= 505, 0.36, 2.829, 1.345,-2.632,-3.128, PHS=-0.225,-1.765, 0.452, RAW= 167.3,  15.4, CAL= 168.0,  19.0, ROT= 342.0, -19.0

2025-08-22T16:12:37.894Z,1755879157.894 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T16:12:37.895Z,1755879157.895 [DAT](INFO): direction in FSK: [0.899242,-0.292181,0.325568]
2025-08-22T16:12:37.895Z,1755879157.895 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:37.899Z,1755879157.899 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.485264
2025-08-22T16:12:37.994Z,1755879157.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503895 s,
      deltaX: -0.400000 m,
      approachRate: -0.793816 m/s,
      rangeRepo size: 4

2025-08-22T16:12:37.996Z,1755879157.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.460345 m,
      bearing: 298.432866 deg,
      lat: 36.779421 deg,
      lon: -121.859666 deg,
      deltaT: 6.043256 s,
      deltaX: -3.080922 m,
      approachRate: -0.509812 m/s,
      posRepo size: 4

2025-08-22T16:12:37.997Z,1755879157.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.54 m.
2025-08-22T16:12:38.012Z,1755879158.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 5.997803 m,
      bearing: 300.572941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 310.236263 deg,
      new cmd heading: 310.013454 deg.

2025-08-22T16:12:38.013Z,1755879158.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410756 target range: 9.541267 and range: 6.50 m.
2025-08-22T16:12:38.115Z,1755879158.115 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.701462
2025-08-22T16:12:38.367Z,1755879158.367 [DAT](INFO): DAT read: Rx Time:16:12:39.1085 

2025-08-22T16:12:38.368Z,1755879158.368 [DAT](INFO): Rx dataTimestamp_ set to:1755879158.367260
2025-08-22T16:12:38.369Z,1755879158.369 [DAT](INFO): DAT read: Bearing 136.6, -15.5 (Local)

2025-08-22T16:12:38.369Z,1755879158.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.6, -15.5 (Local)

2025-08-22T16:12:38.375Z,1755879158.375 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.4

2025-08-22T16:12:38.380Z,1755879158.380 [DAT](INFO): DAT read: 16:12:39.1085 LVL= 32752, 26961, 20386, 32755, AGC= 48, IDX= 505,-0.10, 1.747, 0.284, 2.573, 2.113, PHS=-0.263,-1.784, 0.416, RAW= 167.6,  16.5, CAL= 168.3,  20.7, ROT= 341.7, -20.7

2025-08-22T16:12:38.382Z,1755879158.382 [DAT](INFO): got valid direction response:
 16:12:39.1085 LVL= 32752, 26961, 20386, 32755, AGC= 48, IDX= 505,-0.10, 1.747, 0.284, 2.573, 2.113, PHS=-0.263,-1.784, 0.416, RAW= 167.6,  16.5, CAL= 168.3,  20.7, ROT= 341.7, -20.7

2025-08-22T16:12:38.382Z,1755879158.382 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T16:12:38.383Z,1755879158.383 [DAT](INFO): direction in FSK: [0.888134,-0.293722,0.353475]
2025-08-22T16:12:38.383Z,1755879158.383 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:38.403Z,1755879158.403 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.989872
2025-08-22T16:12:38.510Z,1755879158.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 0.503974 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:38.512Z,1755879158.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.460354 m,
      bearing: 298.106793 deg,
      lat: 36.779421 deg,
      lon: -121.859667 deg,
      deltaT: 6.547230 s,
      deltaX: -3.080913 m,
      approachRate: -0.470567 m/s,
      posRepo size: 4

2025-08-22T16:12:38.518Z,1755879158.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.54 m.
2025-08-22T16:12:38.520Z,1755879158.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 5.725048 m,
      bearing: 300.442369 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 310.013462 deg,
      new cmd heading: 309.751943 deg.

2025-08-22T16:12:38.521Z,1755879158.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406191 target range: 9.541267 and range: 6.50 m.
2025-08-22T16:12:38.620Z,1755879158.620 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.206455
2025-08-22T16:12:38.775Z,1755879158.775 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:12:38.871Z,1755879158.871 [DAT](INFO): DAT read: Rx Time:16:12:39.6083 

2025-08-22T16:12:38.872Z,1755879158.872 [DAT](INFO): Rx dataTimestamp_ set to:1755879158.871355
2025-08-22T16:12:38.873Z,1755879158.873 [DAT](INFO): DAT read: Bearing 135.6, -14.5 (Local)

2025-08-22T16:12:38.873Z,1755879158.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 135.6, -14.5 (Local)

2025-08-22T16:12:38.875Z,1755879158.875 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-08-22T16:12:38.880Z,1755879158.880 [DAT](INFO): DAT read: 16:12:39.6083 LVL= 32752, 30193, 21250, 32755, AGC= 48, IDX= 502, 0.23, 2.696, 1.173,-2.794, 3.033, PHS=-0.235,-1.815, 0.412, RAW= 166.4,  16.3, CAL= 167.2,  20.1, ROT= 342.8, -20.1

2025-08-22T16:12:38.881Z,1755879158.881 [DAT](INFO): got valid direction response:
 16:12:39.6083 LVL= 32752, 30193, 21250, 32755, AGC= 48, IDX= 502, 0.23, 2.696, 1.173,-2.794, 3.033, PHS=-0.235,-1.815, 0.412, RAW= 166.4,  16.3, CAL= 167.2,  20.1, ROT= 342.8, -20.1

2025-08-22T16:12:38.881Z,1755879158.881 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T16:12:38.882Z,1755879158.882 [DAT](INFO): direction in FSK: [0.897096,-0.277698,0.343660]
2025-08-22T16:12:38.882Z,1755879158.882 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:38.926Z,1755879158.926 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.512890
2025-08-22T16:12:38.990Z,1755879158.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.504095 s,
      deltaX: -0.300000 m,
      approachRate: -0.595126 m/s,
      rangeRepo size: 4

2025-08-22T16:12:38.992Z,1755879158.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162184 m,
      bearing: 298.856896 deg,
      lat: 36.779421 deg,
      lon: -121.859666 deg,
      deltaT: 7.051325 s,
      deltaX: -3.379084 m,
      approachRate: -0.479213 m/s,
      posRepo size: 4

2025-08-22T16:12:38.992Z,1755879158.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m.
2025-08-22T16:12:38.999Z,1755879158.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 5.468855 m,
      bearing: 300.324741 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 309.751948 deg,
      new cmd heading: 309.505423 deg.

2025-08-22T16:12:39.000Z,1755879159.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401889 target range: 9.541267 and range: 6.20 m.
2025-08-22T16:12:39.124Z,1755879159.124 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.710583
2025-08-22T16:12:39.375Z,1755879159.375 [DAT](INFO): DAT read: Rx Time:16:12:40.1083 

2025-08-22T16:12:39.376Z,1755879159.376 [DAT](INFO): Rx dataTimestamp_ set to:1755879159.375324
2025-08-22T16:12:39.377Z,1755879159.377 [DAT](INFO): DAT read: Bearing 137.3, -13.9 (Local)

2025-08-22T16:12:39.377Z,1755879159.377 [DAT](INFO): Local bearing/azimuth received:
 Bearing 137.3, -13.9 (Local)

2025-08-22T16:12:39.380Z,1755879159.380 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.4

2025-08-22T16:12:39.384Z,1755879159.384 [DAT](INFO): DAT read: 16:12:40.1083 LVL= 32752, 31985, 20690, 32755, AGC= 48, IDX= 502,-0.25, 1.642, 0.110, 2.416, 2.004, PHS=-0.260,-1.850, 0.368, RAW= 165.9,  17.3, CAL= 166.9,  22.1, ROT= 343.1, -22.1

2025-08-22T16:12:39.386Z,1755879159.386 [DAT](INFO): got valid direction response:
 16:12:40.1083 LVL= 32752, 31985, 20690, 32755, AGC= 48, IDX= 502,-0.25, 1.642, 0.110, 2.416, 2.004, PHS=-0.260,-1.850, 0.368, RAW= 165.9,  17.3, CAL= 166.9,  22.1, ROT= 343.1, -22.1

2025-08-22T16:12:39.386Z,1755879159.386 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T16:12:39.387Z,1755879159.387 [DAT](INFO): direction in FSK: [0.886515,-0.269344,0.376224]
2025-08-22T16:12:39.387Z,1755879159.387 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:39.390Z,1755879159.390 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:12:39.390Z,1755879159.390 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:12:39.391Z,1755879159.391 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:39.490Z,1755879159.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.503969 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:39.492Z,1755879159.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.162194 m,
      bearing: 298.960333 deg,
      lat: 36.779422 deg,
      lon: -121.859667 deg,
      deltaT: 7.555294 s,
      deltaX: -3.379074 m,
      approachRate: -0.447246 m/s,
      posRepo size: 4

2025-08-22T16:12:39.493Z,1755879159.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m.
2025-08-22T16:12:39.499Z,1755879159.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 5.197788 m,
      bearing: 300.240065 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 309.505432 deg,
      new cmd heading: 309.250166 deg.

2025-08-22T16:12:39.500Z,1755879159.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397434 target range: 9.541267 and range: 6.20 m.
2025-08-22T16:12:39.626Z,1755879159.626 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:39.627Z,1755879159.627 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:39.627Z,1755879159.627 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:39.770Z,1755879159.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:39.773Z,1755879159.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:39.787Z,1755879159.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:12:39.807Z,1755879159.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 5.025950 m,
      bearing: 300.186966 deg,
      approach rate: -0.598550 m/s,
      LOS rate: -0.191280 deg/s,
      cmd heading: 309.250175 deg,
      new cmd heading: 309.140346 deg.

2025-08-22T16:12:39.816Z,1755879159.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395517 target range: 9.541267 and range: 6.20 m.
2025-08-22T16:12:39.880Z,1755879159.880 [DAT](INFO): DAT read: Rx Time:16:12:40.6080 

2025-08-22T16:12:39.881Z,1755879159.881 [DAT](INFO): Rx dataTimestamp_ set to:1755879159.880265
2025-08-22T16:12:39.882Z,1755879159.882 [DAT](INFO): DAT read: Bearing 136.9, -12.5 (Local)

2025-08-22T16:12:39.883Z,1755879159.883 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.9, -12.5 (Local)

2025-08-22T16:12:39.886Z,1755879159.886 [DAT](INFO): DAT read: Range 11 to 50 :     5.7 m (trip time 3.8 ms) speed 0.4

2025-08-22T16:12:39.892Z,1755879159.892 [DAT](INFO): DAT read: 16:12:40.6080 LVL= 32752, 32753, 23538, 32755, AGC= 48, IDX= 499, 0.09, 2.550, 0.965,-3.016, 2.884, PHS=-0.232,-1.874, 0.339, RAW= 164.4,  17.4, CAL= 165.4,  22.1, ROT= 344.6, -22.1

2025-08-22T16:12:39.920Z,1755879159.920 [DAT](INFO): got valid direction response:
 16:12:40.6080 LVL= 32752, 32753, 23538, 32755, AGC= 48, IDX= 499, 0.09, 2.550, 0.965,-3.016, 2.884, PHS=-0.232,-1.874, 0.339, RAW= 164.4,  17.4, CAL= 165.4,  22.1, ROT= 344.6, -22.1

2025-08-22T16:12:39.926Z,1755879159.926 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:39.927Z,1755879159.927 [DAT](INFO): direction in FSK: [0.893262,-0.246045,0.376224]
2025-08-22T16:12:39.928Z,1755879159.928 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:39.945Z,1755879159.945 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:39.946Z,1755879159.946 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:40.130Z,1755879160.130 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:40.131Z,1755879160.131 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:40.131Z,1755879160.131 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:40.226Z,1755879160.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.700000 m,
      deltaT: 0.504941 s,
      deltaX: -0.500000 m,
      approachRate: -0.990215 m/s,
      rangeRepo size: 4

2025-08-22T16:12:40.228Z,1755879160.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.665243 m,
      bearing: 300.103191 deg,
      lat: 36.779422 deg,
      lon: -121.859667 deg,
      deltaT: 8.060235 s,
      deltaX: -3.876025 m,
      approachRate: -0.480882 m/s,
      posRepo size: 4

2025-08-22T16:12:40.232Z,1755879160.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.54 m.
2025-08-22T16:12:40.242Z,1755879160.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 4.789512 m,
      bearing: 300.116372 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 309.140345 deg,
      new cmd heading: 308.908957 deg.

2025-08-22T16:12:40.245Z,1755879160.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391479 target range: 9.541267 and range: 5.70 m.
2025-08-22T16:12:40.385Z,1755879160.385 [DAT](INFO): DAT read: Rx Time:16:12:41.1079 

2025-08-22T16:12:40.385Z,1755879160.385 [DAT](INFO): Rx dataTimestamp_ set to:1755879160.384863
2025-08-22T16:12:40.387Z,1755879160.387 [DAT](INFO): DAT read: Bearing 136.3, -11.9 (Local)

2025-08-22T16:12:40.388Z,1755879160.388 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.3, -11.9 (Local)

2025-08-22T16:12:40.390Z,1755879160.390 [DAT](INFO): DAT read: Range 11 to 50 :     5.6 m (trip time 3.7 ms) speed 0.4

2025-08-22T16:12:40.394Z,1755879160.394 [DAT](INFO): DAT read: 16:12:41.1079 LVL= 29488, 26961, 18258, 30595, AGC= 45, IDX= 498,-0.46, 1.735, 0.173, 2.413, 2.046, PHS=-0.209,-1.827, 0.324, RAW= 163.8,  17.3, CAL= 164.8,  21.8, ROT= 345.2, -21.8

2025-08-22T16:12:40.395Z,1755879160.395 [DAT](INFO): got valid direction response:
 16:12:41.1079 LVL= 29488, 26961, 18258, 30595, AGC= 45, IDX= 498,-0.46, 1.735, 0.173, 2.413, 2.046, PHS=-0.209,-1.827, 0.324, RAW= 163.8,  17.3, CAL= 164.8,  21.8, ROT= 345.2, -21.8

2025-08-22T16:12:40.396Z,1755879160.396 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:40.397Z,1755879160.397 [DAT](INFO): direction in FSK: [0.897682,-0.237178,0.371368]
2025-08-22T16:12:40.397Z,1755879160.397 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:40.404Z,1755879160.404 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:40.405Z,1755879160.405 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:40.625Z,1755879160.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.600000 m,
      deltaT: 0.504598 s,
      deltaX: -0.100000 m,
      approachRate: -0.198177 m/s,
      rangeRepo size: 4

2025-08-22T16:12:40.627Z,1755879160.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.565847 m,
      bearing: 300.521351 deg,
      lat: 36.779423 deg,
      lon: -121.859667 deg,
      deltaT: 8.564833 s,
      deltaX: -3.975420 m,
      approachRate: -0.464156 m/s,
      posRepo size: 4

2025-08-22T16:12:40.628Z,1755879160.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.54 m.
2025-08-22T16:12:40.630Z,1755879160.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 4.566808 m,
      bearing: 300.030800 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 308.908966 deg,
      new cmd heading: 308.705509 deg.

2025-08-22T16:12:40.631Z,1755879160.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387928 target range: 9.541267 and range: 5.60 m.
2025-08-22T16:12:40.634Z,1755879160.634 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:40.634Z,1755879160.634 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:40.635Z,1755879160.635 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:40.887Z,1755879160.887 [DAT](INFO): DAT read: Rx Time:16:12:41.6076 

2025-08-22T16:12:40.888Z,1755879160.888 [DAT](INFO): Rx dataTimestamp_ set to:1755879160.887264
2025-08-22T16:12:40.889Z,1755879160.889 [DAT](INFO): DAT read: Bearing 136.5, -10.7 (Local)

2025-08-22T16:12:40.889Z,1755879160.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.5, -10.7 (Local)

2025-08-22T16:12:40.891Z,1755879160.891 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-08-22T16:12:40.896Z,1755879160.896 [DAT](INFO): DAT read: 16:12:41.6076 LVL= 26320, 26609, 16946, 27475, AGC= 44, IDX= 495,-0.05, 0.230,-1.348, 0.856, 0.524, PHS=-0.192,-1.827, 0.287, RAW= 162.5,  17.7, CAL= 163.7,  22.3, ROT= 346.3, -22.3

2025-08-22T16:12:40.897Z,1755879160.897 [DAT](INFO): got valid direction response:
 16:12:41.6076 LVL= 26320, 26609, 16946, 27475, AGC= 44, IDX= 495,-0.05, 0.230,-1.348, 0.856, 0.524, PHS=-0.192,-1.827, 0.287, RAW= 162.5,  17.7, CAL= 163.7,  22.3, ROT= 346.3, -22.3

2025-08-22T16:12:40.897Z,1755879160.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:40.899Z,1755879160.899 [DAT](INFO): direction in FSK: [0.898887,-0.219125,0.379456]
2025-08-22T16:12:40.899Z,1755879160.899 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:40.902Z,1755879160.902 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:40.903Z,1755879160.903 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:41.036Z,1755879161.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.502401 s,
      deltaX: -0.500000 m,
      approachRate: -0.995221 m/s,
      rangeRepo size: 4

2025-08-22T16:12:41.046Z,1755879161.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.068897 m,
      bearing: 301.428857 deg,
      lat: 36.779424 deg,
      lon: -121.859667 deg,
      deltaT: 9.067234 s,
      deltaX: -4.472371 m,
      approachRate: -0.493245 m/s,
      posRepo size: 4

2025-08-22T16:12:41.047Z,1755879161.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.54 m.
2025-08-22T16:12:41.049Z,1755879161.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 4.354775 m,
      bearing: 299.951852 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 308.705508 deg,
      new cmd heading: 308.495793 deg.

2025-08-22T16:12:41.051Z,1755879161.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384267 target range: 9.541267 and range: 5.10 m.
2025-08-22T16:12:41.138Z,1755879161.138 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:41.139Z,1755879161.139 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:41.139Z,1755879161.139 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:41.391Z,1755879161.391 [DAT](INFO): DAT read: Rx Time:16:12:42.1076 

2025-08-22T16:12:41.391Z,1755879161.391 [DAT](INFO): Rx dataTimestamp_ set to:1755879161.391124
2025-08-22T16:12:41.393Z,1755879161.393 [DAT](INFO): DAT read: Bearing 136.5,  -8.6 (Local)

2025-08-22T16:12:41.393Z,1755879161.393 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.5,  -8.6 (Local)

2025-08-22T16:12:41.395Z,1755879161.395 [DAT](INFO): DAT read: Range 11 to 50 :     5.1 m (trip time 3.4 ms) speed 0.4

2025-08-22T16:12:41.399Z,1755879161.399 [DAT](INFO): DAT read: 16:12:42.1076 LVL= 24624, 23921, 18914, 28723, AGC= 44, IDX= 510, 0.26, 3.090, 1.463,-2.659,-2.935, PHS=-0.156,-1.841, 0.231, RAW= 160.1,  18.1, CAL= 161.5,  22.7, ROT= 348.5, -22.7

2025-08-22T16:12:41.400Z,1755879161.400 [DAT](INFO): got valid direction response:
 16:12:42.1076 LVL= 24624, 23921, 18914, 28723, AGC= 44, IDX= 510, 0.26, 3.090, 1.463,-2.659,-2.935, PHS=-0.156,-1.841, 0.231, RAW= 160.1,  18.1, CAL= 161.5,  22.7, ROT= 348.5, -22.7

2025-08-22T16:12:41.401Z,1755879161.401 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:41.406Z,1755879161.406 [DAT](INFO): direction in FSK: [0.904018,-0.183925,0.385906]
2025-08-22T16:12:41.406Z,1755879161.406 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:41.409Z,1755879161.409 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:41.410Z,1755879161.410 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:41.527Z,1755879161.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 0.503860 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:41.529Z,1755879161.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.068889 m,
      bearing: 303.433437 deg,
      lat: 36.779424 deg,
      lon: -121.859667 deg,
      deltaT: 9.571094 s,
      deltaX: -4.472378 m,
      approachRate: -0.467280 m/s,
      posRepo size: 4

2025-08-22T16:12:41.534Z,1755879161.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.54 m.
2025-08-22T16:12:41.537Z,1755879161.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 4.095746 m,
      bearing: 299.878574 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 308.495794 deg,
      new cmd heading: 308.244947 deg.

2025-08-22T16:12:41.542Z,1755879161.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.379889 target range: 9.541267 and range: 5.10 m.
2025-08-22T16:12:41.643Z,1755879161.643 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:41.643Z,1755879161.643 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:41.643Z,1755879161.643 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:41.896Z,1755879161.896 [DAT](INFO): DAT read: Rx Time:16:12:42.6074 

2025-08-22T16:12:41.897Z,1755879161.897 [DAT](INFO): Rx dataTimestamp_ set to:1755879161.896322
2025-08-22T16:12:41.899Z,1755879161.899 [DAT](INFO): DAT read: Bearing 136.8,  -6.8 (Local)

2025-08-22T16:12:41.899Z,1755879161.899 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.8,  -6.8 (Local)

2025-08-22T16:12:41.906Z,1755879161.906 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.4

2025-08-22T16:12:41.943Z,1755879161.943 [DAT](INFO): DAT read: 16:12:42.6074 LVL= 22816, 23281, 20658, 30275, AGC= 44, IDX= 508,-0.26, 0.754,-0.911, 1.208, 0.984, PHS=-0.129,-1.850, 0.179, RAW= 158.1,  18.6, CAL= 159.7,  23.3, ROT= 350.3, -23.3

2025-08-22T16:12:41.944Z,1755879161.944 [DAT](INFO): got valid direction response:
 16:12:42.6074 LVL= 22816, 23281, 20658, 30275, AGC= 44, IDX= 508,-0.26, 0.754,-0.911, 1.208, 0.984, PHS=-0.129,-1.850, 0.179, RAW= 158.1,  18.6, CAL= 159.7,  23.3, ROT= 350.3, -23.3

2025-08-22T16:12:41.944Z,1755879161.944 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:41.950Z,1755879161.950 [DAT](INFO): direction in FSK: [0.905316,-0.154749,0.395545]
2025-08-22T16:12:41.950Z,1755879161.950 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:41.953Z,1755879161.953 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:41.958Z,1755879161.958 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:42.072Z,1755879162.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.505198 s,
      deltaX: -0.300000 m,
      approachRate: -0.593826 m/s,
      rangeRepo size: 4

2025-08-22T16:12:42.078Z,1755879162.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.770720 m,
      bearing: 304.829416 deg,
      lat: 36.779425 deg,
      lon: -121.859666 deg,
      deltaT: 10.076292 s,
      deltaX: -4.770548 m,
      approachRate: -0.473443 m/s,
      posRepo size: 4

2025-08-22T16:12:42.079Z,1755879162.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.54 m.
2025-08-22T16:12:42.081Z,1755879162.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 3.809182 m,
      bearing: 299.818098 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 308.244935 deg,
      new cmd heading: 307.967077 deg.

2025-08-22T16:12:42.088Z,1755879162.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375040 target range: 9.541267 and range: 4.80 m.
2025-08-22T16:12:42.147Z,1755879162.147 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:42.147Z,1755879162.147 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:42.148Z,1755879162.148 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:42.399Z,1755879162.399 [DAT](INFO): DAT read: Rx Time:16:12:43.1073 

2025-08-22T16:12:42.400Z,1755879162.400 [DAT](INFO): Rx dataTimestamp_ set to:1755879162.399523
2025-08-22T16:12:42.401Z,1755879162.401 [DAT](INFO): DAT read: Bearing 136.3,  -4.4 (Local)

2025-08-22T16:12:42.401Z,1755879162.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.3,  -4.4 (Local)

2025-08-22T16:12:42.403Z,1755879162.403 [DAT](INFO): DAT read: Range 11 to 50 :     4.7 m (trip time 3.1 ms) speed 0.4

2025-08-22T16:12:42.416Z,1755879162.416 [DAT](INFO): DAT read: 16:12:43.1073 LVL= 21280, 24865, 21842, 30627, AGC= 44, IDX= 507, 0.06, 2.971, 1.243,-2.954,-3.126, PHS=-0.084,-1.869, 0.128, RAW= 155.6,  18.8, CAL= 157.1,  23.3, ROT= 352.9, -23.3

2025-08-22T16:12:42.417Z,1755879162.417 [DAT](INFO): got valid direction response:
 16:12:43.1073 LVL= 21280, 24865, 21842, 30627, AGC= 44, IDX= 507, 0.06, 2.971, 1.243,-2.954,-3.126, PHS=-0.084,-1.869, 0.128, RAW= 155.6,  18.8, CAL= 157.1,  23.3, ROT= 352.9, -23.3

2025-08-22T16:12:42.418Z,1755879162.418 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:42.418Z,1755879162.418 [DAT](INFO): direction in FSK: [0.911404,-0.113521,0.395545]
2025-08-22T16:12:42.419Z,1755879162.419 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:42.440Z,1755879162.440 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:42.440Z,1755879162.440 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:42.558Z,1755879162.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 0.503201 s,
      deltaX: -0.100000 m,
      approachRate: -0.198729 m/s,
      rangeRepo size: 4

2025-08-22T16:12:42.560Z,1755879162.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.671296 m,
      bearing: 307.464145 deg,
      lat: 36.779427 deg,
      lon: -121.859666 deg,
      deltaT: 10.579493 s,
      deltaX: -4.869971 m,
      approachRate: -0.460322 m/s,
      posRepo size: 4

2025-08-22T16:12:42.566Z,1755879162.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.54 m.
2025-08-22T16:12:42.569Z,1755879162.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 3.550914 m,
      bearing: 299.755229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 307.967083 deg,
      new cmd heading: 307.720727 deg.

2025-08-22T16:12:42.578Z,1755879162.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370740 target range: 9.541267 and range: 4.70 m.
2025-08-22T16:12:42.650Z,1755879162.650 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:42.651Z,1755879162.651 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:42.651Z,1755879162.651 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:42.904Z,1755879162.904 [DAT](INFO): DAT read: Rx Time:16:12:43.6071 

2025-08-22T16:12:42.904Z,1755879162.904 [DAT](INFO): Rx dataTimestamp_ set to:1755879162.903831
2025-08-22T16:12:42.906Z,1755879162.906 [DAT](INFO): DAT read: Bearing 136.4,  -2.2 (Local)

2025-08-22T16:12:42.907Z,1755879162.907 [DAT](INFO): Local bearing/azimuth received:
 Bearing 136.4,  -2.2 (Local)

2025-08-22T16:12:42.909Z,1755879162.909 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-08-22T16:12:42.916Z,1755879162.916 [DAT](INFO): DAT read: 16:12:43.6071 LVL= 21200, 25905, 20978, 29923, AGC= 44, IDX= 504, 0.50, 2.337, 0.546, 2.607, 2.490, PHS=-0.051,-1.899, 0.073, RAW= 153.2,  19.1, CAL= 154.8,  23.7, ROT= 355.2, -23.7

2025-08-22T16:12:42.924Z,1755879162.924 [DAT](INFO): got valid direction response:
 16:12:43.6071 LVL= 21200, 25905, 20978, 29923, AGC= 44, IDX= 504, 0.50, 2.337, 0.546, 2.607, 2.490, PHS=-0.051,-1.899, 0.073, RAW= 153.2,  19.1, CAL= 154.8,  23.7, ROT= 355.2, -23.7

2025-08-22T16:12:42.925Z,1755879162.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:12:42.934Z,1755879162.934 [DAT](INFO): direction in FSK: [0.912451,-0.076621,0.401948]
2025-08-22T16:12:42.934Z,1755879162.934 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:42.942Z,1755879162.942 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:42.942Z,1755879162.942 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:43.041Z,1755879163.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.504308 s,
      deltaX: -0.300000 m,
      approachRate: -0.594874 m/s,
      rangeRepo size: 4

2025-08-22T16:12:43.063Z,1755879163.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.373128 m,
      bearing: 309.389801 deg,
      lat: 36.779427 deg,
      lon: -121.859666 deg,
      deltaT: 11.083801 s,
      deltaX: -5.168139 m,
      approachRate: -0.466279 m/s,
      posRepo size: 4

2025-08-22T16:12:43.064Z,1755879163.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.37 m. 9.54 m.
2025-08-22T16:12:43.067Z,1755879163.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 3.287344 m,
      bearing: 299.710907 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.255172 deg/s,
      cmd heading: 307.720731 deg,
      new cmd heading: 307.472280 deg.

2025-08-22T16:12:43.068Z,1755879163.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366404 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:43.155Z,1755879163.155 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:43.155Z,1755879163.155 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:43.155Z,1755879163.155 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:43.407Z,1755879163.407 [DAT](INFO): DAT read: Rx Time:16:12:44.1071 

2025-08-22T16:12:43.408Z,1755879163.408 [DAT](INFO): Rx dataTimestamp_ set to:1755879163.407245
2025-08-22T16:12:43.409Z,1755879163.409 [DAT](INFO): DAT read: Bearing 138.6,  -1.5 (Local)

2025-08-22T16:12:43.409Z,1755879163.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 138.6,  -1.5 (Local)

2025-08-22T16:12:43.419Z,1755879163.419 [DAT](INFO): DAT read: Range 11 to 50 :     4.4 m (trip time 2.9 ms) speed 0.4

2025-08-22T16:12:43.421Z,1755879163.421 [DAT](INFO): DAT read: 16:12:44.1071 LVL= 25584, 28561, 23666, 32755, AGC= 45, IDX= 504,-0.02, 2.234, 0.26.1

2025-08-22T16:12:43.421Z,1755879163.421 [DAT](INFO): unknown deviceResponse_: 16:12:44.1071 LVL= 25584, 28561, 23666, 32755, AGC= 45, IDX= 504,-0.02, 2.234, 0.26.1

2025-08-22T16:12:43.422Z,1755879163.422 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:12:43.422Z,1755879163.422 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:43.423Z,1755879163.423 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:43.458Z,1755879163.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:43.460Z,1755879163.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.400000 m,
      deltaT: 0.503414 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:43.470Z,1755879163.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:43.472Z,1755879163.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 3.068918 m,
      bearing: 299.681615 deg,
      approach rate: -0.520885 m/s,
      LOS rate: -0.074826 deg/s,
      cmd heading: 307.472276 deg,
      new cmd heading: 307.409522 deg.

2025-08-22T16:12:43.473Z,1755879163.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365308 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:43.658Z,1755879163.658 [DAT](INFO): Reached modem response timeout
2025-08-22T16:12:43.658Z,1755879163.658 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:12:43.659Z,1755879163.659 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:12:43.832Z,1755879163.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:43.835Z,1755879163.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 2.863076 m,
      bearing: 299.662689 deg,
      approach rate: -0.552943 m/s,
      LOS rate: -0.054495 deg/s,
      cmd heading: 307.409521 deg,
      new cmd heading: 307.368947 deg.

2025-08-22T16:12:43.836Z,1755879163.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364600 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:43.912Z,1755879163.912 [DAT](INFO): DAT read: user:98>

2025-08-22T16:12:43.912Z,1755879163.912 [DAT](INFO): DAT read: 120

2025-08-22T16:12:43.913Z,1755879163.913 [DAT](INFO): unknown deviceResponse_: 120

2025-08-22T16:12:43.913Z,1755879163.913 [DAT](INFO): DAT read: Ok

2025-08-22T16:12:43.914Z,1755879163.914 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-22T16:12:43.914Z,1755879163.914 [DAT](INFO): DAT read: user:99>

2025-08-22T16:12:43.915Z,1755879163.915 [DAT](INFO): DAT read: Tx time:16:12:45.1016

2025-08-22T16:12:43.916Z,1755879163.916 [DAT](INFO): Ping request sent.
2025-08-22T16:12:43.916Z,1755879163.916 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:12:43.916Z,1755879163.916 [DAT](INFO): publishing transmit ping time
2025-08-22T16:12:43.917Z,1755879163.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001071
2025-08-22T16:12:44.164Z,1755879164.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247488
2025-08-22T16:12:44.244Z,1755879164.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:44.247Z,1755879164.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 2.655064 m,
      bearing: 299.654687 deg,
      approach rate: -0.505500 m/s,
      LOS rate: -0.020968 deg/s,
      cmd heading: 307.368949 deg,
      new cmd heading: 307.351693 deg.

2025-08-22T16:12:44.248Z,1755879164.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364299 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:44.414Z,1755879164.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498483
2025-08-22T16:12:44.660Z,1755879164.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:44.663Z,1755879164.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 2.425035 m,
      bearing: 299.658423 deg,
      approach rate: -0.553186 m/s,
      LOS rate: 0.009835 deg/s,
      cmd heading: 307.351682 deg,
      new cmd heading: 307.359862 deg.

2025-08-22T16:12:44.663Z,1755879164.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364441 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:44.667Z,1755879164.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750662
2025-08-22T16:12:44.919Z,1755879164.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002700
2025-08-22T16:12:45.039Z,1755879165.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:45.042Z,1755879165.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 2.224235 m,
      bearing: 299.679719 deg,
      approach rate: -0.529409 m/s,
      LOS rate: 0.061217 deg/s,
      cmd heading: 307.359851 deg,
      new cmd heading: 307.406290 deg.

2025-08-22T16:12:45.043Z,1755879165.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365252 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:45.171Z,1755879165.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254789
2025-08-22T16:12:45.423Z,1755879165.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506630
2025-08-22T16:12:45.471Z,1755879165.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:45.474Z,1755879165.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:45.476Z,1755879165.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 1.991845 m,
      bearing: 299.559623 deg,
      approach rate: -0.534892 m/s,
      LOS rate: -0.308678 deg/s,
      cmd heading: 307.406297 deg,
      new cmd heading: 307.138082 deg.

2025-08-22T16:12:45.477Z,1755879165.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.360571 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:45.676Z,1755879165.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759675
2025-08-22T16:12:45.843Z,1755879165.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:45.846Z,1755879165.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 1.793671 m,
      bearing: 299.453935 deg,
      approach rate: -0.536362 m/s,
      LOS rate: -0.317650 deg/s,
      cmd heading: 307.138089 deg,
      new cmd heading: 306.903360 deg.

2025-08-22T16:12:45.847Z,1755879165.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356474 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:45.931Z,1755879165.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014627
2025-08-22T16:12:46.179Z,1755879166.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262912
2025-08-22T16:12:46.242Z,1755879166.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m.
2025-08-22T16:12:46.245Z,1755879166.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.541267 m,
      nav range: 1.580022 m,
      bearing: 299.334468 deg,
      approach rate: -0.535525 m/s,
      LOS rate: -0.339943 deg/s,
      cmd heading: 306.903349 deg,
      new cmd heading: 306.632109 deg.

2025-08-22T16:12:46.246Z,1755879166.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351740 target range: 9.541267 and range: 4.40 m.
2025-08-22T16:12:46.434Z,1755879166.434 [DAT](INFO): DAT read: Rx Time:16:12:47.2346 

2025-08-22T16:12:46.435Z,1755879166.435 [DAT](INFO): Rx dataTimestamp_ set to:1755879166.434158
2025-08-22T16:12:46.438Z,1755879166.438 [DAT](INFO): DAT read: Bearing 229.8, -20.7 (Local)

2025-08-22T16:12:46.439Z,1755879166.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8, -20.7 (Local)

2025-08-22T16:12:46.444Z,1755879166.444 [DAT](INFO): DAT read: Range 11 to 50 :     2.9 m (trip time 1.9 ms) speed 0.3

2025-08-22T16:12:46.446Z,1755879166.446 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:12:46.449Z,1755879166.449 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.532818
2025-08-22T16:12:46.673Z,1755879166.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.900000 m,
      deltaT: 3.026913 s,
      deltaX: -1.500000 m,
      approachRate: -0.495554 m/s,
      rangeRepo size: 4

2025-08-22T16:12:46.674Z,1755879166.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m.
2025-08-22T16:12:46.674Z,1755879166.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-22T16:12:46.694Z,1755879166.694 [DAT](INFO): DAT read: 16:12:47.2346 LVL= 15808, 10145, 23074, 23715, AGC= 46, IDX= 501,-0.13,-3.088,-1.847,-2.204,-1.157, PHS=-1.828,-0.645,-1.091, RAW= 291.9,  50.6, CAL= 294.3,  55.0, ROT= 215.7, -55.0

2025-08-22T16:12:46.695Z,1755879166.695 [DAT](INFO): got valid direction response:
 16:12:47.2346 LVL= 15808, 10145, 23074, 23715, AGC= 46, IDX= 501,-0.13,-3.088,-1.847,-2.204,-1.157, PHS=-1.828,-0.645,-1.091, RAW= 291.9,  50.6, CAL= 294.3,  55.0, ROT= 215.7, -55.0

2025-08-22T16:12:46.695Z,1755879166.695 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-22T16:12:46.696Z,1755879166.696 [DAT](INFO): direction in FSK: [-0.465792,-0.334705,0.819152]
2025-08-22T16:12:46.700Z,1755879166.700 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.784083
2025-08-22T16:12:46.943Z,1755879166.943 [DAT](INFO): DAT read: Rx Time:16:12:47.7344 

2025-08-22T16:12:46.943Z,1755879166.943 [DAT](INFO): Rx dataTimestamp_ set to:1755879166.942838
2025-08-22T16:12:46.944Z,1755879166.944 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.3

2025-08-22T16:12:46.945Z,1755879166.945 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T16:12:46.946Z,1755879166.946 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.029883
2025-08-22T16:12:47.060Z,1755879167.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.508680 s,
      deltaX: -0.300000 m,
      approachRate: -0.589762 m/s,
      rangeRepo size: 4

2025-08-22T16:12:47.062Z,1755879167.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.584068 m,
      bearing: 167.225362 deg,
      lat: 36.779427 deg,
      lon: -121.859666 deg,
      deltaT: 15.122808 s,
      deltaX: -6.957199 m,
      approachRate: -0.460047 m/s,
      posRepo size: 4

2025-08-22T16:12:47.195Z,1755879167.195 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.279365
2025-08-22T16:12:47.450Z,1755879167.450 [DAT](INFO): DAT read: Rx Time:16:12:48.2343 

2025-08-22T16:12:47.452Z,1755879167.452 [DAT](INFO): Rx dataTimestamp_ set to:1755879167.450769
2025-08-22T16:12:47.456Z,1755879167.456 [DAT](INFO): DAT read: Bearing 239.7,  -3.9 (Local)

2025-08-22T16:12:47.457Z,1755879167.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.7,  -3.9 (Local)

2025-08-22T16:12:47.463Z,1755879167.463 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.2

2025-08-22T16:12:47.472Z,1755879167.472 [DAT](INFO): DAT read: 16:12:48.2343 LVL= 22112, 16321, 32754, 32755, AGC= 48, IDX= 497, 0.08,-1.528,-0.243,-1.299, 0.177, PHS=-1.604,-0.375,-1.520, RAW= 326.5,  46.1, CAL= 326.2,  50.5, ROT= 183.8, -50.5

2025-08-22T16:12:47.473Z,1755879167.473 [DAT](INFO): got valid direction response:
 16:12:48.2343 LVL= 22112, 16321, 32754, 32755, AGC= 48, IDX= 497, 0.08,-1.528,-0.243,-1.299, 0.177, PHS=-1.604,-0.375,-1.520, RAW= 326.5,  46.1, CAL= 326.2,  50.5, ROT= 183.8, -50.5

2025-08-22T16:12:47.486Z,1755879167.486 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:12:47.487Z,1755879167.487 [DAT](INFO): direction in FSK: [-0.634680,-0.042155,0.771625]
2025-08-22T16:12:47.487Z,1755879167.487 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:47.510Z,1755879167.510 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.594175
2025-08-22T16:12:47.627Z,1755879167.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.507931 s,
      deltaX: -0.200000 m,
      approachRate: -0.393754 m/s,
      rangeRepo size: 4

2025-08-22T16:12:47.629Z,1755879167.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385293 m,
      bearing: 136.734702 deg,
      lat: 36.779427 deg,
      lon: -121.859665 deg,
      deltaT: 0.507931 s,
      deltaX: -0.198775 m,
      approachRate: -0.391343 m/s,
      posRepo size: 4

2025-08-22T16:12:47.700Z,1755879167.700 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.783584
2025-08-22T16:12:47.951Z,1755879167.951 [DAT](INFO): DAT read: Rx Time:16:12:48.7345 

2025-08-22T16:12:47.951Z,1755879167.951 [DAT](INFO): Rx dataTimestamp_ set to:1755879167.950996
2025-08-22T16:12:47.952Z,1755879167.952 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.3

2025-08-22T16:12:47.953Z,1755879167.953 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T16:12:47.954Z,1755879167.954 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.038039
2025-08-22T16:12:47.969Z,1755879167.969 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:47.972Z,1755879167.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.500227 s,
      deltaX: 0.300000 m,
      approachRate: 0.599728 m/s,
      rangeRepo size: 4

2025-08-22T16:12:48.203Z,1755879168.203 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.287073
2025-08-22T16:12:48.459Z,1755879168.459 [DAT](INFO): DAT read: Rx Time:16:12:49.2343 

2025-08-22T16:12:48.460Z,1755879168.460 [DAT](INFO): Rx dataTimestamp_ set to:1755879168.459915
2025-08-22T16:12:48.462Z,1755879168.462 [DAT](INFO): DAT read: Bearing 229.5,  27.5 (Local)

2025-08-22T16:12:48.462Z,1755879168.462 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.5,  27.5 (Local)

2025-08-22T16:12:48.464Z,1755879168.464 [DAT](INFO): DAT read: Range 11 to 50 :     2.4 m (trip time 1.6 ms) speed 0.0

2025-08-22T16:12:48.469Z,1755879168.469 [DAT](INFO): DAT read: 16:12:49.2343 LVL= 15856, 23953, 22354, 32755, AGC= 46, IDX= 496, 0.14, 1.548, 1.834, 0.641, 2.506, PHS=-0.857,-0.628,-1.910, RAW=  20.4,  45.4, CAL=  18.9,  50.3, ROT= 131.1, -50.3

2025-08-22T16:12:48.478Z,1755879168.478 [DAT](INFO): got valid direction response:
 16:12:49.2343 LVL= 15856, 23953, 22354, 32755, AGC= 46, IDX= 496, 0.14, 1.548, 1.834, 0.641, 2.506, PHS=-0.857,-0.628,-1.910, RAW=  20.4,  45.4, CAL=  18.9,  50.3, ROT= 131.1, -50.3

2025-08-22T16:12:48.478Z,1755879168.478 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:12:48.479Z,1755879168.479 [DAT](INFO): direction in FSK: [-0.419910,0.481352,0.769400]
2025-08-22T16:12:48.480Z,1755879168.480 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:48.491Z,1755879168.491 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.575349
2025-08-22T16:12:48.496Z,1755879168.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.400000 m,
      deltaT: 0.508919 s,
      deltaX: -0.300000 m,
      approachRate: -0.589485 m/s,
      rangeRepo size: 4

2025-08-22T16:12:48.510Z,1755879168.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.385299 m,
      bearing: 85.504004 deg,
      lat: 36.779421 deg,
      lon: -121.859648 deg,
      deltaT: 1.009146 s,
      deltaX: 0.000006 m,
      approachRate: 0.000006 m/s,
      posRepo size: 4

2025-08-22T16:12:48.707Z,1755879168.707 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.790598
2025-08-22T16:12:48.959Z,1755879168.959 [DAT](INFO): DAT read: Rx Time:16:12:49.7344 

2025-08-22T16:12:48.960Z,1755879168.960 [DAT](INFO): Rx dataTimestamp_ set to:1755879168.959571
2025-08-22T16:12:48.962Z,1755879168.962 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.0

2025-08-22T16:12:48.963Z,1755879168.963 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-22T16:12:48.964Z,1755879168.964 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.047971
2025-08-22T16:12:49.210Z,1755879169.210 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.294527
2025-08-22T16:12:49.293Z,1755879169.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.499656 s,
      deltaX: 0.200000 m,
      approachRate: 0.400275 m/s,
      rangeRepo size: 4

2025-08-22T16:12:49.298Z,1755879169.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m.
2025-08-22T16:12:49.464Z,1755879169.464 [DAT](INFO): DAT read: Rx Time:16:12:50.2341 

2025-08-22T16:12:49.465Z,1755879169.465 [DAT](INFO): Rx dataTimestamp_ set to:1755879169.463933
2025-08-22T16:12:49.466Z,1755879169.466 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:49.467Z,1755879169.467 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-22T16:12:49.468Z,1755879169.468 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.551882
2025-08-22T16:12:49.697Z,1755879169.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504362 s,
      deltaX: -0.500000 m,
      approachRate: -0.991351 m/s,
      rangeRepo size: 4

2025-08-22T16:12:49.697Z,1755879169.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m.
2025-08-22T16:12:49.715Z,1755879169.715 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.798622
2025-08-22T16:12:49.967Z,1755879169.967 [DAT](INFO): DAT read: Rx Time:16:12:50.7342 

2025-08-22T16:12:49.968Z,1755879169.968 [DAT](INFO): Rx dataTimestamp_ set to:1755879169.967316
2025-08-22T16:12:49.969Z,1755879169.969 [DAT](INFO): DAT read: Bearing 219.1,  34.9 (Local)

2025-08-22T16:12:49.969Z,1755879169.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1,  34.9 (Local)

2025-08-22T16:12:49.971Z,1755879169.971 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:12:49.980Z,1755879169.980 [DAT](INFO): DAT read: 16:12:50.7342 LVL= 29936, 16017, 21714, 31731, AGC= 44, IDX= 513,-0.49, 1.187, 1.074,-0.169, 2.007, PHS=-0.718,-0.888,-2.220, RAW=  35.9,  43.5, CAL=  33.9,  48.8, ROT= 116.1, -48.8

2025-08-22T16:12:49.998Z,1755879169.998 [DAT](INFO): got valid direction response:
 16:12:50.7342 LVL= 29936, 16017, 21714, 31731, AGC= 44, IDX= 513,-0.49, 1.187, 1.074,-0.169, 2.007, PHS=-0.718,-0.888,-2.220, RAW=  35.9,  43.5, CAL=  33.9,  48.8, ROT= 116.1, -48.8

2025-08-22T16:12:49.999Z,1755879169.999 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:12:49.000Z,1755879170.000 [DAT](INFO): direction in FSK: [-0.289783,0.591521,0.752415]
2025-08-22T16:12:49.000Z,1755879170.000 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:50.008Z,1755879170.008 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.092084
2025-08-22T16:12:50.116Z,1755879170.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503383 s,
      deltaX: 0.200000 m,
      approachRate: 0.397312 m/s,
      rangeRepo size: 4

2025-08-22T16:12:50.121Z,1755879170.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285902 m,
      bearing: 66.948144 deg,
      lat: 36.779421 deg,
      lon: -121.859648 deg,
      deltaT: 1.507401 s,
      deltaX: -0.099397 m,
      approachRate: -0.065939 m/s,
      posRepo size: 4

2025-08-22T16:12:50.130Z,1755879170.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m.
2025-08-22T16:12:50.219Z,1755879170.219 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.303429
2025-08-22T16:12:50.471Z,1755879170.471 [DAT](INFO): DAT read: Rx Time:16:12:51.2341 

2025-08-22T16:12:50.472Z,1755879170.472 [DAT](INFO): Rx dataTimestamp_ set to:1755879170.471340
2025-08-22T16:12:50.473Z,1755879170.473 [DAT](INFO): DAT read: Bearing 222.9,  38.3 (Local)

2025-08-22T16:12:50.473Z,1755879170.473 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.9,  38.3 (Local)

2025-08-22T16:12:50.475Z,1755879170.475 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:50.480Z,1755879170.480 [DAT](INFO): DAT read: 16:12:51.2341 LVL= 18512, 17777, 15250, 26787, AGC= 43, IDX= 512,-0.37,-0.139,-0.269,-1.707, 0.564, PHS=-0.600,-0.788,-2.315, RAW=  35.7,  38.8, CAL=  33.5,  44.6, ROT= 116.5, -44.6

2025-08-22T16:12:50.481Z,1755879170.481 [DAT](INFO): got valid direction response:
 16:12:51.2341 LVL= 18512, 17777, 15250, 26787, AGC= 43, IDX= 512,-0.37,-0.139,-0.269,-1.707, 0.564, PHS=-0.600,-0.788,-2.315, RAW=  35.7,  38.8, CAL=  33.5,  44.6, ROT= 116.5, -44.6

2025-08-22T16:12:50.481Z,1755879170.481 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:12:50.482Z,1755879170.482 [DAT](INFO): direction in FSK: [-0.317704,0.637217,0.702153]
2025-08-22T16:12:50.482Z,1755879170.482 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:50.494Z,1755879170.494 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.578122
2025-08-22T16:12:50.648Z,1755879170.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504024 s,
      deltaX: -0.200000 m,
      approachRate: -0.396807 m/s,
      rangeRepo size: 4

2025-08-22T16:12:50.654Z,1755879170.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087129 m,
      bearing: 67.050083 deg,
      lat: 36.779421 deg,
      lon: -121.859648 deg,
      deltaT: 0.504024 s,
      deltaX: -0.198773 m,
      approachRate: -0.394371 m/s,
      posRepo size: 4

2025-08-22T16:12:50.655Z,1755879170.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m.
2025-08-22T16:12:50.724Z,1755879170.724 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.807624
2025-08-22T16:12:50.975Z,1755879170.975 [DAT](INFO): DAT read: Rx Time:16:12:51.7341 

2025-08-22T16:12:50.975Z,1755879170.975 [DAT](INFO): Rx dataTimestamp_ set to:1755879170.974921
2025-08-22T16:12:50.976Z,1755879170.976 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:50.977Z,1755879170.977 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-22T16:12:50.978Z,1755879170.978 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.061979
2025-08-22T16:12:51.069Z,1755879171.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:51.080Z,1755879171.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503581 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:51.226Z,1755879171.226 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.310482
2025-08-22T16:12:51.479Z,1755879171.479 [DAT](INFO): DAT read: Rx Time:16:12:52.2341 

2025-08-22T16:12:51.480Z,1755879171.480 [DAT](INFO): Rx dataTimestamp_ set to:1755879171.479380
2025-08-22T16:12:51.481Z,1755879171.481 [DAT](INFO): DAT read: Bearing 219.4,  22.7 (Local)

2025-08-22T16:12:51.481Z,1755879171.481 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.4,  22.7 (Local)

2025-08-22T16:12:51.483Z,1755879171.483 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:51.488Z,1755879171.488 [DAT](INFO): DAT read: 16:12:52.2341 LVL= 21664, 15713, 17090, 25267, AGC= 42, IDX= 511,-0.11, 0.202, 0.363,-0.552, 1.459, PHS=-1.155,-1.051,-2.055, RAW=  24.6,  57.6, CAL=  23.5,  61.2, ROT= 126.5, -61.2

2025-08-22T16:12:51.489Z,1755879171.489 [DAT](INFO): got valid direction response:
 16:12:52.2341 LVL= 21664, 15713, 17090, 25267, AGC= 42, IDX= 511,-0.11, 0.202, 0.363,-0.552, 1.459, PHS=-1.155,-1.051,-2.055, RAW=  24.6,  57.6, CAL=  23.5,  61.2, ROT= 126.5, -61.2

2025-08-22T16:12:51.489Z,1755879171.489 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:12:51.490Z,1755879171.490 [DAT](INFO): direction in FSK: [-0.286558,0.387261,0.876307]
2025-08-22T16:12:51.490Z,1755879171.490 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:51.498Z,1755879171.498 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.582134
2025-08-22T16:12:51.600Z,1755879171.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504459 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:51.606Z,1755879171.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087123 m,
      bearing: 82.594927 deg,
      lat: 36.779426 deg,
      lon: -121.859651 deg,
      deltaT: 1.008040 s,
      deltaX: -0.000005 m,
      approachRate: -0.000005 m/s,
      posRepo size: 4

2025-08-22T16:12:51.732Z,1755879171.732 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.815620
2025-08-22T16:12:51.844Z,1755879171.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-08-22T16:12:51.983Z,1755879171.983 [DAT](INFO): DAT read: Rx Time:16:12:52.7342 

2025-08-22T16:12:51.983Z,1755879171.983 [DAT](INFO): Rx dataTimestamp_ set to:1755879171.982809
2025-08-22T16:12:51.984Z,1755879171.984 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:12:51.985Z,1755879171.985 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-22T16:12:51.986Z,1755879171.986 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.069854
2025-08-22T16:12:52.235Z,1755879172.235 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.318660
2025-08-22T16:12:52.256Z,1755879172.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503429 s,
      deltaX: 0.200000 m,
      approachRate: 0.397276 m/s,
      rangeRepo size: 4

2025-08-22T16:12:52.488Z,1755879172.488 [DAT](INFO): DAT read: Rx Time:16:12:53.2341 

2025-08-22T16:12:52.488Z,1755879172.488 [DAT](INFO): Rx dataTimestamp_ set to:1755879172.488203
2025-08-22T16:12:52.490Z,1755879172.490 [DAT](INFO): DAT read: Bearing 219.1,  28.2 (Local)

2025-08-22T16:12:52.490Z,1755879172.490 [DAT](INFO): Local bearing/azimuth received:
 Bearing 219.1,  28.2 (Local)

2025-08-22T16:12:52.492Z,1755879172.492 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:52.498Z,1755879172.498 [DAT](INFO): DAT read: 16:12:53.2341 LVL= 22864, 13105, 18786, 26531, AGC= 42, IDX= 511, 0.09, 2.660, 2.607, 1.697,-2.511, PHS=-1.009,-1.119,-2.118, RAW=  35.2,  54.8, CAL=  33.6,  58.8, ROT= 116.4, -58.8

2025-08-22T16:12:52.500Z,1755879172.500 [DAT](INFO): got valid direction response:
 16:12:53.2341 LVL= 22864, 13105, 18786, 26531, AGC= 42, IDX= 511, 0.09, 2.660, 2.607, 1.697,-2.511, PHS=-1.009,-1.119,-2.118, RAW=  35.2,  54.8, CAL=  33.6,  58.8, ROT= 116.4, -58.8

2025-08-22T16:12:52.500Z,1755879172.500 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:12:52.502Z,1755879172.502 [DAT](INFO): direction in FSK: [-0.230333,0.464003,0.855364]
2025-08-22T16:12:52.502Z,1755879172.502 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:52.519Z,1755879172.519 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.602985
2025-08-22T16:12:52.739Z,1755879172.739 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.822662
2025-08-22T16:12:52.742Z,1755879172.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505394 s,
      deltaX: -0.200000 m,
      approachRate: -0.395731 m/s,
      rangeRepo size: 4

2025-08-22T16:12:52.744Z,1755879172.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087126 m,
      bearing: 75.731491 deg,
      lat: 36.779428 deg,
      lon: -121.859654 deg,
      deltaT: 1.008823 s,
      deltaX: 0.000002 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T16:12:52.991Z,1755879172.991 [DAT](INFO): DAT read: Rx Time:16:12:53.7342 

2025-08-22T16:12:52.992Z,1755879172.992 [DAT](INFO): Rx dataTimestamp_ set to:1755879172.991587
2025-08-22T16:12:52.993Z,1755879172.993 [DAT](INFO): DAT read: Bearing 221.2,  37.0 (Local)

2025-08-22T16:12:52.994Z,1755879172.994 [DAT](INFO): Local bearing/azimuth received:
 Bearing 221.2,  37.0 (Local)

2025-08-22T16:12:52.996Z,1755879172.996 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:12:53.017Z,1755879173.017 [DAT](INFO): DAT read: 16:12:53.7342 LVL= 26736, 14481, 20850, 30563, AGC= 43, IDX= 512, 0.19, 2.808, 2.575, 1.663,-2.792, PHS=-0.581,-0.871,-1.872, RAW=  42.3,  45.1, CAL=  40.2,  50.4, ROT= 109.8, -50.4

2025-08-22T16:12:53.019Z,1755879173.019 [DAT](INFO): got valid direction response:
 16:12:53.7342 LVL= 26736, 14481, 20850, 30563, AGC= 43, IDX= 512, 0.19, 2.808, 2.575, 1.663,-2.792, PHS=-0.581,-0.871,-1.872, RAW=  42.3,  45.1, CAL=  40.2,  50.4, ROT= 109.8, -50.4

2025-08-22T16:12:53.019Z,1755879173.019 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:12:53.020Z,1755879173.020 [DAT](INFO): direction in FSK: [-0.215920,0.599740,0.770513]
2025-08-22T16:12:53.021Z,1755879173.021 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:53.027Z,1755879173.027 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.110719
2025-08-22T16:12:53.178Z,1755879173.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503384 s,
      deltaX: 0.200000 m,
      approachRate: 0.397311 m/s,
      rangeRepo size: 4

2025-08-22T16:12:53.181Z,1755879173.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285899 m,
      bearing: 68.843182 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.503384 s,
      deltaX: 0.198774 m,
      approachRate: 0.394875 m/s,
      posRepo size: 4

2025-08-22T16:12:53.243Z,1755879173.243 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.326841
2025-08-22T16:12:53.496Z,1755879173.496 [DAT](INFO): DAT read: Rx Time:16:12:54.2341 

2025-08-22T16:12:53.496Z,1755879173.496 [DAT](INFO): Rx dataTimestamp_ set to:1755879173.495923
2025-08-22T16:12:53.498Z,1755879173.498 [DAT](INFO): DAT read: Bearing 222.8,  26.5 (Local)

2025-08-22T16:12:53.499Z,1755879173.499 [DAT](INFO): Local bearing/azimuth received:
 Bearing 222.8,  26.5 (Local)

2025-08-22T16:12:53.502Z,1755879173.502 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:53.508Z,1755879173.508 [DAT](INFO): DAT read: 16:12:54.2341 LVL= 28288, 14913, 21970, 31987, AGC= 43, IDX= 511, 0.34, 2.793, 2.814, 1.872,-2.345, PHS=-1.043,-1.079,-2.110, RAW=  31.7,  55.0, CAL=  30.3,  58.8, ROT= 119.7, -58.8

2025-08-22T16:12:53.509Z,1755879173.509 [DAT](INFO): got valid direction response:
 16:12:54.2341 LVL= 28288, 14913, 21970, 31987, AGC= 43, IDX= 511, 0.34, 2.793, 2.814, 1.872,-2.345, PHS=-1.043,-1.079,-2.110, RAW=  31.7,  55.0, CAL=  30.3,  58.8, ROT= 119.7, -58.8

2025-08-22T16:12:53.509Z,1755879173.509 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:12:53.510Z,1755879173.510 [DAT](INFO): direction in FSK: [-0.256661,0.449975,0.855364]
2025-08-22T16:12:53.511Z,1755879173.511 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:53.552Z,1755879173.552 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.621277
2025-08-22T16:12:53.650Z,1755879173.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504336 s,
      deltaX: -0.200000 m,
      approachRate: -0.396561 m/s,
      rangeRepo size: 4

2025-08-22T16:12:53.652Z,1755879173.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087132 m,
      bearing: 81.480138 deg,
      lat: 36.779428 deg,
      lon: -121.859662 deg,
      deltaT: 0.504336 s,
      deltaX: -0.198768 m,
      approachRate: -0.394118 m/s,
      posRepo size: 4

2025-08-22T16:12:53.748Z,1755879173.748 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.831735
2025-08-22T16:12:53.999Z,1755879173.999 [DAT](INFO): DAT read: Rx Time:16:12:54.7342 

2025-08-22T16:12:53.000Z,1755879174.000 [DAT](INFO): Rx dataTimestamp_ set to:1755879173.999369
2025-08-22T16:12:54.001Z,1755879174.001 [DAT](INFO): DAT read: Bearing 227.9,  36.2 (Local)

2025-08-22T16:12:54.001Z,1755879174.001 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.9,  36.2 (Local)

2025-08-22T16:12:54.003Z,1755879174.003 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:12:54.008Z,1755879174.008 [DAT](INFO): DAT read: 16:12:54.7342 LVL= 22656, 16929, 23442, 32755, AGC= 44, IDX= 512, 0.50, 2.951, 2.836, 1.975,-2.710, PHS=-0.520,-0.692,-1.642, RAW=  38.2,  44.0, CAL=  36.1,  49.3, ROT= 113.9, -49.3

2025-08-22T16:12:54.009Z,1755879174.009 [DAT](INFO): got valid direction response:
 16:12:54.7342 LVL= 22656, 16929, 23442, 32755, AGC= 44, IDX= 512, 0.50, 2.951, 2.836, 1.975,-2.710, PHS=-0.520,-0.692,-1.642, RAW=  38.2,  44.0, CAL=  36.1,  49.3, ROT= 113.9, -49.3

2025-08-22T16:12:54.009Z,1755879174.009 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:12:54.010Z,1755879174.010 [DAT](INFO): direction in FSK: [-0.264192,0.596184,0.758134]
2025-08-22T16:12:54.010Z,1755879174.010 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:54.014Z,1755879174.014 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.098186
2025-08-22T16:12:54.025Z,1755879174.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503446 s,
      deltaX: 0.200000 m,
      approachRate: 0.397262 m/s,
      rangeRepo size: 4

2025-08-22T16:12:54.047Z,1755879174.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285906 m,
      bearing: 76.401424 deg,
      lat: 36.779428 deg,
      lon: -121.859662 deg,
      deltaT: 0.503446 s,
      deltaX: 0.198774 m,
      approachRate: 0.394828 m/s,
      posRepo size: 4

2025-08-22T16:12:54.251Z,1755879174.251 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.334681
2025-08-22T16:12:54.500Z,1755879174.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:54.506Z,1755879174.506 [DAT](INFO): DAT read: Rx Time:16:12:55.2340 

2025-08-22T16:12:54.507Z,1755879174.507 [DAT](INFO): Rx dataTimestamp_ set to:1755879174.506301
2025-08-22T16:12:54.508Z,1755879174.508 [DAT](INFO): DAT read: Bearing 230.2,  36.1 (Local)

2025-08-22T16:12:54.508Z,1755879174.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.2,  36.1 (Local)

2025-08-22T16:12:54.510Z,1755879174.510 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:54.515Z,1755879174.515 [DAT](INFO): DAT read: 16:12:55.2340 LVL= 23408, 15601, 21682, 32755, AGC= 44, IDX= 512,-0.33, 0.390, 0.209,-1.000, 1.230, PHS=-0.738,-0.976,-2.274, RAW=  38.3,  44.6, CAL=  36.2,  49.8, ROT= 113.8, -49.8

2025-08-22T16:12:54.516Z,1755879174.516 [DAT](INFO): got valid direction response:
 16:12:55.2340 LVL= 23408, 15601, 21682, 32755, AGC= 44, IDX= 512,-0.33, 0.390, 0.209,-1.000, 1.230, PHS=-0.738,-0.976,-2.274, RAW=  38.3,  44.6, CAL=  36.2,  49.8, ROT= 113.8, -49.8

2025-08-22T16:12:54.516Z,1755879174.516 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:12:54.517Z,1755879174.517 [DAT](INFO): direction in FSK: [-0.260471,0.590568,0.763796]
2025-08-22T16:12:54.522Z,1755879174.522 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:54.535Z,1755879174.535 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.618806
2025-08-22T16:12:54.755Z,1755879174.755 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.838601
2025-08-22T16:12:54.841Z,1755879174.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.506932 s,
      deltaX: -0.300000 m,
      approachRate: -0.591795 m/s,
      rangeRepo size: 4

2025-08-22T16:12:54.859Z,1755879174.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987752 m,
      bearing: 81.518536 deg,
      lat: 36.779428 deg,
      lon: -121.859663 deg,
      deltaT: 0.506932 s,
      deltaX: -0.298153 m,
      approachRate: -0.588153 m/s,
      posRepo size: 4

2025-08-22T16:12:55.007Z,1755879175.007 [DAT](INFO): DAT read: Rx Time:16:12:55.7340 

2025-08-22T16:12:55.008Z,1755879175.008 [DAT](INFO): Rx dataTimestamp_ set to:1755879175.007330
2025-08-22T16:12:55.009Z,1755879175.009 [DAT](INFO): DAT read: Bearing 227.2,  36.6 (Local)

2025-08-22T16:12:55.009Z,1755879175.009 [DAT](INFO): Local bearing/azimuth received:
 Bearing 227.2,  36.6 (Local)

2025-08-22T16:12:55.011Z,1755879175.011 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:55.016Z,1755879175.016 [DAT](INFO): DAT read: 16:12:55.7340 LVL= 25136, 15729, 22850, 28451, AGC= 42, IDX= 512,-0.20, 0.677, 0.294,-0.775, 1.544, PHS=-0.765,-1.205,-2.363, RAW=  45.5,  47.0, CAL=  43.2,  52.0, ROT= 106.8, -52.0

2025-08-22T16:12:55.017Z,1755879175.017 [DAT](INFO): got valid direction response:
 16:12:55.7340 LVL= 25136, 15729, 22850, 28451, AGC= 42, IDX= 512,-0.20, 0.677, 0.294,-0.775, 1.544, PHS=-0.765,-1.205,-2.363, RAW=  45.5,  47.0, CAL=  43.2,  52.0, ROT= 106.8, -52.0

2025-08-22T16:12:55.020Z,1755879175.020 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T16:12:55.022Z,1755879175.022 [DAT](INFO): direction in FSK: [-0.177946,0.589385,0.788011]
2025-08-22T16:12:55.022Z,1755879175.022 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:55.029Z,1755879175.029 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.109256
2025-08-22T16:12:55.233Z,1755879175.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.501029 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:55.235Z,1755879175.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987752 m,
      bearing: 77.285367 deg,
      lat: 36.779428 deg,
      lon: -121.859663 deg,
      deltaT: 0.501029 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:12:55.260Z,1755879175.260 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.344237
2025-08-22T16:12:55.511Z,1755879175.511 [DAT](INFO): DAT read: Rx Time:16:12:56.2340 

2025-08-22T16:12:55.512Z,1755879175.512 [DAT](INFO): Rx dataTimestamp_ set to:1755879175.511381
2025-08-22T16:12:55.513Z,1755879175.513 [DAT](INFO): DAT read: Bearing 233.4,  28.5 (Local)

2025-08-22T16:12:55.513Z,1755879175.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.4,  28.5 (Local)

2025-08-22T16:12:55.515Z,1755879175.515 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:55.520Z,1755879175.520 [DAT](INFO): DAT read: 16:12:56.2340 LVL= 24288, 15345, 23378, 28099, AGC= 42, IDX= 511,-0.09, 1.038, 1.015, 0.063, 2.129, PHS=-0.990,-1.069,-2.110, RAW=  33.7,  53.7, CAL=  32.1,  57.8, ROT= 117.9, -57.8

2025-08-22T16:12:55.521Z,1755879175.521 [DAT](INFO): got valid direction response:
 16:12:56.2340 LVL= 24288, 15345, 23378, 28099, AGC= 42, IDX= 511,-0.09, 1.038, 1.015, 0.063, 2.129, PHS=-0.990,-1.069,-2.110, RAW=  33.7,  53.7, CAL=  32.1,  57.8, ROT= 117.9, -57.8

2025-08-22T16:12:55.521Z,1755879175.521 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:12:55.522Z,1755879175.522 [DAT](INFO): direction in FSK: [-0.249349,0.470938,0.846193]
2025-08-22T16:12:55.522Z,1755879175.522 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:55.526Z,1755879175.526 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.610104
2025-08-22T16:12:55.688Z,1755879175.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:55.694Z,1755879175.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987751 m,
      bearing: 91.438174 deg,
      lat: 36.779428 deg,
      lon: -121.859664 deg,
      deltaT: 0.504051 s,
      deltaX: -0.000002 m,
      approachRate: -0.000003 m/s,
      posRepo size: 4

2025-08-22T16:12:55.764Z,1755879175.764 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.848057
2025-08-22T16:12:56.015Z,1755879176.015 [DAT](INFO): DAT read: Rx Time:16:12:56.7341 

2025-08-22T16:12:56.016Z,1755879176.016 [DAT](INFO): Rx dataTimestamp_ set to:1755879176.015376
2025-08-22T16:12:56.017Z,1755879176.017 [DAT](INFO): DAT read: Bearing 236.2,  38.4 (Local)

2025-08-22T16:12:56.017Z,1755879176.017 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.2,  38.4 (Local)

2025-08-22T16:12:56.019Z,1755879176.019 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:56.024Z,1755879176.024 [DAT](INFO): DAT read: 16:12:56.7341 LVL= 22224, 15441, 24354, 32755, AGC= 44, IDX= 512, 0.03, 1.903, 1.601, 0.564, 2.592, PHS=-0.587,-0.946,-2.072, RAW=  43.4,  43.5, CAL=  41.1,  49.0, ROT= 108.9, -49.0

2025-08-22T16:12:56.025Z,1755879176.025 [DAT](INFO): got valid direction response:
 16:12:56.7341 LVL= 22224, 15441, 24354, 32755, AGC= 44, IDX= 512, 0.03, 1.903, 1.601, 0.564, 2.592, PHS=-0.587,-0.946,-2.072, RAW=  43.4,  43.5, CAL=  41.1,  49.0, ROT= 108.9, -49.0

2025-08-22T16:12:56.025Z,1755879176.025 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:12:56.026Z,1755879176.026 [DAT](INFO): direction in FSK: [-0.212509,0.620688,0.754710]
2025-08-22T16:12:56.027Z,1755879176.027 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:56.038Z,1755879176.038 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.122311
2025-08-22T16:12:56.057Z,1755879176.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503995 s,
      deltaX: 0.100000 m,
      approachRate: 0.198414 m/s,
      rangeRepo size: 4

2025-08-22T16:12:56.063Z,1755879176.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087138 m,
      bearing: 83.516029 deg,
      lat: 36.779428 deg,
      lon: -121.859663 deg,
      deltaT: 0.503995 s,
      deltaX: 0.099387 m,
      approachRate: 0.197199 m/s,
      posRepo size: 4

2025-08-22T16:12:56.267Z,1755879176.267 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.350978
2025-08-22T16:12:56.523Z,1755879176.523 [DAT](INFO): DAT read: Rx Time:16:12:57.2340 

2025-08-22T16:12:56.524Z,1755879176.524 [DAT](INFO): Rx dataTimestamp_ set to:1755879176.523592
2025-08-22T16:12:56.529Z,1755879176.529 [DAT](INFO): DAT read: Bearing 235.4,  29.6 (Local)

2025-08-22T16:12:56.530Z,1755879176.530 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.4,  29.6 (Local)

2025-08-22T16:12:56.538Z,1755879176.538 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:56.544Z,1755879176.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:56.551Z,1755879176.551 [DAT](INFO): DAT read: 16:12:57.2340 LVL= 20912, 15297, 25922, 31091, AGC= 43, IDX= 511, 0.10, 2.899, 2.721, 1.850,-2.354, PHS=-0.928,-1.163,-2.124, RAW=  40.7,  53.6, CAL=  39.0,  57.9, ROT= 111.0, -57.9

2025-08-22T16:12:56.552Z,1755879176.552 [DAT](INFO): got valid direction response:
 16:12:57.2340 LVL= 20912, 15297, 25922, 31091, AGC= 43, IDX= 511, 0.10, 2.899, 2.721, 1.850,-2.354, PHS=-0.928,-1.163,-2.124, RAW=  40.7,  53.6, CAL=  39.0,  57.9, ROT= 111.0, -57.9

2025-08-22T16:12:56.552Z,1755879176.552 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T16:12:56.561Z,1755879176.561 [DAT](INFO): direction in FSK: [-0.190436,0.496103,0.847122]
2025-08-22T16:12:56.562Z,1755879176.562 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:56.565Z,1755879176.565 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.649196
2025-08-22T16:12:56.771Z,1755879176.771 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.855501
2025-08-22T16:12:56.963Z,1755879176.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508216 s,
      deltaX: -0.100000 m,
      approachRate: -0.196767 m/s,
      rangeRepo size: 4

2025-08-22T16:12:56.973Z,1755879176.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987750 m,
      bearing: 91.079506 deg,
      lat: 36.779427 deg,
      lon: -121.859664 deg,
      deltaT: 0.508216 s,
      deltaX: -0.099388 m,
      approachRate: -0.195563 m/s,
      posRepo size: 4

2025-08-22T16:12:57.024Z,1755879177.024 [DAT](INFO): DAT read: Rx Time:16:12:57.7341 

2025-08-22T16:12:57.025Z,1755879177.025 [DAT](INFO): Rx dataTimestamp_ set to:1755879177.024384
2025-08-22T16:12:57.027Z,1755879177.027 [DAT](INFO): DAT read: Bearing 231.3,  38.9 (Local)

2025-08-22T16:12:57.027Z,1755879177.027 [DAT](INFO): Local bearing/azimuth received:
 Bearing 231.3,  38.9 (Local)

2025-08-22T16:12:57.031Z,1755879177.031 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:57.037Z,1755879177.037 [DAT](INFO): DAT read: 16:12:57.7341 LVL= 19184, 12657, 25650, 30099, AGC= 43, IDX= 512, 0.20, 3.084, 2.517, 1.857,-2.597, PHS=-0.500,-1.124,-1.873, RAW=  57.0,  46.1, CAL=  53.8,  51.2, ROT=  96.2, -51.2

2025-08-22T16:12:57.050Z,1755879177.050 [DAT](INFO): got valid direction response:
 16:12:57.7341 LVL= 19184, 12657, 25650, 30099, AGC= 43, IDX= 512, 0.20, 3.084, 2.517, 1.857,-2.597, PHS=-0.500,-1.124,-1.873, RAW=  57.0,  46.1, CAL=  53.8,  51.2, ROT=  96.2, -51.2

2025-08-22T16:12:57.050Z,1755879177.050 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T16:12:57.051Z,1755879177.051 [DAT](INFO): direction in FSK: [-0.067673,0.622939,0.779338]
2025-08-22T16:12:57.052Z,1755879177.052 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:57.061Z,1755879177.061 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.144917
2025-08-22T16:12:57.276Z,1755879177.276 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.359467
2025-08-22T16:12:57.328Z,1755879177.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500792 s,
      deltaX: 0.100000 m,
      approachRate: 0.199684 m/s,
      rangeRepo size: 4

2025-08-22T16:12:57.335Z,1755879177.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087137 m,
      bearing: 78.169705 deg,
      lat: 36.779427 deg,
      lon: -121.859664 deg,
      deltaT: 0.500792 s,
      deltaX: 0.099387 m,
      approachRate: 0.198460 m/s,
      posRepo size: 4

2025-08-22T16:12:57.531Z,1755879177.531 [DAT](INFO): DAT read: Rx Time:16:12:58.2340 

2025-08-22T16:12:57.533Z,1755879177.533 [DAT](INFO): Rx dataTimestamp_ set to:1755879177.531991
2025-08-22T16:12:57.538Z,1755879177.538 [DAT](INFO): DAT read: Bearing 236.6,  34.2 (Local)

2025-08-22T16:12:57.540Z,1755879177.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.6,  34.2 (Local)

2025-08-22T16:12:57.544Z,1755879177.544 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:57.556Z,1755879177.556 [DAT](INFO): DAT read: 16:12:58.2340 LVL= 23984, 10865, 24722, 28243, AGC= 43, IDX= 511, 0.34,-2.797, 3.054, 2.309,-1.912, PHS=-0.783,-1.272,-2.106, RAW=  51.5,  51.8, CAL=  49.0,  56.1, ROT= 101.0, -56.1

2025-08-22T16:12:57.557Z,1755879177.557 [DAT](INFO): got valid direction response:
 16:12:58.2340 LVL= 23984, 10865, 24722, 28243, AGC= 43, IDX= 511, 0.34,-2.797, 3.054, 2.309,-1.912, PHS=-0.783,-1.272,-2.106, RAW=  51.5,  51.8, CAL=  49.0,  56.1, ROT= 101.0, -56.1

2025-08-22T16:12:57.557Z,1755879177.557 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T16:12:57.558Z,1755879177.558 [DAT](INFO): direction in FSK: [-0.106423,0.547498,0.830012]
2025-08-22T16:12:57.559Z,1755879177.559 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:57.571Z,1755879177.571 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.655479
2025-08-22T16:12:57.731Z,1755879177.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507607 s,
      deltaX: -0.100000 m,
      approachRate: -0.197003 m/s,
      rangeRepo size: 4

2025-08-22T16:12:57.733Z,1755879177.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987753 m,
      bearing: 86.694591 deg,
      lat: 36.779426 deg,
      lon: -121.859663 deg,
      deltaT: 0.507607 s,
      deltaX: -0.099384 m,
      approachRate: -0.195790 m/s,
      posRepo size: 4

2025-08-22T16:12:57.780Z,1755879177.780 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.863657
2025-08-22T16:12:58.031Z,1755879178.031 [DAT](INFO): DAT read: Rx Time:16:12:58.7341 

2025-08-22T16:12:58.032Z,1755879178.032 [DAT](INFO): Rx dataTimestamp_ set to:1755879178.031228
2025-08-22T16:12:58.033Z,1755879178.033 [DAT](INFO): DAT read: Bearing 241.2,  43.8 (Local)

2025-08-22T16:12:58.033Z,1755879178.033 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.2,  43.8 (Local)

2025-08-22T16:12:58.035Z,1755879178.035 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:12:58.040Z,1755879178.040 [DAT](INFO): DAT read: 16:12:58.7341 LVL= 21744, 10625, 24818, 25363, AGC= 42, IDX= 512, 0.48,-2.477,-3.038, 2.474,-1.981, PHS=-0.393,-1.012,-1.872, RAW=  54.6,  42.0, CAL=  51.4,  47.5, ROT=  98.6, -47.5

2025-08-22T16:12:58.041Z,1755879178.041 [DAT](INFO): got valid direction response:
 16:12:58.7341 LVL= 21744, 10625, 24818, 25363, AGC= 42, IDX= 512, 0.48,-2.477,-3.038, 2.474,-1.981, PHS=-0.393,-1.012,-1.872, RAW=  54.6,  42.0, CAL=  51.4,  47.5, ROT=  98.6, -47.5

2025-08-22T16:12:58.041Z,1755879178.041 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T16:12:58.042Z,1755879178.042 [DAT](INFO): direction in FSK: [-0.101025,0.667994,0.737277]
2025-08-22T16:12:58.042Z,1755879178.042 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:58.046Z,1755879178.046 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.129918
2025-08-22T16:12:58.150Z,1755879178.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.499237 s,
      deltaX: 0.100000 m,
      approachRate: 0.200305 m/s,
      rangeRepo size: 4

2025-08-22T16:12:58.152Z,1755879178.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087140 m,
      bearing: 86.097688 deg,
      lat: 36.779426 deg,
      lon: -121.859661 deg,
      deltaT: 0.499237 s,
      deltaX: 0.099388 m,
      approachRate: 0.199079 m/s,
      posRepo size: 4

2025-08-22T16:12:58.285Z,1755879178.285 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.368450
2025-08-22T16:12:58.538Z,1755879178.538 [DAT](INFO): DAT read: Rx Time:16:12:59.2340 

2025-08-22T16:12:58.540Z,1755879178.540 [DAT](INFO): Rx dataTimestamp_ set to:1755879178.538629
2025-08-22T16:12:58.544Z,1755879178.544 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:58.546Z,1755879178.546 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-08-22T16:12:58.549Z,1755879178.549 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.632329
2025-08-22T16:12:58.632Z,1755879178.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:12:58.639Z,1755879178.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507401 s,
      deltaX: -0.100000 m,
      approachRate: -0.197083 m/s,
      rangeRepo size: 4

2025-08-22T16:12:58.786Z,1755879178.786 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.870502
2025-08-22T16:12:59.052Z,1755879179.052 [DAT](INFO): DAT read: Rx Time:16:12:59.7340 

2025-08-22T16:12:59.053Z,1755879179.053 [DAT](INFO): Rx dataTimestamp_ set to:1755879179.052156
2025-08-22T16:12:59.054Z,1755879179.054 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:59.055Z,1755879179.055 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-22T16:12:59.057Z,1755879179.057 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.140389
2025-08-22T16:12:59.303Z,1755879179.303 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.386760
2025-08-22T16:12:59.380Z,1755879179.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.513527 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:59.559Z,1755879179.559 [DAT](INFO): DAT read: Rx Time:16:13:00.2340 

2025-08-22T16:12:59.560Z,1755879179.560 [DAT](INFO): Rx dataTimestamp_ set to:1755879179.559444
2025-08-22T16:12:59.565Z,1755879179.565 [DAT](INFO): DAT read: Bearing 236.9,  39.7 (Local)

2025-08-22T16:12:59.566Z,1755879179.566 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.9,  39.7 (Local)

2025-08-22T16:12:59.568Z,1755879179.568 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:12:59.585Z,1755879179.585 [DAT](INFO): DAT read: 16:13:00.2340 LVL= 21040,  9889, 24866, 25971, AGC= 40, IDX= 511,-0.10, 2.268, 1.341, 0.875, 2.906, PHS=-0.536,-1.519,-2.075, RAW=  69.1,  47.2, CAL=  65.5,  52.8, ROT=  84.5, -52.8

2025-08-22T16:12:59.590Z,1755879179.590 [DAT](INFO): got valid direction response:
 16:13:00.2340 LVL= 21040,  9889, 24866, 25971, AGC= 40, IDX= 511,-0.10, 2.268, 1.341, 0.875, 2.906, PHS=-0.536,-1.519,-2.075, RAW=  69.1,  47.2, CAL=  65.5,  52.8, ROT=  84.5, -52.8

2025-08-22T16:12:59.590Z,1755879179.590 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T16:12:59.591Z,1755879179.591 [DAT](INFO): direction in FSK: [0.057948,0.601816,0.796530]
2025-08-22T16:12:59.592Z,1755879179.592 [DAT](INFO): publishing direction and range info
2025-08-22T16:12:59.601Z,1755879179.601 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.684045
2025-08-22T16:12:59.807Z,1755879179.807 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.890669
2025-08-22T16:12:59.826Z,1755879179.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507288 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:12:59.828Z,1755879179.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987751 m,
      bearing: 79.732884 deg,
      lat: 36.779426 deg,
      lon: -121.859661 deg,
      deltaT: 1.528216 s,
      deltaX: -0.099389 m,
      approachRate: -0.065036 m/s,
      posRepo size: 4

2025-08-22T16:13:00.059Z,1755879180.059 [DAT](INFO): DAT read: Rx Time:16:13:00.7341 

2025-08-22T16:13:00.060Z,1755879180.060 [DAT](INFO): Rx dataTimestamp_ set to:1755879180.059299
2025-08-22T16:13:00.061Z,1755879180.061 [DAT](INFO): DAT read: Bearing 305.9,  38.9 (Local)

2025-08-22T16:13:00.061Z,1755879180.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.9,  38.9 (Local)

2025-08-22T16:13:00.063Z,1755879180.063 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:00.068Z,1755879180.068 [DAT](INFO): DAT read: 16:13:00.7341 LVL= 21440,  9361, 24658, 25427, AGC= 41, IDX= 512,-0.01, 3.051,-2.516, 1.524,-2.854, PHS=-0.276, 0.383,-1.949, RAW=  14.1,  17.4, CAL=  13.4,  21.2, ROT= 136.6, -21.2

2025-08-22T16:13:00.069Z,1755879180.069 [DAT](INFO): got valid direction response:
 16:13:00.7341 LVL= 21440,  9361, 24658, 25427, AGC= 41, IDX= 512,-0.01, 3.051,-2.516, 1.524,-2.854, PHS=-0.276, 0.383,-1.949, RAW=  14.1,  17.4, CAL=  13.4,  21.2, ROT= 136.6, -21.2

2025-08-22T16:13:00.069Z,1755879180.069 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T16:13:00.070Z,1755879180.070 [DAT](INFO): direction in FSK: [-0.677403,0.640588,0.361625]
2025-08-22T16:13:00.070Z,1755879180.070 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:00.074Z,1755879180.074 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.158112
2025-08-22T16:13:00.228Z,1755879180.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.499855 s,
      deltaX: 0.100000 m,
      approachRate: 0.200058 m/s,
      rangeRepo size: 4

2025-08-22T16:13:00.234Z,1755879180.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087139 m,
      bearing: 131.171333 deg,
      lat: 36.779426 deg,
      lon: -121.859659 deg,
      deltaT: 0.499855 s,
      deltaX: 0.099387 m,
      approachRate: 0.198832 m/s,
      posRepo size: 4

2025-08-22T16:13:00.311Z,1755879180.311 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.395256
2025-08-22T16:13:00.567Z,1755879180.567 [DAT](INFO): DAT read: Rx Time:16:13:01.2340 

2025-08-22T16:13:00.568Z,1755879180.568 [DAT](INFO): Rx dataTimestamp_ set to:1755879180.567568
2025-08-22T16:13:00.572Z,1755879180.572 [DAT](INFO): DAT read: Bearing 242.7,  38.6 (Local)

2025-08-22T16:13:00.573Z,1755879180.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.7,  38.6 (Local)

2025-08-22T16:13:00.581Z,1755879180.581 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:00.601Z,1755879180.601 [DAT](INFO): DAT read: 16:13:01.2340 LVL= 22816,  8881, 26226, 25875, AGC= 41, IDX= 511, 0.09,-2.546, 2.907, 2.391,-1.843, PHS=-0.601,-1.488,-2.093, RAW=  66.2,  48.7, CAL=  62.8,  53.9, ROT=  87.2, -53.9

2025-08-22T16:13:00.606Z,1755879180.606 [DAT](INFO): got valid direction response:
 16:13:01.2340 LVL= 22816,  8881, 26226, 25875, AGC= 41, IDX= 511, 0.09,-2.546, 2.907, 2.391,-1.843, PHS=-0.601,-1.488,-2.093, RAW=  66.2,  48.7, CAL=  62.8,  53.9, ROT=  87.2, -53.9

2025-08-22T16:13:00.606Z,1755879180.606 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T16:13:00.607Z,1755879180.607 [DAT](INFO): direction in FSK: [0.028782,0.588493,0.807990]
2025-08-22T16:13:00.607Z,1755879180.607 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:00.625Z,1755879180.625 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.706663
2025-08-22T16:13:00.737Z,1755879180.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508269 s,
      deltaX: -0.100000 m,
      approachRate: -0.196746 m/s,
      rangeRepo size: 4

2025-08-22T16:13:00.753Z,1755879180.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987741 m,
      bearing: 85.142146 deg,
      lat: 36.779426 deg,
      lon: -121.859659 deg,
      deltaT: 0.508269 s,
      deltaX: -0.099398 m,
      approachRate: -0.195562 m/s,
      posRepo size: 4

2025-08-22T16:13:00.815Z,1755879180.815 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.899040
2025-08-22T16:13:01.033Z,1755879181.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:01.067Z,1755879181.067 [DAT](INFO): DAT read: Rx Time:16:13:01.7341 

2025-08-22T16:13:01.067Z,1755879181.067 [DAT](INFO): Rx dataTimestamp_ set to:1755879181.066911
2025-08-22T16:13:01.068Z,1755879181.068 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:01.069Z,1755879181.069 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-08-22T16:13:01.070Z,1755879181.070 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.153927
2025-08-22T16:13:01.319Z,1755879181.319 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.402927
2025-08-22T16:13:01.475Z,1755879181.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.499343 s,
      deltaX: 0.100000 m,
      approachRate: 0.200263 m/s,
      rangeRepo size: 4

2025-08-22T16:13:01.575Z,1755879181.575 [DAT](INFO): DAT read: Rx Time:16:13:02.2340 

2025-08-22T16:13:01.577Z,1755879181.577 [DAT](INFO): Rx dataTimestamp_ set to:1755879181.576100
2025-08-22T16:13:01.582Z,1755879181.582 [DAT](INFO): DAT read: Bearing 246.7,  38.6 (Local)

2025-08-22T16:13:01.584Z,1755879181.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.7,  38.6 (Local)

2025-08-22T16:13:01.603Z,1755879181.603 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:01.612Z,1755879181.612 [DAT](INFO): DAT read: 16:13:02.2340 LVL= 22208,  8625, 25042, 23603, AGC= 42, IDX= 511, 0.38,-2.914, 2.591, 2.050,-2.183, PHS=-0.629,-1.464,-2.094, RAW=  64.6,  49.3, CAL=  61.2,  54.3, ROT=  88.8, -54.3

2025-08-22T16:13:01.613Z,1755879181.613 [DAT](INFO): got valid direction response:
 16:13:02.2340 LVL= 22208,  8625, 25042, 23603, AGC= 42, IDX= 511, 0.38,-2.914, 2.591, 2.050,-2.183, PHS=-0.629,-1.464,-2.094, RAW=  64.6,  49.3, CAL=  61.2,  54.3, ROT=  88.8, -54.3

2025-08-22T16:13:01.613Z,1755879181.613 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T16:13:01.619Z,1755879181.619 [DAT](INFO): direction in FSK: [0.012221,0.583413,0.812084]
2025-08-22T16:13:01.619Z,1755879181.619 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:01.627Z,1755879181.627 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.710903
2025-08-22T16:13:01.822Z,1755879181.822 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.906446
2025-08-22T16:13:01.865Z,1755879181.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.509189 s,
      deltaX: -0.100000 m,
      approachRate: -0.196391 m/s,
      rangeRepo size: 4

2025-08-22T16:13:01.924Z,1755879181.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987743 m,
      bearing: 90.193712 deg,
      lat: 36.779426 deg,
      lon: -121.859658 deg,
      deltaT: 1.008532 s,
      deltaX: 0.000002 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T16:13:02.076Z,1755879182.076 [DAT](INFO): DAT read: Rx Time:16:13:02.7341 

2025-08-22T16:13:02.076Z,1755879182.076 [DAT](INFO): Rx dataTimestamp_ set to:1755879182.075759
2025-08-22T16:13:02.078Z,1755879182.078 [DAT](INFO): DAT read: Bearing 259.3,  46.8 (Local)

2025-08-22T16:13:02.078Z,1755879182.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,  46.8 (Local)

2025-08-22T16:13:02.080Z,1755879182.080 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:02.084Z,1755879182.084 [DAT](INFO): DAT read: 16:13:02.7341 LVL= 22096,  8641, 25490, 23763, AGC= 42, IDX= 513,-0.39, 2.142, 1.447, 0.419, 2.645, PHS=-0.400,-1.153,-2.269, RAW=  53.6,  39.7, CAL=  50.3,  45.4, ROT=  99.7, -45.4

2025-08-22T16:13:02.086Z,1755879182.086 [DAT](INFO): got valid direction response:
 16:13:02.7341 LVL= 22096,  8641, 25490, 23763, AGC= 42, IDX= 513,-0.39, 2.142, 1.447, 0.419, 2.645, PHS=-0.400,-1.153,-2.269, RAW=  53.6,  39.7, CAL=  50.3,  45.4, ROT=  99.7, -45.4

2025-08-22T16:13:02.086Z,1755879182.086 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T16:13:02.087Z,1755879182.087 [DAT](INFO): direction in FSK: [-0.118305,0.692115,0.712026]
2025-08-22T16:13:02.087Z,1755879182.087 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:02.091Z,1755879182.091 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.174833
2025-08-22T16:13:02.320Z,1755879182.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.499659 s,
      deltaX: 0.100000 m,
      approachRate: 0.200136 m/s,
      rangeRepo size: 4

2025-08-22T16:13:02.327Z,1755879182.327 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.410679
2025-08-22T16:13:02.328Z,1755879182.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087130 m,
      bearing: 102.103225 deg,
      lat: 36.779425 deg,
      lon: -121.859657 deg,
      deltaT: 0.499659 s,
      deltaX: 0.099387 m,
      approachRate: 0.198910 m/s,
      posRepo size: 4

2025-08-22T16:13:02.583Z,1755879182.583 [DAT](INFO): DAT read: Rx Time:16:13:03.2340 

2025-08-22T16:13:02.584Z,1755879182.584 [DAT](INFO): Rx dataTimestamp_ set to:1755879182.583287
2025-08-22T16:13:02.592Z,1755879182.592 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:02.597Z,1755879182.597 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-22T16:13:02.645Z,1755879182.645 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.684887
2025-08-22T16:13:02.719Z,1755879182.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507528 s,
      deltaX: -0.100000 m,
      approachRate: -0.197033 m/s,
      rangeRepo size: 4

2025-08-22T16:13:02.831Z,1755879182.831 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.914558
2025-08-22T16:13:03.083Z,1755879183.083 [DAT](INFO): DAT read: Rx Time:16:13:03.7341 

2025-08-22T16:13:03.084Z,1755879183.084 [DAT](INFO): Rx dataTimestamp_ set to:1755879183.083395
2025-08-22T16:13:03.085Z,1755879183.085 [DAT](INFO): DAT read: Bearing 260.2,  44.7 (Local)

2025-08-22T16:13:03.085Z,1755879183.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.2,  44.7 (Local)

2025-08-22T16:13:03.087Z,1755879183.087 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:03.092Z,1755879183.092 [DAT](INFO): DAT read: 16:13:03.7341 LVL= 20064,  9537, 26610, 23907, AGC= 42, IDX= 512,-0.10, 0.371,-0.198,-1.081, 0.918, PHS=-0.445,-1.071,-2.043, RAW=  52.9,  42.1, CAL=  49.7,  47.5, ROT= 100.3, -47.5

2025-08-22T16:13:03.093Z,1755879183.093 [DAT](INFO): got valid direction response:
 16:13:03.7341 LVL= 20064,  9537, 26610, 23907, AGC= 42, IDX= 512,-0.10, 0.371,-0.198,-1.081, 0.918, PHS=-0.445,-1.071,-2.043, RAW=  52.9,  42.1, CAL=  49.7,  47.5, ROT= 100.3, -47.5

2025-08-22T16:13:03.093Z,1755879183.093 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T16:13:03.094Z,1755879183.094 [DAT](INFO): direction in FSK: [-0.120797,0.664703,0.737277]
2025-08-22T16:13:03.094Z,1755879183.094 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:03.106Z,1755879183.106 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.189960
2025-08-22T16:13:03.114Z,1755879183.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500108 s,
      deltaX: 0.100000 m,
      approachRate: 0.199957 m/s,
      rangeRepo size: 4

2025-08-22T16:13:03.116Z,1755879183.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087130 m,
      bearing: 103.770169 deg,
      lat: 36.779423 deg,
      lon: -121.859654 deg,
      deltaT: 1.007636 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:03.338Z,1755879183.338 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.421974
2025-08-22T16:13:03.485Z,1755879183.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:03.596Z,1755879183.596 [DAT](INFO): DAT read: Rx Time:16:13:04.2340 

2025-08-22T16:13:03.598Z,1755879183.598 [DAT](INFO): Rx dataTimestamp_ set to:1755879183.596945
2025-08-22T16:13:03.604Z,1755879183.604 [DAT](INFO): DAT read: Bearing 255.0,  37.0 (Local)

2025-08-22T16:13:03.605Z,1755879183.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.0,  37.0 (Local)

2025-08-22T16:13:03.617Z,1755879183.617 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:03.636Z,1755879183.636 [DAT](INFO): DAT read: 16:13:04.2340 LVL= 20976, 10433, 25698, 25587, AGC= 42, IDX= 511, 0.00, 1.032, 0.494,-0.184, 1.866, PHS=-0.731,-1.326,-2.093, RAW=  55.8,  51.1, CAL=  53.1,  55.6, ROT=  96.9, -55.6

2025-08-22T16:13:03.637Z,1755879183.637 [DAT](INFO): got valid direction response:
 16:13:04.2340 LVL= 20976, 10433, 25698, 25587, AGC= 42, IDX= 511, 0.00, 1.032, 0.494,-0.184, 1.866, PHS=-0.731,-1.326,-2.093, RAW=  55.8,  51.1, CAL=  53.1,  55.6, ROT=  96.9, -55.6

2025-08-22T16:13:03.637Z,1755879183.637 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T16:13:03.639Z,1755879183.639 [DAT](INFO): direction in FSK: [-0.067873,0.560875,0.825113]
2025-08-22T16:13:03.639Z,1755879183.639 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:03.645Z,1755879183.645 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.728552
2025-08-22T16:13:03.843Z,1755879183.843 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.926783
2025-08-22T16:13:03.967Z,1755879183.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.513550 s,
      deltaX: -0.100000 m,
      approachRate: -0.194723 m/s,
      rangeRepo size: 4

2025-08-22T16:13:03.974Z,1755879183.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987743 m,
      bearing: 100.618493 deg,
      lat: 36.779424 deg,
      lon: -121.859656 deg,
      deltaT: 0.513550 s,
      deltaX: -0.099387 m,
      approachRate: -0.193529 m/s,
      posRepo size: 4

2025-08-22T16:13:04.095Z,1755879184.095 [DAT](INFO): DAT read: Rx Time:16:13:04.7341 

2025-08-22T16:13:04.095Z,1755879184.095 [DAT](INFO): Rx dataTimestamp_ set to:1755879184.095203
2025-08-22T16:13:04.097Z,1755879184.097 [DAT](INFO): DAT read: Bearing 282.1,  42.7 (Local)

2025-08-22T16:13:04.097Z,1755879184.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.1,  42.7 (Local)

2025-08-22T16:13:04.099Z,1755879184.099 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:04.104Z,1755879184.104 [DAT](INFO): DAT read: 16:13:04.7341 LVL= 20304, 12065, 26354, 25411, AGC= 42, IDX= 512, 0.12, 1.803, 1.794, 0.281, 2.375, PHS=-0.470,-0.536,-2.138, RAW=  32.0,  34.2, CAL=  29.8,  40.4, ROT= 120.2, -40.4

2025-08-22T16:13:04.105Z,1755879184.105 [DAT](INFO): got valid direction response:
 16:13:04.7341 LVL= 20304, 12065, 26354, 25411, AGC= 42, IDX= 512, 0.12, 1.803, 1.794, 0.281, 2.375, PHS=-0.470,-0.536,-2.138, RAW=  32.0,  34.2, CAL=  29.8,  40.4, ROT= 120.2, -40.4

2025-08-22T16:13:04.105Z,1755879184.105 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T16:13:04.106Z,1755879184.106 [DAT](INFO): direction in FSK: [-0.383069,0.658178,0.648120]
2025-08-22T16:13:04.106Z,1755879184.106 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:04.110Z,1755879184.110 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.193836
2025-08-22T16:13:04.319Z,1755879184.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.498258 s,
      deltaX: 0.100000 m,
      approachRate: 0.200699 m/s,
      rangeRepo size: 4

2025-08-22T16:13:04.323Z,1755879184.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087130 m,
      bearing: 123.371518 deg,
      lat: 36.779423 deg,
      lon: -121.859653 deg,
      deltaT: 0.498258 s,
      deltaX: 0.099387 m,
      approachRate: 0.199469 m/s,
      posRepo size: 4

2025-08-22T16:13:04.356Z,1755879184.356 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.439348
2025-08-22T16:13:04.611Z,1755879184.611 [DAT](INFO): DAT read: Rx Time:16:13:05.2340 

2025-08-22T16:13:04.613Z,1755879184.613 [DAT](INFO): Rx dataTimestamp_ set to:1755879184.611658
2025-08-22T16:13:04.621Z,1755879184.621 [DAT](INFO): DAT read: Bearing 257.0,  35.4 (Local)

2025-08-22T16:13:04.623Z,1755879184.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,  35.4 (Local)

2025-08-22T16:13:04.628Z,1755879184.628 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:04.684Z,1755879184.684 [DAT](INFO): DAT read: 16:13:05.2340 LVL= 23248, 13665, 25810, 27795, AGC= 42, IDX= 511, 0.25, 1.797, 1.371, 0.644, 2.695, PHS=-0.797,-1.279,-2.095, RAW=  51.6,  52.4, CAL=  49.2,  56.6, ROT= 100.8, -56.6

2025-08-22T16:13:04.685Z,1755879184.685 [DAT](INFO): got valid direction response:
 16:13:05.2340 LVL= 23248, 13665, 25810, 27795, AGC= 42, IDX= 511, 0.25, 1.797, 1.371, 0.644, 2.695, PHS=-0.797,-1.279,-2.095, RAW=  51.6,  52.4, CAL=  49.2,  56.6, ROT= 100.8, -56.6

2025-08-22T16:13:04.706Z,1755879184.706 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:13:04.707Z,1755879184.707 [DAT](INFO): direction in FSK: [-0.103150,0.540730,0.834848]
2025-08-22T16:13:04.707Z,1755879184.707 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:04.719Z,1755879184.719 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.803192
2025-08-22T16:13:04.848Z,1755879184.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.516455 s,
      deltaX: -0.100000 m,
      approachRate: -0.193628 m/s,
      rangeRepo size: 4

2025-08-22T16:13:04.854Z,1755879184.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987740 m,
      bearing: 104.575825 deg,
      lat: 36.779423 deg,
      lon: -121.859653 deg,
      deltaT: 0.516455 s,
      deltaX: -0.099391 m,
      approachRate: -0.192448 m/s,
      posRepo size: 4

2025-08-22T16:13:04.859Z,1755879184.859 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.942673
2025-08-22T16:13:05.112Z,1755879185.112 [DAT](INFO): DAT read: Rx Time:16:13:05.7341 

2025-08-22T16:13:05.113Z,1755879185.113 [DAT](INFO): Rx dataTimestamp_ set to:1755879185.112600
2025-08-22T16:13:05.115Z,1755879185.115 [DAT](INFO): DAT read: Bearing 282.5,  41.9 (Local)

2025-08-22T16:13:05.115Z,1755879185.115 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.5,  41.9 (Local)

2025-08-22T16:13:05.117Z,1755879185.117 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:05.122Z,1755879185.122 [DAT](INFO): DAT read: 16:13:05.7341 LVL= 20816, 12273, 25586, 26339, AGC= 42, IDX= 512, 0.44, 1.289, 1.321,-0.261, 1.901, PHS=-0.510,-0.535,-2.206, RAW=  30.7,  34.3, CAL=  28.5,  40.5, ROT= 121.5, -40.5

2025-08-22T16:13:05.123Z,1755879185.123 [DAT](INFO): got valid direction response:
 16:13:05.7341 LVL= 20816, 12273, 25586, 26339, AGC= 42, IDX= 512, 0.44, 1.289, 1.321,-0.261, 1.901, PHS=-0.510,-0.535,-2.206, RAW=  30.7,  34.3, CAL=  28.5,  40.5, ROT= 121.5, -40.5

2025-08-22T16:13:05.123Z,1755879185.123 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T16:13:05.124Z,1755879185.124 [DAT](INFO): direction in FSK: [-0.397311,0.648353,0.649448]
2025-08-22T16:13:05.124Z,1755879185.124 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:05.128Z,1755879185.128 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.212410
2025-08-22T16:13:05.298Z,1755879185.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500942 s,
      deltaX: 0.100000 m,
      approachRate: 0.199624 m/s,
      rangeRepo size: 4

2025-08-22T16:13:05.300Z,1755879185.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087126 m,
      bearing: 124.088219 deg,
      lat: 36.779423 deg,
      lon: -121.859653 deg,
      deltaT: 0.500942 s,
      deltaX: 0.099387 m,
      approachRate: 0.198400 m/s,
      posRepo size: 4

2025-08-22T16:13:05.363Z,1755879185.363 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.447412
2025-08-22T16:13:05.618Z,1755879185.618 [DAT](INFO): DAT read: Rx Time:16:13:06.2340 

2025-08-22T16:13:05.620Z,1755879185.620 [DAT](INFO): Rx dataTimestamp_ set to:1755879185.618742
2025-08-22T16:13:05.624Z,1755879185.624 [DAT](INFO): DAT read: Bearing 245.8,  39.2 (Local)

2025-08-22T16:13:05.625Z,1755879185.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.8,  39.2 (Local)

2025-08-22T16:13:05.639Z,1755879185.639 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:05.672Z,1755879185.672 [DAT](INFO): DAT read: 16:13:06.2340 LVL= 20272, 12097, 26418, 24819, AGC= 42, IDX= 512,-0.36,-2.023,-2.938, 2.854,-1.324, PHS=-0.597,-1.568,-2.150, RAW=  68.3,  48.3, CAL=  64.8,  53.7, ROT=  85.2, -53.7

2025-08-22T16:13:05.673Z,1755879185.673 [DAT](INFO): got valid direction response:
 16:13:06.2340 LVL= 20272, 12097, 26418, 24819, AGC= 42, IDX= 512,-0.36,-2.023,-2.938, 2.854,-1.324, PHS=-0.597,-1.568,-2.150, RAW=  68.3,  48.3, CAL=  64.8,  53.7, ROT=  85.2, -53.7

2025-08-22T16:13:05.687Z,1755879185.687 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T16:13:05.687Z,1755879185.687 [DAT](INFO): direction in FSK: [0.049538,0.589937,0.805928]
2025-08-22T16:13:05.688Z,1755879185.688 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:05.700Z,1755879185.700 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.784105
2025-08-22T16:13:05.829Z,1755879185.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.506142 s,
      deltaX: -0.100000 m,
      approachRate: -0.197573 m/s,
      rangeRepo size: 4

2025-08-22T16:13:05.835Z,1755879185.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987739 m,
      bearing: 86.608732 deg,
      lat: 36.779424 deg,
      lon: -121.859655 deg,
      deltaT: 0.506142 s,
      deltaX: -0.099388 m,
      approachRate: -0.196363 m/s,
      posRepo size: 4

2025-08-22T16:13:05.870Z,1755879185.870 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.953941
2025-08-22T16:13:06.119Z,1755879186.119 [DAT](INFO): DAT read: Rx Time:16:13:06.7341 

2025-08-22T16:13:06.120Z,1755879186.120 [DAT](INFO): Rx dataTimestamp_ set to:1755879186.119261
2025-08-22T16:13:06.121Z,1755879186.121 [DAT](INFO): DAT read: Bearing 240.5,  37.7 (Local)

2025-08-22T16:13:06.121Z,1755879186.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.5,  37.7 (Local)

2025-08-22T16:13:06.123Z,1755879186.123 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:06.127Z,1755879186.127 [DAT](INFO): DAT read: 16:13:06.7341 LVL= 22000, 10417, 25634, 27827, AGC= 42, IDX= 513,-0.23,-0.738,-1.768,-2.082,-0.045, PHS=-0.590,-1.678,-2.081, RAW=  74.9,  49.0, CAL=  71.6,  54.7, ROT=  78.4, -54.7

2025-08-22T16:13:06.128Z,1755879186.128 [DAT](INFO): got valid direction response:
 16:13:06.7341 LVL= 22000, 10417, 25634, 27827, AGC= 42, IDX= 513,-0.23,-0.738,-1.768,-2.082,-0.045, PHS=-0.590,-1.678,-2.081, RAW=  74.9,  49.0, CAL=  71.6,  54.7, ROT=  78.4, -54.7

2025-08-22T16:13:06.129Z,1755879186.129 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T16:13:06.130Z,1755879186.130 [DAT](INFO): direction in FSK: [0.116194,0.566055,0.816138]
2025-08-22T16:13:06.130Z,1755879186.130 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:06.138Z,1755879186.138 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.221668
2025-08-22T16:13:06.282Z,1755879186.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500519 s,
      deltaX: 0.100000 m,
      approachRate: 0.199792 m/s,
      rangeRepo size: 4

2025-08-22T16:13:06.284Z,1755879186.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087126 m,
      bearing: 78.817654 deg,
      lat: 36.779424 deg,
      lon: -121.859655 deg,
      deltaT: 0.500519 s,
      deltaX: 0.099387 m,
      approachRate: 0.198568 m/s,
      posRepo size: 4

2025-08-22T16:13:06.371Z,1755879186.371 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.454552
2025-08-22T16:13:06.628Z,1755879186.628 [DAT](INFO): DAT read: Rx Time:16:13:07.2341 

2025-08-22T16:13:06.629Z,1755879186.629 [DAT](INFO): Rx dataTimestamp_ set to:1755879186.628415
2025-08-22T16:13:06.633Z,1755879186.633 [DAT](INFO): DAT read: Bearing 244.7,  39.7 (Local)

2025-08-22T16:13:06.634Z,1755879186.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.7,  39.7 (Local)

2025-08-22T16:13:06.640Z,1755879186.640 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:06.690Z,1755879186.690 [DAT](INFO): DAT read: 16:13:07.2341 LVL= 20704, 12961, 28210, 25203, AGC= 42, IDX= 512,-0.13,-1.008,-1.962,-2.469,-0.322, PHS=-0.584,-1.595,-2.192, RAW=  68.4,  47.7, CAL=  64.9,  53.1, ROT=  85.1, -53.1

2025-08-22T16:13:06.691Z,1755879186.691 [DAT](INFO): got valid direction response:
 16:13:07.2341 LVL= 20704, 12961, 28210, 25203, AGC= 42, IDX= 512,-0.13,-1.008,-1.962,-2.469,-0.322, PHS=-0.584,-1.595,-2.192, RAW=  68.4,  47.7, CAL=  64.9,  53.1, ROT=  85.1, -53.1

2025-08-22T16:13:06.691Z,1755879186.691 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T16:13:06.692Z,1755879186.692 [DAT](INFO): direction in FSK: [0.051286,0.598226,0.799685]
2025-08-22T16:13:06.692Z,1755879186.692 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:06.708Z,1755879186.708 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.791973
2025-08-22T16:13:06.727Z,1755879186.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.509154 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:06.729Z,1755879186.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087123 m,
      bearing: 85.579486 deg,
      lat: 36.779427 deg,
      lon: -121.859655 deg,
      deltaT: 0.509154 s,
      deltaX: -0.000002 m,
      approachRate: -0.000005 m/s,
      posRepo size: 4

2025-08-22T16:13:06.875Z,1755879186.875 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.959356
2025-08-22T16:13:07.127Z,1755879187.127 [DAT](INFO): DAT read: Rx Time:16:13:07.7341 

2025-08-22T16:13:07.128Z,1755879187.128 [DAT](INFO): Rx dataTimestamp_ set to:1755879187.127349
2025-08-22T16:13:07.129Z,1755879187.129 [DAT](INFO): DAT read: Bearing 236.6,  39.0 (Local)

2025-08-22T16:13:07.129Z,1755879187.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.6,  39.0 (Local)

2025-08-22T16:13:07.131Z,1755879187.131 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:07.136Z,1755879187.136 [DAT](INFO): DAT read: 16:13:07.7341 LVL= 20928, 12449, 27634, 24563, AGC= 42, IDX= 512,-0.03,-0.813,-1.940,-2.197,-0.237, PHS=-0.474,-1.658,-2.004, RAW=  77.5,  46.5, CAL=  74.5,  52.7, ROT=  75.5, -52.7

2025-08-22T16:13:07.137Z,1755879187.137 [DAT](INFO): got valid direction response:
 16:13:07.7341 LVL= 20928, 12449, 27634, 24563, AGC= 42, IDX= 512,-0.03,-0.813,-1.940,-2.197,-0.237, PHS=-0.474,-1.658,-2.004, RAW=  77.5,  46.5, CAL=  74.5,  52.7, ROT=  75.5, -52.7

2025-08-22T16:13:07.137Z,1755879187.137 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:13:07.138Z,1755879187.138 [DAT](INFO): direction in FSK: [0.151727,0.586686,0.795473]
2025-08-22T16:13:07.138Z,1755879187.138 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:07.146Z,1755879187.146 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.230087
2025-08-22T16:13:07.125Z,1755879187.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:07.158Z,1755879187.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.498934 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:07.379Z,1755879187.379 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.463060
2025-08-22T16:13:07.637Z,1755879187.637 [DAT](INFO): DAT read: Rx Time:16:13:08.2340 

2025-08-22T16:13:07.646Z,1755879187.646 [DAT](INFO): Rx dataTimestamp_ set to:1755879187.637096
2025-08-22T16:13:07.650Z,1755879187.650 [DAT](INFO): DAT read: Bearing 252.7,  36.3 (Local)

2025-08-22T16:13:07.651Z,1755879187.651 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.7,  36.3 (Local)

2025-08-22T16:13:07.671Z,1755879187.671 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:07.689Z,1755879187.689 [DAT](INFO): DAT read: 16:13:08.2340 LVL= 20816, 12977, 28354, 24931, AGC= 42, IDX= 511, 0.08, 0.122,-0.383,-1.082, 0.972, PHS=-0.748,-1.310,-2.097, RAW=  54.5,  51.4, CAL=  51.8,  55.8, ROT=  98.2, -55.8

2025-08-22T16:13:07.695Z,1755879187.695 [DAT](INFO): got valid direction response:
 16:13:08.2340 LVL= 20816, 12977, 28354, 24931, AGC= 42, IDX= 511, 0.08, 0.122,-0.383,-1.082, 0.972, PHS=-0.748,-1.310,-2.097, RAW=  54.5,  51.4, CAL=  51.8,  55.8, ROT=  98.2, -55.8

2025-08-22T16:13:07.695Z,1755879187.695 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T16:13:07.696Z,1755879187.696 [DAT](INFO): direction in FSK: [-0.080169,0.556337,0.827081]
2025-08-22T16:13:07.696Z,1755879187.696 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:07.704Z,1755879187.704 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.788221
2025-08-22T16:13:07.883Z,1755879187.883 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.966534
2025-08-22T16:13:08.001Z,1755879188.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.509747 s,
      deltaX: -0.100000 m,
      approachRate: -0.196176 m/s,
      rangeRepo size: 4

2025-08-22T16:13:08.004Z,1755879188.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987734 m,
      bearing: 98.238129 deg,
      lat: 36.779427 deg,
      lon: -121.859655 deg,
      deltaT: 1.008681 s,
      deltaX: -0.099389 m,
      approachRate: -0.098533 m/s,
      posRepo size: 4

2025-08-22T16:13:08.135Z,1755879188.135 [DAT](INFO): DAT read: Rx Time:16:13:08.7341 

2025-08-22T16:13:08.135Z,1755879188.135 [DAT](INFO): Rx dataTimestamp_ set to:1755879188.134811
2025-08-22T16:13:08.136Z,1755879188.136 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:08.137Z,1755879188.137 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-22T16:13:08.138Z,1755879188.138 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.221886
2025-08-22T16:13:08.334Z,1755879188.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.497715 s,
      deltaX: 0.100000 m,
      approachRate: 0.200918 m/s,
      rangeRepo size: 4

2025-08-22T16:13:08.388Z,1755879188.388 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.471340
2025-08-22T16:13:08.640Z,1755879188.640 [DAT](INFO): DAT read: Rx Time:16:13:09.2340 

2025-08-22T16:13:08.640Z,1755879188.640 [DAT](INFO): Rx dataTimestamp_ set to:1755879188.640041
2025-08-22T16:13:08.642Z,1755879188.642 [DAT](INFO): DAT read: Bearing 251.2,  36.3 (Local)

2025-08-22T16:13:08.642Z,1755879188.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.2,  36.3 (Local)

2025-08-22T16:13:08.644Z,1755879188.644 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:08.649Z,1755879188.649 [DAT](INFO): DAT read: 16:13:09.2340 LVL= 20128, 12769, 27522, 24995, AGC= 42, IDX= 511, 0.34, 0.405,-0.119,-0.807, 1.249, PHS=-0.742,-1.323,-2.100, RAW=  55.2,  51.3, CAL=  52.5,  55.7, ROT=  97.5, -55.7

2025-08-22T16:13:08.653Z,1755879188.653 [DAT](INFO): got valid direction response:
 16:13:09.2340 LVL= 20128, 12769, 27522, 24995, AGC= 42, IDX= 511, 0.34, 0.405,-0.119,-0.807, 1.249, PHS=-0.742,-1.323,-2.100, RAW=  55.2,  51.3, CAL=  52.5,  55.7, ROT=  97.5, -55.7

2025-08-22T16:13:08.654Z,1755879188.654 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T16:13:08.658Z,1755879188.658 [DAT](INFO): direction in FSK: [-0.073555,0.558705,0.826098]
2025-08-22T16:13:08.659Z,1755879188.659 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:08.694Z,1755879188.694 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.768513
2025-08-22T16:13:08.855Z,1755879188.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505230 s,
      deltaX: -0.100000 m,
      approachRate: -0.197929 m/s,
      rangeRepo size: 4

2025-08-22T16:13:08.869Z,1755879188.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987735 m,
      bearing: 96.790869 deg,
      lat: 36.779427 deg,
      lon: -121.859655 deg,
      deltaT: 1.002945 s,
      deltaX: 0.000001 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-22T16:13:08.891Z,1755879188.891 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.974646
2025-08-22T16:13:09.144Z,1755879189.144 [DAT](INFO): DAT read: Rx Time:16:13:09.7341 

2025-08-22T16:13:09.145Z,1755879189.145 [DAT](INFO): Rx dataTimestamp_ set to:1755879189.144352
2025-08-22T16:13:09.146Z,1755879189.146 [DAT](INFO): DAT read: Bearing 230.3,  37.0 (Local)

2025-08-22T16:13:09.146Z,1755879189.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 230.3,  37.0 (Local)

2025-08-22T16:13:09.148Z,1755879189.148 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:09.159Z,1755879189.159 [DAT](INFO): DAT read: 16:13:09.7341 LVL= 21728, 10113, 26258, 25971, AGC= 42, IDX= 513,-0.46,-0.870,-2.202,-2.327,-0.245, PHS=-0.523,-1.912,-2.126, RAW=  82.9,  46.9, CAL=  80.8,  53.4, ROT=  69.2, -53.4

2025-08-22T16:13:09.166Z,1755879189.166 [DAT](INFO): got valid direction response:
 16:13:09.7341 LVL= 21728, 10113, 26258, 25971, AGC= 42, IDX= 513,-0.46,-0.870,-2.202,-2.327,-0.245, PHS=-0.523,-1.912,-2.126, RAW=  82.9,  46.9, CAL=  80.8,  53.4, ROT=  69.2, -53.4

2025-08-22T16:13:09.167Z,1755879189.167 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T16:13:09.168Z,1755879189.168 [DAT](INFO): direction in FSK: [0.211724,0.557366,0.802817]
2025-08-22T16:13:09.168Z,1755879189.168 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:09.201Z,1755879189.201 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.284832
2025-08-22T16:13:09.316Z,1755879189.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504311 s,
      deltaX: 0.100000 m,
      approachRate: 0.198290 m/s,
      rangeRepo size: 4

2025-08-22T16:13:09.322Z,1755879189.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087121 m,
      bearing: 65.648835 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.504311 s,
      deltaX: 0.099387 m,
      approachRate: 0.197074 m/s,
      posRepo size: 4

2025-08-22T16:13:09.395Z,1755879189.395 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.478823
2025-08-22T16:13:09.642Z,1755879189.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:09.647Z,1755879189.647 [DAT](INFO): DAT read: Rx Time:16:13:10.2340 

2025-08-22T16:13:09.647Z,1755879189.647 [DAT](INFO): Rx dataTimestamp_ set to:1755879189.646959
2025-08-22T16:13:09.648Z,1755879189.648 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:09.649Z,1755879189.649 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-22T16:13:09.652Z,1755879189.652 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.735971
2025-08-22T16:13:09.902Z,1755879189.902 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.985176
2025-08-22T16:13:09.908Z,1755879189.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:13:10.062Z,1755879190.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502607 s,
      deltaX: -0.100000 m,
      approachRate: -0.198962 m/s,
      rangeRepo size: 4

2025-08-22T16:13:10.152Z,1755879190.152 [DAT](INFO): DAT read: Rx Time:16:13:10.7342 

2025-08-22T16:13:10.153Z,1755879190.153 [DAT](INFO): Rx dataTimestamp_ set to:1755879190.152549
2025-08-22T16:13:10.154Z,1755879190.154 [DAT](INFO): DAT read: Bearing 259.7,  43.5 (Local)

2025-08-22T16:13:10.154Z,1755879190.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.7,  43.5 (Local)

2025-08-22T16:13:10.156Z,1755879190.156 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:10.163Z,1755879190.163 [DAT](INFO): DAT read: 16:13:10.7342 LVL= 19504, 10481, 26146, 24691, AGC= 42, IDX= 513,-0.16,-1.200,-1.659,-2.696,-0.626, PHS=-0.473,-0.989,-2.115, RAW=  47.9,  41.0, CAL=  45.1,  46.7, ROT= 104.9, -46.7

2025-08-22T16:13:10.164Z,1755879190.164 [DAT](INFO): got valid direction response:
 16:13:10.7342 LVL= 19504, 10481, 26146, 24691, AGC= 42, IDX= 513,-0.16,-1.200,-1.659,-2.696,-0.626, PHS=-0.473,-0.989,-2.115, RAW=  47.9,  41.0, CAL=  45.1,  46.7, ROT= 104.9, -46.7

2025-08-22T16:13:10.165Z,1755879190.165 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T16:13:10.167Z,1755879190.167 [DAT](INFO): direction in FSK: [-0.176346,0.662758,0.727773]
2025-08-22T16:13:10.167Z,1755879190.167 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:10.182Z,1755879190.182 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.260994
2025-08-22T16:13:10.407Z,1755879190.407 [DAT](INFO): DAT read: Rx Time:16:13:11.2341 

2025-08-22T16:13:10.408Z,1755879190.408 [DAT](INFO): Rx dataTimestamp_ set to:1755879190.407489
2025-08-22T16:13:10.411Z,1755879190.411 [DAT](INFO): DAT read: Bearing 274.5,  43.4 (Local)

2025-08-22T16:13:10.412Z,1755879190.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.5,  43.4 (Local)

2025-08-22T16:13:10.421Z,1755879190.421 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.503950
2025-08-22T16:13:10.523Z,1755879190.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.505590 s,
      deltaX: 0.300000 m,
      approachRate: 0.593366 m/s,
      rangeRepo size: 4

2025-08-22T16:13:10.525Z,1755879190.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285894 m,
      bearing: 102.466902 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 1.008197 s,
      deltaX: 0.198773 m,
      approachRate: 0.197157 m/s,
      posRepo size: 4

2025-08-22T16:13:10.656Z,1755879190.656 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:10.661Z,1755879190.661 [DAT](INFO): DAT read: 16:13:11.2341 LVL= 21328, 10017, 26098, 24771, AGC= 42, IDX= 512,-0.06,-2.218,-2.297, 2.758,-1.752, PHS=-0.364,-0.501,-1.818, RAW=  34.9,  34.3, CAL=  32.5,  40.6, ROT= 117.5, -40.6

2025-08-22T16:13:10.662Z,1755879190.662 [DAT](INFO): got valid direction response:
 16:13:11.2341 LVL= 21328, 10017, 26098, 24771, AGC= 42, IDX= 512,-0.06,-2.218,-2.297, 2.758,-1.752, PHS=-0.364,-0.501,-1.818, RAW=  34.9,  34.3, CAL=  32.5,  40.6, ROT= 117.5, -40.6

2025-08-22T16:13:10.662Z,1755879190.662 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:13:10.663Z,1755879190.663 [DAT](INFO): direction in FSK: [-0.350593,0.673482,0.650774]
2025-08-22T16:13:10.664Z,1755879190.664 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:10.672Z,1755879190.672 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.755541
2025-08-22T16:13:10.881Z,1755879190.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.501500 s,
      deltaX: -0.200000 m,
      approachRate: -0.398804 m/s,
      rangeRepo size: 4

2025-08-22T16:13:10.883Z,1755879190.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087120 m,
      bearing: 114.521641 deg,
      lat: 36.779425 deg,
      lon: -121.859656 deg,
      deltaT: 0.501500 s,
      deltaX: -0.198774 m,
      approachRate: -0.396360 m/s,
      posRepo size: 4

2025-08-22T16:13:10.910Z,1755879190.910 [DAT](INFO): DAT read: Rx Time:16:13:11.7341 

2025-08-22T16:13:10.911Z,1755879190.911 [DAT](INFO): Rx dataTimestamp_ set to:1755879190.910138
2025-08-22T16:13:10.915Z,1755879190.915 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:13:10.919Z,1755879190.919 [DAT](INFO): DAT read: Bearing 237.4,  40.8 (Local)

2025-08-22T16:13:10.920Z,1755879190.920 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.4,  40.8 (Local)

2025-08-22T16:13:10.924Z,1755879190.924 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:10.927Z,1755879190.927 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-22T16:13:10.931Z,1755879190.931 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.013863
2025-08-22T16:13:11.163Z,1755879191.163 [DAT](INFO): DAT read: 16:13:11.7341 LVL= 19504, 10625, 25906, 24259, AGC= 42, IDX= 512, 0.05,-0.712,-1.758,-2.149,-0.168, PHS=-0.441,-1.545,-2.025, RAW=  72.8,  45.2, CAL=  69.0,  51.3, ROT=  81.0, -51.3

2025-08-22T16:13:11.164Z,1755879191.164 [DAT](INFO): got valid direction response:
 16:13:11.7341 LVL= 19504, 10625, 25906, 24259, AGC= 42, IDX= 512, 0.05,-0.712,-1.758,-2.149,-0.168, PHS=-0.441,-1.545,-2.025, RAW=  72.8,  45.2, CAL=  69.0,  51.3, ROT=  81.0, -51.3

2025-08-22T16:13:11.165Z,1755879191.165 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-08-22T16:13:11.166Z,1755879191.166 [DAT](INFO): direction in FSK: [0.097810,0.617545,0.780430]
2025-08-22T16:13:11.185Z,1755879191.185 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.268810
2025-08-22T16:13:11.283Z,1755879191.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.256089 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:11.285Z,1755879191.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087120 m,
      bearing: 77.520951 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.256089 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:11.414Z,1755879191.414 [DAT](INFO): DAT read: Rx Time:16:13:12.2340 

2025-08-22T16:13:11.415Z,1755879191.415 [DAT](INFO): Rx dataTimestamp_ set to:1755879191.414101
2025-08-22T16:13:11.418Z,1755879191.418 [DAT](INFO): DAT read: Bearing 247.6,  37.2 (Local)

2025-08-22T16:13:11.419Z,1755879191.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,  37.2 (Local)

2025-08-22T16:13:11.423Z,1755879191.423 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:11.430Z,1755879191.430 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-22T16:13:11.438Z,1755879191.438 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.517092
2025-08-22T16:13:11.671Z,1755879191.671 [DAT](INFO): DAT read: 16:13:12.2340 LVL= 22256,  9873, 25906, 24739, AGC= 42, IDX= 511, 0.15,-0.436,-1.057,-1.699, 0.358, PHS=-0.692,-1.369,-2.101, RAW=  58.7,  50.3, CAL=  55.7,  55.0, ROT=  94.3, -55.0

2025-08-22T16:13:11.672Z,1755879191.672 [DAT](INFO): got valid direction response:
 16:13:12.2340 LVL= 22256,  9873, 25906, 24739, AGC= 42, IDX= 511, 0.15,-0.436,-1.057,-1.699, 0.358, PHS=-0.692,-1.369,-2.101, RAW=  58.7,  50.3, CAL=  55.7,  55.0, ROT=  94.3, -55.0

2025-08-22T16:13:11.672Z,1755879191.672 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-08-22T16:13:11.673Z,1755879191.673 [DAT](INFO): direction in FSK: [-0.043006,0.571962,0.819152]
2025-08-22T16:13:11.676Z,1755879191.676 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.760452
2025-08-22T16:13:11.766Z,1755879191.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503963 s,
      deltaX: -0.100000 m,
      approachRate: -0.198427 m/s,
      rangeRepo size: 4

2025-08-22T16:13:11.768Z,1755879191.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987734 m,
      bearing: 92.209955 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.503963 s,
      deltaX: -0.099386 m,
      approachRate: -0.197209 m/s,
      posRepo size: 4

2025-08-22T16:13:11.915Z,1755879191.915 [DAT](INFO): DAT read: Rx Time:16:13:12.7341 

2025-08-22T16:13:11.915Z,1755879191.915 [DAT](INFO): Rx dataTimestamp_ set to:1755879191.915032
2025-08-22T16:13:11.916Z,1755879191.916 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:11.917Z,1755879191.917 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-08-22T16:13:11.919Z,1755879191.919 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.003231
2025-08-22T16:13:12.133Z,1755879192.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:12.140Z,1755879192.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500931 s,
      deltaX: 0.100000 m,
      approachRate: 0.199628 m/s,
      rangeRepo size: 4

2025-08-22T16:13:12.167Z,1755879192.167 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.251310
2025-08-22T16:13:12.422Z,1755879192.422 [DAT](INFO): DAT read: Rx Time:16:13:13.2340 

2025-08-22T16:13:12.424Z,1755879192.424 [DAT](INFO): Rx dataTimestamp_ set to:1755879192.422796
2025-08-22T16:13:12.428Z,1755879192.428 [DAT](INFO): DAT read: Bearing 245.0,  37.9 (Local)

2025-08-22T16:13:12.430Z,1755879192.430 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.0,  37.9 (Local)

2025-08-22T16:13:12.434Z,1755879192.434 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:12.437Z,1755879192.437 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-22T16:13:12.482Z,1755879192.482 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.545336
2025-08-22T16:13:12.543Z,1755879192.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507764 s,
      deltaX: -0.100000 m,
      approachRate: -0.196942 m/s,
      rangeRepo size: 4

2025-08-22T16:13:12.674Z,1755879192.674 [DAT](INFO): DAT read: 16:13:13.2340 LVL= 21552,  8465, 25250, 23395, AGC= 42, IDX= 511, 0.43,-0.053,-0.797,-1.359, 0.696, PHS=-0.647,-1.448,-2.099, RAW=  63.4,  49.7, CAL=  60.0,  54.6, ROT=  90.0, -54.6

2025-08-22T16:13:12.675Z,1755879192.675 [DAT](INFO): got valid direction response:
 16:13:13.2340 LVL= 21552,  8465, 25250, 23395, AGC= 42, IDX= 511, 0.43,-0.053,-0.797,-1.359, 0.696, PHS=-0.647,-1.448,-2.099, RAW=  63.4,  49.7, CAL=  60.0,  54.6, ROT=  90.0, -54.6

2025-08-22T16:13:12.675Z,1755879192.675 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-08-22T16:13:12.676Z,1755879192.676 [DAT](INFO): direction in FSK: [-0.000000,0.579281,0.815128]
2025-08-22T16:13:12.680Z,1755879192.680 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.763702
2025-08-22T16:13:12.923Z,1755879192.923 [DAT](INFO): DAT read: Rx Time:16:13:13.7341 

2025-08-22T16:13:12.923Z,1755879192.923 [DAT](INFO): Rx dataTimestamp_ set to:1755879192.922974
2025-08-22T16:13:12.924Z,1755879192.924 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:12.925Z,1755879192.925 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-22T16:13:12.926Z,1755879192.926 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.010014
2025-08-22T16:13:12.999Z,1755879192.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500178 s,
      deltaX: 0.100000 m,
      approachRate: 0.199929 m/s,
      rangeRepo size: 4

2025-08-22T16:13:13.001Z,1755879193.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087119 m,
      bearing: 88.186774 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 1.508873 s,
      deltaX: 0.099384 m,
      approachRate: 0.065867 m/s,
      posRepo size: 4

2025-08-22T16:13:13.175Z,1755879193.175 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.258909
2025-08-22T16:13:13.427Z,1755879193.427 [DAT](INFO): DAT read: Rx Time:16:13:14.2340 

2025-08-22T16:13:13.427Z,1755879193.427 [DAT](INFO): Rx dataTimestamp_ set to:1755879193.426987
2025-08-22T16:13:13.428Z,1755879193.428 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:13.429Z,1755879193.429 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-22T16:13:13.430Z,1755879193.430 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.514017
2025-08-22T16:13:13.679Z,1755879193.679 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.762627
2025-08-22T16:13:13.794Z,1755879193.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504013 s,
      deltaX: -0.100000 m,
      approachRate: -0.198407 m/s,
      rangeRepo size: 4

2025-08-22T16:13:13.931Z,1755879193.931 [DAT](INFO): DAT read: Rx Time:16:13:14.7341 

2025-08-22T16:13:13.931Z,1755879193.931 [DAT](INFO): Rx dataTimestamp_ set to:1755879193.930816
2025-08-22T16:13:13.932Z,1755879193.932 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:13.933Z,1755879193.933 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-22T16:13:13.934Z,1755879193.934 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.017872
2025-08-22T16:13:14.184Z,1755879194.184 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.267605
2025-08-22T16:13:14.223Z,1755879194.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:14.232Z,1755879194.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503829 s,
      deltaX: 0.100000 m,
      approachRate: 0.198480 m/s,
      rangeRepo size: 4

2025-08-22T16:13:14.439Z,1755879194.439 [DAT](INFO): DAT read: Rx Time:16:13:15.2340 

2025-08-22T16:13:14.440Z,1755879194.440 [DAT](INFO): Rx dataTimestamp_ set to:1755879194.439174
2025-08-22T16:13:14.443Z,1755879194.443 [DAT](INFO): DAT read: Bearing 246.9,  38.2 (Local)

2025-08-22T16:13:14.445Z,1755879194.445 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.9,  38.2 (Local)

2025-08-22T16:13:14.474Z,1755879194.474 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:14.484Z,1755879194.484 [DAT](INFO): DAT read: 16:13:15.2340 LVL= 21712,  8913, 25314, 23523, AGC= 42, IDX= 511,-0.02,-2.330,-3.055, 2.650,-1.592, PHS=-0.636,-1.418,-2.085, RAW=  62.6,  49.3, CAL=  59.3,  54.3, ROT=  90.7, -54.3

2025-08-22T16:13:14.495Z,1755879194.495 [DAT](INFO): got valid direction response:
 16:13:15.2340 LVL= 21712,  8913, 25314, 23523, AGC= 42, IDX= 511,-0.02,-2.330,-3.055, 2.650,-1.592, PHS=-0.636,-1.418,-2.085, RAW=  62.6,  49.3, CAL=  59.3,  54.3, ROT=  90.7, -54.3

2025-08-22T16:13:14.495Z,1755879194.495 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T16:13:14.497Z,1755879194.497 [DAT](INFO): direction in FSK: [-0.007129,0.583498,0.812084]
2025-08-22T16:13:14.497Z,1755879194.497 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:14.517Z,1755879194.517 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.601065
2025-08-22T16:13:14.618Z,1755879194.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.508358 s,
      deltaX: -0.100000 m,
      approachRate: -0.196712 m/s,
      rangeRepo size: 4

2025-08-22T16:13:14.620Z,1755879194.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987737 m,
      bearing: 90.368000 deg,
      lat: 36.779426 deg,
      lon: -121.859657 deg,
      deltaT: 1.516200 s,
      deltaX: -0.099381 m,
      approachRate: -0.065546 m/s,
      posRepo size: 4

2025-08-22T16:13:14.688Z,1755879194.688 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.771261
2025-08-22T16:13:14.943Z,1755879194.943 [DAT](INFO): DAT read: Rx Time:16:13:15.7341 

2025-08-22T16:13:14.944Z,1755879194.944 [DAT](INFO): Rx dataTimestamp_ set to:1755879194.943429
2025-08-22T16:13:14.948Z,1755879194.948 [DAT](INFO): DAT read: Bearing 253.9,  44.2 (Local)

2025-08-22T16:13:14.950Z,1755879194.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.9,  44.2 (Local)

2025-08-22T16:13:14.955Z,1755879194.955 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:14.961Z,1755879194.961 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-22T16:13:14.962Z,1755879194.962 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.046312
2025-08-22T16:13:15.053Z,1755879195.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504255 s,
      deltaX: 0.100000 m,
      approachRate: 0.198312 m/s,
      rangeRepo size: 4

2025-08-22T16:13:15.196Z,1755879195.196 [DAT](INFO): DAT read: 16:13:15.7341 LVL= 21024, 10385, 27554, 25859, AGC= 41, IDX= 512, 0.08,-1.495,-2.214,-3.085,-0.948, PHS=-0.444,-1.220,-2.181, RAW=  56.5,  42.1, CAL=  53.1,  47.6, ROT=  96.9, -47.6

2025-08-22T16:13:15.198Z,1755879195.198 [DAT](INFO): got valid direction response:
 16:13:15.7341 LVL= 21024, 10385, 27554, 25859, AGC= 41, IDX= 512, 0.08,-1.495,-2.214,-3.085,-0.948, PHS=-0.444,-1.220,-2.181, RAW=  56.5,  42.1, CAL=  53.1,  47.6, ROT=  96.9, -47.6

2025-08-22T16:13:15.198Z,1755879195.198 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-08-22T16:13:15.199Z,1755879195.199 [DAT](INFO): direction in FSK: [-0.081009,0.669419,0.738455]
2025-08-22T16:13:15.203Z,1755879195.203 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.286987
2025-08-22T16:13:15.447Z,1755879195.447 [DAT](INFO): DAT read: Rx Time:16:13:16.2340 

2025-08-22T16:13:15.448Z,1755879195.448 [DAT](INFO): Rx dataTimestamp_ set to:1755879195.447211
2025-08-22T16:13:15.452Z,1755879195.452 [DAT](INFO): DAT read: Bearing 246.5,  38.0 (Local)

2025-08-22T16:13:15.454Z,1755879195.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  38.0 (Local)

2025-08-22T16:13:15.462Z,1755879195.462 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:15.471Z,1755879195.471 [DAT](INFO): DAT read: 16:13:16.2340 LVL= 21488,  8945, 24882, 23507, AGC= 42, IDX= 511, 0.18,-0.779,-1.551,-2.090,-0.035, PHS=-0.641,-1.470,-2.099, RAW=  64.5,  49.6, CAL=  61.2,  54.6, ROT=  88.8, -54.6

2025-08-22T16:13:15.472Z,1755879195.472 [DAT](INFO): got valid direction response:
 16:13:16.2340 LVL= 21488,  8945, 24882, 23507, AGC= 42, IDX= 511, 0.18,-0.779,-1.551,-2.090,-0.035, PHS=-0.641,-1.470,-2.099, RAW=  64.5,  49.6, CAL=  61.2,  54.6, ROT=  88.8, -54.6

2025-08-22T16:13:15.472Z,1755879195.472 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:13:15.473Z,1755879195.473 [DAT](INFO): direction in FSK: [0.012132,0.579154,0.815128]
2025-08-22T16:13:15.482Z,1755879195.482 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:15.485Z,1755879195.485 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.569128
2025-08-22T16:13:15.695Z,1755879195.695 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.778641
2025-08-22T16:13:15.867Z,1755879195.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503782 s,
      deltaX: -0.100000 m,
      approachRate: -0.198498 m/s,
      rangeRepo size: 4

2025-08-22T16:13:15.868Z,1755879195.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987738 m,
      bearing: 89.649732 deg,
      lat: 36.779426 deg,
      lon: -121.859657 deg,
      deltaT: 1.008037 s,
      deltaX: 0.000001 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-22T16:13:15.952Z,1755879195.952 [DAT](INFO): DAT read: Rx Time:16:13:16.7341 

2025-08-22T16:13:15.954Z,1755879195.954 [DAT](INFO): Rx dataTimestamp_ set to:1755879195.952430
2025-08-22T16:13:15.959Z,1755879195.959 [DAT](INFO): DAT read: Bearing 269.5,  45.4 (Local)

2025-08-22T16:13:15.961Z,1755879195.961 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.5,  45.4 (Local)

2025-08-22T16:13:15.964Z,1755879195.964 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:15.971Z,1755879195.971 [DAT](INFO): DAT read: 16:13:16.7341 LVL= 21536,  8689, 24994, 23219, AGC= 42, IDX= 512, 0.32,-1.300,-1.648,-2.922,-0.806, PHS=-0.392,-0.798,-2.160, RAW=  42.6,  36.4, CAL=  40.1,  42.8, ROT= 109.9, -42.8

2025-08-22T16:13:15.972Z,1755879195.972 [DAT](INFO): got valid direction response:
 16:13:16.7341 LVL= 21536,  8689, 24994, 23219, AGC= 42, IDX= 512, 0.32,-1.300,-1.648,-2.922,-0.806, PHS=-0.392,-0.798,-2.160, RAW=  42.6,  36.4, CAL=  40.1,  42.8, ROT= 109.9, -42.8

2025-08-22T16:13:15.973Z,1755879195.973 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:13:15.974Z,1755879195.974 [DAT](INFO): direction in FSK: [-0.249747,0.689917,0.679441]
2025-08-22T16:13:15.974Z,1755879195.974 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:15.994Z,1755879195.994 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.061287
2025-08-22T16:13:16.199Z,1755879196.199 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.282696
2025-08-22T16:13:16.251Z,1755879196.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505219 s,
      deltaX: 0.100000 m,
      approachRate: 0.197934 m/s,
      rangeRepo size: 4

2025-08-22T16:13:16.253Z,1755879196.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087125 m,
      bearing: 111.018512 deg,
      lat: 36.779426 deg,
      lon: -121.859657 deg,
      deltaT: 0.505219 s,
      deltaX: 0.099387 m,
      approachRate: 0.196720 m/s,
      posRepo size: 4

2025-08-22T16:13:16.457Z,1755879196.457 [DAT](INFO): DAT read: Rx Time:16:13:17.2340 

2025-08-22T16:13:16.459Z,1755879196.459 [DAT](INFO): Rx dataTimestamp_ set to:1755879196.458028
2025-08-22T16:13:16.460Z,1755879196.460 [DAT](INFO): DAT read: Bearing 283.5,  45.0 (Local)

2025-08-22T16:13:16.460Z,1755879196.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.5,  45.0 (Local)

2025-08-22T16:13:16.467Z,1755879196.467 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:16.474Z,1755879196.474 [DAT](INFO): DAT read: 16:13:17.2340 LVL= 21360,  8561, 25426, 22995, AGC= 42, IDX= 512,-0.48, 2.498, 2.459, 0.849, 2.973, PHS=-0.372,-0.468,-2.168, RAW=  32.7,  31.3, CAL=  30.3,  37.0, ROT= 119.7, -37.0

2025-08-22T16:13:16.475Z,1755879196.475 [DAT](INFO): got valid direction response:
 16:13:17.2340 LVL= 21360,  8561, 25426, 22995, AGC= 42, IDX= 512,-0.48, 2.498, 2.459, 0.849, 2.973, PHS=-0.372,-0.468,-2.168, RAW=  32.7,  31.3, CAL=  30.3,  37.0, ROT= 119.7, -37.0

2025-08-22T16:13:16.475Z,1755879196.475 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:13:16.476Z,1755879196.476 [DAT](INFO): direction in FSK: [-0.395691,0.693720,0.601815]
2025-08-22T16:13:16.477Z,1755879196.477 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:16.531Z,1755879196.531 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.614655
2025-08-22T16:13:16.657Z,1755879196.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.505598 s,
      deltaX: -0.100000 m,
      approachRate: -0.197785 m/s,
      rangeRepo size: 4

2025-08-22T16:13:16.675Z,1755879196.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987737 m,
      bearing: 120.921411 deg,
      lat: 36.779426 deg,
      lon: -121.859657 deg,
      deltaT: 0.505598 s,
      deltaX: -0.099387 m,
      approachRate: -0.196573 m/s,
      posRepo size: 4

2025-08-22T16:13:16.706Z,1755879196.706 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.789394
2025-08-22T16:13:16.955Z,1755879196.955 [DAT](INFO): DAT read: Rx Time:16:13:17.7341 

2025-08-22T16:13:16.955Z,1755879196.955 [DAT](INFO): Rx dataTimestamp_ set to:1755879196.954878
2025-08-22T16:13:16.956Z,1755879196.956 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:16.957Z,1755879196.957 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-22T16:13:16.958Z,1755879196.958 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.041904
2025-08-22T16:13:17.080Z,1755879197.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:17.083Z,1755879197.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.496850 s,
      deltaX: 0.100000 m,
      approachRate: 0.201268 m/s,
      rangeRepo size: 4

2025-08-22T16:13:17.207Z,1755879197.207 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.290653
2025-08-22T16:13:17.461Z,1755879197.461 [DAT](INFO): DAT read: Rx Time:16:13:18.2341 

2025-08-22T16:13:17.461Z,1755879197.461 [DAT](INFO): Rx dataTimestamp_ set to:1755879197.460929
2025-08-22T16:13:17.462Z,1755879197.462 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:17.463Z,1755879197.463 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-22T16:13:17.464Z,1755879197.464 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.547932
2025-08-22T16:13:17.711Z,1755879197.711 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.794640
2025-08-22T16:13:17.879Z,1755879197.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.506051 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:17.965Z,1755879197.965 [DAT](INFO): DAT read: Rx Time:16:13:18.7341 

2025-08-22T16:13:17.965Z,1755879197.965 [DAT](INFO): Rx dataTimestamp_ set to:1755879197.964729
2025-08-22T16:13:17.966Z,1755879197.966 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:17.967Z,1755879197.967 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-22T16:13:17.968Z,1755879197.968 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.051750
2025-08-22T16:13:18.216Z,1755879198.216 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.299934
2025-08-22T16:13:18.263Z,1755879198.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503800 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:18.468Z,1755879198.468 [DAT](INFO): DAT read: Rx Time:16:13:19.2340 

2025-08-22T16:13:18.468Z,1755879198.468 [DAT](INFO): Rx dataTimestamp_ set to:1755879198.467861
2025-08-22T16:13:18.469Z,1755879198.469 [DAT](INFO): DAT read: Bearing 251.8,  38.3 (Local)

2025-08-22T16:13:18.470Z,1755879198.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.8,  38.3 (Local)

2025-08-22T16:13:18.472Z,1755879198.472 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:18.476Z,1755879198.476 [DAT](INFO): DAT read: 16:13:19.2340 LVL= 20192,  9585, 26978, 23283, AGC= 42, IDX= 511, 0.04,-2.832, 2.787, 2.169,-2.064, PHS=-0.666,-1.387,-2.094, RAW=  60.4,  49.8, CAL=  57.2,  54.6, ROT=  92.8, -54.6

2025-08-22T16:13:18.477Z,1755879198.477 [DAT](INFO): got valid direction response:
 16:13:19.2340 LVL= 20192,  9585, 26978, 23283, AGC= 42, IDX= 511, 0.04,-2.832, 2.787, 2.169,-2.064, PHS=-0.666,-1.387,-2.094, RAW=  60.4,  49.8, CAL=  57.2,  54.6, ROT=  92.8, -54.6

2025-08-22T16:13:18.478Z,1755879198.478 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:13:18.479Z,1755879198.479 [DAT](INFO): direction in FSK: [-0.028298,0.578590,0.815128]
2025-08-22T16:13:18.479Z,1755879198.479 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:18.487Z,1755879198.487 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.571171
2025-08-22T16:13:18.668Z,1755879198.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503132 s,
      deltaX: -0.100000 m,
      approachRate: -0.198755 m/s,
      rangeRepo size: 4

2025-08-22T16:13:18.672Z,1755879198.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987737 m,
      bearing: 96.208601 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 2.009833 s,
      deltaX: -0.000000 m,
      approachRate: -0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:18.720Z,1755879198.720 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.803677
2025-08-22T16:13:18.972Z,1755879198.972 [DAT](INFO): DAT read: Rx Time:16:13:19.7341 

2025-08-22T16:13:18.972Z,1755879198.972 [DAT](INFO): Rx dataTimestamp_ set to:1755879198.971965
2025-08-22T16:13:18.974Z,1755879198.974 [DAT](INFO): DAT read: Bearing 306.6,  38.1 (Local)

2025-08-22T16:13:18.974Z,1755879198.974 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.6,  38.1 (Local)

2025-08-22T16:13:18.976Z,1755879198.976 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:18.981Z,1755879198.981 [DAT](INFO): DAT read: 16:13:19.7341 LVL= 20208, 10417, 26866, 24275, AGC= 42, IDX= 512, 0.14,-2.606,-1.938, 2.132,-2.075, PHS=-0.429, 0.182,-2.120, RAW=  15.1,  22.1, CAL=  14.1,  26.5, ROT= 135.9, -26.5

2025-08-22T16:13:19.021Z,1755879199.021 [DAT](INFO): got valid direction response:
 16:13:19.7341 LVL= 20208, 10417, 26866, 24275, AGC= 42, IDX= 512, 0.14,-2.606,-1.938, 2.132,-2.075, PHS=-0.429, 0.182,-2.120, RAW=  15.1,  22.1, CAL=  14.1,  26.5, ROT= 135.9, -26.5

2025-08-22T16:13:19.021Z,1755879199.021 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:13:19.022Z,1755879199.022 [DAT](INFO): direction in FSK: [-0.642676,0.622796,0.446198]
2025-08-22T16:13:19.022Z,1755879199.022 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:19.058Z,1755879199.058 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.141964
2025-08-22T16:13:19.185Z,1755879199.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504104 s,
      deltaX: 0.100000 m,
      approachRate: 0.198372 m/s,
      rangeRepo size: 4

2025-08-22T16:13:19.200Z,1755879199.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087124 m,
      bearing: 137.720901 deg,
      lat: 36.779422 deg,
      lon: -121.859654 deg,
      deltaT: 0.504104 s,
      deltaX: 0.099387 m,
      approachRate: 0.197155 m/s,
      posRepo size: 4

2025-08-22T16:13:19.223Z,1755879199.223 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.306931
2025-08-22T16:13:19.475Z,1755879199.475 [DAT](INFO): DAT read: Rx Time:16:13:20.2340 

2025-08-22T16:13:19.475Z,1755879199.476 [DAT](INFO): Rx dataTimestamp_ set to:1755879199.475224
2025-08-22T16:13:19.477Z,1755879199.477 [DAT](INFO): DAT read: Bearing 250.5,  38.7 (Local)

2025-08-22T16:13:19.477Z,1755879199.477 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.5,  38.7 (Local)

2025-08-22T16:13:19.479Z,1755879199.479 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:19.483Z,1755879199.483 [DAT](INFO): DAT read: 16:13:20.2340 LVL= 21104,  9137, 25506, 23635, AGC= 42, IDX= 511, 0.28,-2.443, 3.099, 2.534,-1.698, PHS=-0.642,-1.441,-2.095, RAW=  63.3,  49.5, CAL=  59.9,  54.5, ROT=  90.1, -54.5

2025-08-22T16:13:19.484Z,1755879199.484 [DAT](INFO): got valid direction response:
 16:13:20.2340 LVL= 21104,  9137, 25506, 23635, AGC= 42, IDX= 511, 0.28,-2.443, 3.099, 2.534,-1.698, PHS=-0.642,-1.441,-2.095, RAW=  63.3,  49.5, CAL=  59.9,  54.5, ROT=  90.1, -54.5

2025-08-22T16:13:19.485Z,1755879199.485 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:13:19.486Z,1755879199.486 [DAT](INFO): direction in FSK: [-0.001013,0.580702,0.814116]
2025-08-22T16:13:19.486Z,1755879199.486 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:19.490Z,1755879199.490 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.573757
2025-08-22T16:13:19.632Z,1755879199.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503259 s,
      deltaX: -0.100000 m,
      approachRate: -0.198705 m/s,
      rangeRepo size: 4

2025-08-22T16:13:19.638Z,1755879199.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987735 m,
      bearing: 93.774159 deg,
      lat: 36.779422 deg,
      lon: -121.859654 deg,
      deltaT: 0.503259 s,
      deltaX: -0.099388 m,
      approachRate: -0.197490 m/s,
      posRepo size: 4

2025-08-22T16:13:19.728Z,1755879199.728 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.811668
2025-08-22T16:13:19.979Z,1755879199.979 [DAT](INFO): DAT read: Rx Time:16:13:20.7341 

2025-08-22T16:13:19.980Z,1755879199.980 [DAT](INFO): Rx dataTimestamp_ set to:1755879199.979319
2025-08-22T16:13:19.981Z,1755879199.981 [DAT](INFO): DAT read: Bearing 246.6,  44.1 (Local)

2025-08-22T16:13:19.981Z,1755879199.981 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.6,  44.1 (Local)

2025-08-22T16:13:19.984Z,1755879199.984 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:19.988Z,1755879199.988 [DAT](INFO): DAT read: 16:13:20.7341 LVL= 21024, 10321, 27842, 25331, AGC= 41, IDX= 512, 0.44,-2.309, 2.952, 2.418,-1.821, PHS=-0.386,-1.466,-2.089, RAW=  68.8,  43.0, CAL=  64.9,  49.1, ROT=  85.1, -49.1

2025-08-22T16:13:19.990Z,1755879199.990 [DAT](INFO): got valid direction response:
 16:13:20.7341 LVL= 21024, 10321, 27842, 25331, AGC= 41, IDX= 512, 0.44,-2.309, 2.952, 2.418,-1.821, PHS=-0.386,-1.466,-2.089, RAW=  68.8,  43.0, CAL=  64.9,  49.1, ROT=  85.1, -49.1

2025-08-22T16:13:19.991Z,1755879199.991 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:13:19.992Z,1755879199.992 [DAT](INFO): direction in FSK: [0.055926,0.652348,0.755853]
2025-08-22T16:13:19.992Z,1755879199.992 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:19.996Z,1755879199.996 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.079586
2025-08-22T16:13:20.135Z,1755879200.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504095 s,
      deltaX: 0.100000 m,
      approachRate: 0.198375 m/s,
      rangeRepo size: 4

2025-08-22T16:13:20.146Z,1755879200.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087122 m,
      bearing: 88.089847 deg,
      lat: 36.779426 deg,
      lon: -121.859654 deg,
      deltaT: 0.504095 s,
      deltaX: 0.099387 m,
      approachRate: 0.197158 m/s,
      posRepo size: 4

2025-08-22T16:13:20.232Z,1755879200.232 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.315506
2025-08-22T16:13:20.483Z,1755879200.483 [DAT](INFO): DAT read: Rx Time:16:13:21.2340 

2025-08-22T16:13:20.484Z,1755879200.484 [DAT](INFO): Rx dataTimestamp_ set to:1755879200.483266
2025-08-22T16:13:20.485Z,1755879200.485 [DAT](INFO): DAT read: Bearing 237.2,  41.5 (Local)

2025-08-22T16:13:20.485Z,1755879200.485 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.2,  41.5 (Local)

2025-08-22T16:13:20.487Z,1755879200.487 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:20.492Z,1755879200.492 [DAT](INFO): DAT read: 16:13:21.2340 LVL= 21696,  8609, 25522, 23267, AGC= 42, IDX= 512,-0.35, 0.775,-0.589,-0.846, 1.271, PHS=-0.394,-1.814,-2.161, RAW=  79.3,  43.6, CAL=  76.4,  50.4, ROT=  73.6, -50.4

2025-08-22T16:13:20.493Z,1755879200.493 [DAT](INFO): got valid direction response:
 16:13:21.2340 LVL= 21696,  8609, 25522, 23267, AGC= 42, IDX= 512,-0.35, 0.775,-0.589,-0.846, 1.271, PHS=-0.394,-1.814,-2.161, RAW=  79.3,  43.6, CAL=  76.4,  50.4, ROT=  73.6, -50.4

2025-08-22T16:13:20.493Z,1755879200.493 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:13:20.494Z,1755879200.494 [DAT](INFO): direction in FSK: [0.179971,0.611490,0.770513]
2025-08-22T16:13:20.494Z,1755879200.494 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:20.498Z,1755879200.498 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.581944
2025-08-22T16:13:20.588Z,1755879200.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503947 s,
      deltaX: -0.100000 m,
      approachRate: -0.198433 m/s,
      rangeRepo size: 4

2025-08-22T16:13:20.594Z,1755879200.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987736 m,
      bearing: 75.654953 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 0.503947 s,
      deltaX: -0.099386 m,
      approachRate: -0.197216 m/s,
      posRepo size: 4

2025-08-22T16:13:20.736Z,1755879200.736 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.820000
2025-08-22T16:13:20.987Z,1755879200.987 [DAT](INFO): DAT read: Rx Time:16:13:21.7341 

2025-08-22T16:13:20.988Z,1755879200.988 [DAT](INFO): Rx dataTimestamp_ set to:1755879200.987332
2025-08-22T16:13:20.989Z,1755879200.989 [DAT](INFO): DAT read: Bearing 262.1,  46.0 (Local)

2025-08-22T16:13:20.989Z,1755879200.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.1,  46.0 (Local)

2025-08-22T16:13:20.991Z,1755879200.991 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:20.996Z,1755879200.996 [DAT](INFO): DAT read: 16:13:21.7341 LVL= 21744,  8785, 25666, 23235, AGC= 42, IDX= 513,-0.22, 2.045, 1.460, 0.554, 2.522, PHS=-0.374,-1.016,-2.011, RAW=  52.9,  40.1, CAL=  49.6,  45.7, ROT= 100.4, -45.7

2025-08-22T16:13:20.997Z,1755879200.997 [DAT](INFO): got valid direction response:
 16:13:21.7341 LVL= 21744,  8785, 25666, 23235, AGC= 42, IDX= 513,-0.22, 2.045, 1.460, 0.554, 2.522, PHS=-0.374,-1.016,-2.011, RAW=  52.9,  40.1, CAL=  49.6,  45.7, ROT= 100.4, -45.7

2025-08-22T16:13:20.997Z,1755879200.997 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:13:20.998Z,1755879200.998 [DAT](INFO): direction in FSK: [-0.126077,0.686941,0.715693]
2025-08-22T16:13:20.998Z,1755879200.998 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:21.007Z,1755879201.007 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.090652
2025-08-22T16:13:21.092Z,1755879201.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504066 s,
      deltaX: 0.100000 m,
      approachRate: 0.198387 m/s,
      rangeRepo size: 4

2025-08-22T16:13:21.098Z,1755879201.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087122 m,
      bearing: 104.161523 deg,
      lat: 36.779426 deg,
      lon: -121.859654 deg,
      deltaT: 0.504066 s,
      deltaX: 0.099387 m,
      approachRate: 0.197170 m/s,
      posRepo size: 4

2025-08-22T16:13:21.239Z,1755879201.239 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.323303
2025-08-22T16:13:21.433Z,1755879201.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:21.491Z,1755879201.491 [DAT](INFO): DAT read: Rx Time:16:13:22.2341 

2025-08-22T16:13:21.492Z,1755879201.492 [DAT](INFO): Rx dataTimestamp_ set to:1755879201.491532
2025-08-22T16:13:21.493Z,1755879201.493 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:21.494Z,1755879201.494 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-22T16:13:21.495Z,1755879201.495 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.578583
2025-08-22T16:13:21.743Z,1755879201.743 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.826733
2025-08-22T16:13:21.866Z,1755879201.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504200 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:21.996Z,1755879201.996 [DAT](INFO): DAT read: Rx Time:16:13:22.7341 

2025-08-22T16:13:21.996Z,1755879201.996 [DAT](INFO): Rx dataTimestamp_ set to:1755879201.996221
2025-08-22T16:13:21.999Z,1755879201.999 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:21.999Z,1755879201.999 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-08-22T16:13:22.000Z,1755879202.000 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.084152
2025-08-22T16:13:22.247Z,1755879202.247 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.330620
2025-08-22T16:13:22.304Z,1755879202.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504689 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:22.499Z,1755879202.499 [DAT](INFO): DAT read: Rx Time:16:13:23.2340 

2025-08-22T16:13:22.500Z,1755879202.500 [DAT](INFO): Rx dataTimestamp_ set to:1755879202.499254
2025-08-22T16:13:22.501Z,1755879202.501 [DAT](INFO): DAT read: Bearing 249.9,  39.0 (Local)

2025-08-22T16:13:22.501Z,1755879202.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.9,  39.0 (Local)

2025-08-22T16:13:22.503Z,1755879202.503 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:22.508Z,1755879202.508 [DAT](INFO): DAT read: 16:13:23.2340 LVL= 21936,  8561, 26082, 23523, AGC= 42, IDX= 511, 0.09, 2.717, 1.924, 1.390,-2.845, PHS=-0.619,-1.469,-2.092, RAW=  65.1,  49.1, CAL=  61.7,  54.2, ROT=  88.3, -54.2

2025-08-22T16:13:22.509Z,1755879202.509 [DAT](INFO): got valid direction response:
 16:13:23.2340 LVL= 21936,  8561, 26082, 23523, AGC= 42, IDX= 511, 0.09, 2.717, 1.924, 1.390,-2.845, PHS=-0.619,-1.469,-2.092, RAW=  65.1,  49.1, CAL=  61.7,  54.2, ROT=  88.3, -54.2

2025-08-22T16:13:22.510Z,1755879202.510 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T16:13:22.511Z,1755879202.511 [DAT](INFO): direction in FSK: [0.017353,0.584700,0.811064]
2025-08-22T16:13:22.511Z,1755879202.511 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:22.540Z,1755879202.540 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.623802
2025-08-22T16:13:22.707Z,1755879202.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503033 s,
      deltaX: -0.100000 m,
      approachRate: -0.198794 m/s,
      rangeRepo size: 4

2025-08-22T16:13:22.722Z,1755879202.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987740 m,
      bearing: 92.371556 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 1.511922 s,
      deltaX: -0.099382 m,
      approachRate: -0.065732 m/s,
      posRepo size: 4

2025-08-22T16:13:22.751Z,1755879202.751 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.834713
2025-08-22T16:13:23.003Z,1755879203.003 [DAT](INFO): DAT read: Rx Time:16:13:23.7341 

2025-08-22T16:13:23.004Z,1755879203.004 [DAT](INFO): Rx dataTimestamp_ set to:1755879203.003486
2025-08-22T16:13:23.006Z,1755879203.006 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:23.007Z,1755879203.007 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-08-22T16:13:23.008Z,1755879203.008 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.091736
2025-08-22T16:13:23.110Z,1755879203.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504232 s,
      deltaX: 0.100000 m,
      approachRate: 0.198321 m/s,
      rangeRepo size: 4

2025-08-22T16:13:23.255Z,1755879203.255 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.338818
2025-08-22T16:13:23.486Z,1755879203.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:23.507Z,1755879203.507 [DAT](INFO): DAT read: Rx Time:16:13:24.2340 

2025-08-22T16:13:23.508Z,1755879203.508 [DAT](INFO): Rx dataTimestamp_ set to:1755879203.507304
2025-08-22T16:13:23.509Z,1755879203.509 [DAT](INFO): DAT read: Bearing 249.7,  39.0 (Local)

2025-08-22T16:13:23.509Z,1755879203.509 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,  39.0 (Local)

2025-08-22T16:13:23.511Z,1755879203.511 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:23.516Z,1755879203.516 [DAT](INFO): DAT read: 16:13:24.2340 LVL= 22128,  8785, 26306, 23763, AGC= 42, IDX= 511, 0.36, 2.924, 2.123, 1.595,-2.642, PHS=-0.616,-1.474,-2.090, RAW=  65.4,  49.0, CAL=  62.0,  54.1, ROT=  88.0, -54.1

2025-08-22T16:13:23.517Z,1755879203.517 [DAT](INFO): got valid direction response:
 16:13:24.2340 LVL= 22128,  8785, 26306, 23763, AGC= 42, IDX= 511, 0.36, 2.924, 2.123, 1.595,-2.642, PHS=-0.616,-1.474,-2.090, RAW=  65.4,  49.0, CAL=  62.0,  54.1, ROT=  88.0, -54.1

2025-08-22T16:13:23.517Z,1755879203.517 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T16:13:23.518Z,1755879203.518 [DAT](INFO): direction in FSK: [0.020464,0.586015,0.810042]
2025-08-22T16:13:23.518Z,1755879203.518 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:23.522Z,1755879203.522 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.605999
2025-08-22T16:13:23.759Z,1755879203.759 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.842770
2025-08-22T16:13:23.958Z,1755879203.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503818 s,
      deltaX: -0.100000 m,
      approachRate: -0.198484 m/s,
      rangeRepo size: 4

2025-08-22T16:13:23.960Z,1755879203.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987740 m,
      bearing: 91.804105 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 1.008050 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:24.011Z,1755879204.011 [DAT](INFO): DAT read: Rx Time:16:13:24.7341 

2025-08-22T16:13:24.011Z,1755879204.011 [DAT](INFO): Rx dataTimestamp_ set to:1755879204.011157
2025-08-22T16:13:24.013Z,1755879204.013 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:24.013Z,1755879204.013 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-08-22T16:13:24.014Z,1755879204.014 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.098221
2025-08-22T16:13:24.263Z,1755879204.263 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.346687
2025-08-22T16:13:24.334Z,1755879204.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503853 s,
      deltaX: 0.100000 m,
      approachRate: 0.198470 m/s,
      rangeRepo size: 4

2025-08-22T16:13:24.515Z,1755879204.515 [DAT](INFO): DAT read: Rx Time:16:13:25.2340 

2025-08-22T16:13:24.515Z,1755879204.515 [DAT](INFO): Rx dataTimestamp_ set to:1755879204.514800
2025-08-22T16:13:24.516Z,1755879204.516 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:24.517Z,1755879204.517 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-08-22T16:13:24.518Z,1755879204.518 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.601784
2025-08-22T16:13:24.715Z,1755879204.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503643 s,
      deltaX: -0.100000 m,
      approachRate: -0.198553 m/s,
      rangeRepo size: 4

2025-08-22T16:13:24.772Z,1755879204.772 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.855595
2025-08-22T16:13:25.023Z,1755879205.023 [DAT](INFO): DAT read: Rx Time:16:13:25.7342 

2025-08-22T16:13:25.023Z,1755879205.023 [DAT](INFO): Rx dataTimestamp_ set to:1755879205.022858
2025-08-22T16:13:25.024Z,1755879205.024 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:25.025Z,1755879205.025 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-22T16:13:25.026Z,1755879205.026 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.109901
2025-08-22T16:13:25.133Z,1755879205.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.508058 s,
      deltaX: 0.300000 m,
      approachRate: 0.590484 m/s,
      rangeRepo size: 4

2025-08-22T16:13:25.275Z,1755879205.275 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.358543
2025-08-22T16:13:25.505Z,1755879205.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:25.527Z,1755879205.527 [DAT](INFO): DAT read: Rx Time:16:13:26.2341 

2025-08-22T16:13:25.527Z,1755879205.527 [DAT](INFO): Rx dataTimestamp_ set to:1755879205.526800
2025-08-22T16:13:25.528Z,1755879205.528 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:25.529Z,1755879205.529 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-22T16:13:25.530Z,1755879205.530 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.613842
2025-08-22T16:13:25.779Z,1755879205.779 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.863091
2025-08-22T16:13:25.982Z,1755879205.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503942 s,
      deltaX: -0.200000 m,
      approachRate: -0.396871 m/s,
      rangeRepo size: 4

2025-08-22T16:13:26.033Z,1755879206.033 [DAT](INFO): DAT read: Rx Time:16:13:26.7341 

2025-08-22T16:13:26.034Z,1755879206.034 [DAT](INFO): Rx dataTimestamp_ set to:1755879206.033540
2025-08-22T16:13:26.036Z,1755879206.036 [DAT](INFO): DAT read: Bearing 258.8,  45.1 (Local)

2025-08-22T16:13:26.036Z,1755879206.036 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.8,  45.1 (Local)

2025-08-22T16:13:26.039Z,1755879206.039 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:26.044Z,1755879206.044 [DAT](INFO): DAT read: 16:13:26.7341 LVL= 21952,  8865, 25282, 23539, AGC= 42, IDX= 512, 0.06, 1.660, 0.956, 0.050, 2.185, PHS=-0.422,-1.184,-2.179, RAW=  55.6,  41.3, CAL=  52.2,  46.8, ROT=  97.8, -46.8

2025-08-22T16:13:26.045Z,1755879206.045 [DAT](INFO): got valid direction response:
 16:13:26.7341 LVL= 21952,  8865, 25282, 23539, AGC= 42, IDX= 512, 0.06, 1.660, 0.956, 0.050, 2.185, PHS=-0.422,-1.184,-2.179, RAW=  55.6,  41.3, CAL=  52.2,  46.8, ROT=  97.8, -46.8

2025-08-22T16:13:26.045Z,1755879206.045 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T16:13:26.046Z,1755879206.046 [DAT](INFO): direction in FSK: [-0.092904,0.678214,0.728969]
2025-08-22T16:13:26.047Z,1755879206.047 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:26.051Z,1755879206.051 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.134926
2025-08-22T16:13:26.283Z,1755879206.283 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.366653
2025-08-22T16:13:26.375Z,1755879206.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.506740 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:26.377Z,1755879206.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087120 m,
      bearing: 100.472914 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 2.526236 s,
      deltaX: 0.099379 m,
      approachRate: 0.039339 m/s,
      posRepo size: 4

2025-08-22T16:13:26.536Z,1755879206.536 [DAT](INFO): DAT read: Rx Time:16:13:27.2340 

2025-08-22T16:13:26.537Z,1755879206.537 [DAT](INFO): Rx dataTimestamp_ set to:1755879206.536246
2025-08-22T16:13:26.538Z,1755879206.538 [DAT](INFO): DAT read: Bearing 250.4,  38.6 (Local)

2025-08-22T16:13:26.539Z,1755879206.539 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.4,  38.6 (Local)

2025-08-22T16:13:26.541Z,1755879206.541 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:26.550Z,1755879206.550 [DAT](INFO): DAT read: 16:13:27.2340 LVL= 21408,  9201, 25842, 24195, AGC= 42, IDX= 511, 0.17, 1.762, 1.003, 0.442, 2.496, PHS=-0.632,-1.448,-2.098, RAW=  63.8,  49.3, CAL=  60.4,  54.2, ROT=  89.6, -54.2

2025-08-22T16:13:26.551Z,1755879206.551 [DAT](INFO): got valid direction response:
 16:13:27.2340 LVL= 21408,  9201, 25842, 24195, AGC= 42, IDX= 511, 0.17, 1.762, 1.003, 0.442, 2.496, PHS=-0.632,-1.448,-2.098, RAW=  63.8,  49.3, CAL=  60.4,  54.2, ROT=  89.6, -54.2

2025-08-22T16:13:26.552Z,1755879206.552 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T16:13:26.553Z,1755879206.553 [DAT](INFO): direction in FSK: [0.004084,0.584943,0.811064]
2025-08-22T16:13:26.553Z,1755879206.553 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:26.565Z,1755879206.565 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.648766
2025-08-22T16:13:26.787Z,1755879206.787 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.870640
2025-08-22T16:13:26.797Z,1755879206.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.502706 s,
      deltaX: -0.100000 m,
      approachRate: -0.198923 m/s,
      rangeRepo size: 4

2025-08-22T16:13:26.799Z,1755879206.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987732 m,
      bearing: 92.709103 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.502706 s,
      deltaX: -0.099388 m,
      approachRate: -0.197705 m/s,
      posRepo size: 4

2025-08-22T16:13:27.039Z,1755879207.039 [DAT](INFO): DAT read: Rx Time:16:13:27.7341 

2025-08-22T16:13:27.040Z,1755879207.040 [DAT](INFO): Rx dataTimestamp_ set to:1755879207.039593
2025-08-22T16:13:27.041Z,1755879207.041 [DAT](INFO): DAT read: Bearing 305.8,  40.1 (Local)

2025-08-22T16:13:27.042Z,1755879207.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.8,  40.1 (Local)

2025-08-22T16:13:27.044Z,1755879207.044 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:27.048Z,1755879207.048 [DAT](INFO): DAT read: 16:13:27.7341 LVL= 21472,  8689, 25202, 23731, AGC= 42, IDX= 512, 0.30, 1.821, 2.358, 0.239, 2.283, PHS=-0.360, 0.120,-2.087, RAW=  18.1,  22.3, CAL=  16.7,  26.6, ROT= 133.3, -26.6

2025-08-22T16:13:27.049Z,1755879207.049 [DAT](INFO): got valid direction response:
 16:13:27.7341 LVL= 21472,  8689, 25202, 23731, AGC= 42, IDX= 512, 0.30, 1.821, 2.358, 0.239, 2.283, PHS=-0.360, 0.120,-2.087, RAW=  18.1,  22.3, CAL=  16.7,  26.6, ROT= 133.3, -26.6

2025-08-22T16:13:27.049Z,1755879207.049 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T16:13:27.050Z,1755879207.050 [DAT](INFO): direction in FSK: [-0.613227,0.650741,0.447759]
2025-08-22T16:13:27.051Z,1755879207.051 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:27.055Z,1755879207.055 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.138710
2025-08-22T16:13:27.256Z,1755879207.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503347 s,
      deltaX: 0.100000 m,
      approachRate: 0.198670 m/s,
      rangeRepo size: 4

2025-08-22T16:13:27.262Z,1755879207.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087118 m,
      bearing: 134.855149 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.503347 s,
      deltaX: 0.099386 m,
      approachRate: 0.197451 m/s,
      posRepo size: 4

2025-08-22T16:13:27.293Z,1755879207.293 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.376652
2025-08-22T16:13:27.543Z,1755879207.543 [DAT](INFO): DAT read: Rx Time:16:13:28.2340 

2025-08-22T16:13:27.544Z,1755879207.544 [DAT](INFO): Rx dataTimestamp_ set to:1755879207.543256
2025-08-22T16:13:27.545Z,1755879207.545 [DAT](INFO): DAT read: Bearing 250.6,  38.8 (Local)

2025-08-22T16:13:27.545Z,1755879207.545 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.6,  38.8 (Local)

2025-08-22T16:13:27.547Z,1755879207.547 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:27.552Z,1755879207.552 [DAT](INFO): DAT read: 16:13:28.2340 LVL= 21552,  8737, 25746, 23635, AGC= 42, IDX= 511, 0.50, 1.202, 0.441,-0.120, 1.928, PHS=-0.625,-1.443,-2.093, RAW=  63.8,  49.1, CAL=  60.4,  54.1, ROT=  89.6, -54.1

2025-08-22T16:13:27.553Z,1755879207.553 [DAT](INFO): got valid direction response:
 16:13:28.2340 LVL= 21552,  8737, 25746, 23635, AGC= 42, IDX= 511, 0.50, 1.202, 0.441,-0.120, 1.928, PHS=-0.625,-1.443,-2.093, RAW=  63.8,  49.1, CAL=  60.4,  54.1, ROT=  89.6, -54.1

2025-08-22T16:13:27.553Z,1755879207.553 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T16:13:27.566Z,1755879207.566 [DAT](INFO): direction in FSK: [0.004094,0.586358,0.810042]
2025-08-22T16:13:27.566Z,1755879207.566 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:27.591Z,1755879207.591 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.675388
2025-08-22T16:13:27.691Z,1755879207.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503663 s,
      deltaX: -0.100000 m,
      approachRate: -0.198545 m/s,
      rangeRepo size: 4

2025-08-22T16:13:27.695Z,1755879207.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987735 m,
      bearing: 93.062473 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 0.503663 s,
      deltaX: -0.099383 m,
      approachRate: -0.197321 m/s,
      posRepo size: 4

2025-08-22T16:13:27.795Z,1755879207.795 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.878780
2025-08-22T16:13:28.047Z,1755879208.047 [DAT](INFO): DAT read: Rx Time:16:13:28.7341 

2025-08-22T16:13:28.048Z,1755879208.048 [DAT](INFO): Rx dataTimestamp_ set to:1755879208.047354
2025-08-22T16:13:28.049Z,1755879208.049 [DAT](INFO): DAT read: Bearing 234.5,  42.4 (Local)

2025-08-22T16:13:28.049Z,1755879208.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.5,  42.4 (Local)

2025-08-22T16:13:28.051Z,1755879208.051 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:28.056Z,1755879208.056 [DAT](INFO): DAT read: 16:13:28.7341 LVL= 21808,  8785, 25298, 23219, AGC= 42, IDX= 513,-0.33,-0.238,-1.546,-1.708, 0.107, PHS=-0.243,-1.608,-1.859, RAW=  81.7,  41.0, CAL=  79.0,  48.3, ROT=  71.0, -48.3

2025-08-22T16:13:28.057Z,1755879208.057 [DAT](INFO): got valid direction response:
 16:13:28.7341 LVL= 21808,  8785, 25298, 23219, AGC= 42, IDX= 513,-0.33,-0.238,-1.546,-1.708, 0.107, PHS=-0.243,-1.608,-1.859, RAW=  81.7,  41.0, CAL=  79.0,  48.3, ROT=  71.0, -48.3

2025-08-22T16:13:28.057Z,1755879208.057 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T16:13:28.058Z,1755879208.058 [DAT](INFO): direction in FSK: [0.216578,0.628988,0.746638]
2025-08-22T16:13:28.058Z,1755879208.058 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:28.078Z,1755879208.078 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.162189
2025-08-22T16:13:28.166Z,1755879208.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504098 s,
      deltaX: 0.100000 m,
      approachRate: 0.198374 m/s,
      rangeRepo size: 4

2025-08-22T16:13:28.174Z,1755879208.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087121 m,
      bearing: 72.341938 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 0.504098 s,
      deltaX: 0.099387 m,
      approachRate: 0.197157 m/s,
      posRepo size: 4

2025-08-22T16:13:28.300Z,1755879208.300 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.383717
2025-08-22T16:13:28.518Z,1755879208.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:28.552Z,1755879208.552 [DAT](INFO): DAT read: Rx Time:16:13:29.2341 

2025-08-22T16:13:28.553Z,1755879208.553 [DAT](INFO): Rx dataTimestamp_ set to:1755879208.552144
2025-08-22T16:13:28.554Z,1755879208.554 [DAT](INFO): DAT read: Bearing 292.2,  44.4 (Local)

2025-08-22T16:13:28.555Z,1755879208.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.2,  44.4 (Local)

2025-08-22T16:13:28.558Z,1755879208.558 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:28.564Z,1755879208.564 [DAT](INFO): DAT read: 16:13:29.2341 LVL= 22224,  8673, 25906, 24099, AGC= 42, IDX= 512,-0.19,-0.981,-0.897,-2.601,-0.539, PHS=-0.340,-0.313,-2.106, RAW=  29.2,  28.7, CAL=  27.0,  33.9, ROT= 123.0, -33.9

2025-08-22T16:13:28.566Z,1755879208.566 [DAT](INFO): got valid direction response:
 16:13:29.2341 LVL= 22224,  8673, 25906, 24099, AGC= 42, IDX= 512,-0.19,-0.981,-0.897,-2.601,-0.539, PHS=-0.340,-0.313,-2.106, RAW=  29.2,  28.7, CAL=  27.0,  33.9, ROT= 123.0, -33.9

2025-08-22T16:13:28.567Z,1755879208.567 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T16:13:28.568Z,1755879208.568 [DAT](INFO): direction in FSK: [-0.452057,0.696107,0.557745]
2025-08-22T16:13:28.569Z,1755879208.569 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:28.594Z,1755879208.594 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.677280
2025-08-22T16:13:28.803Z,1755879208.803 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.886597
2025-08-22T16:13:29.016Z,1755879209.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504790 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:29.022Z,1755879209.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087125 m,
      bearing: 126.121484 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 0.504790 s,
      deltaX: 0.000003 m,
      approachRate: 0.000006 m/s,
      posRepo size: 4

2025-08-22T16:13:29.055Z,1755879209.055 [DAT](INFO): DAT read: Rx Time:16:13:29.7342 

2025-08-22T16:13:29.055Z,1755879209.055 [DAT](INFO): Rx dataTimestamp_ set to:1755879209.055049
2025-08-22T16:13:29.056Z,1755879209.056 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:29.057Z,1755879209.057 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-08-22T16:13:29.058Z,1755879209.058 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.142101
2025-08-22T16:13:29.307Z,1755879209.307 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.390549
2025-08-22T16:13:29.492Z,1755879209.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.502905 s,
      deltaX: 0.200000 m,
      approachRate: 0.397690 m/s,
      rangeRepo size: 4

2025-08-22T16:13:29.560Z,1755879209.560 [DAT](INFO): DAT read: Rx Time:16:13:30.2341 

2025-08-22T16:13:29.561Z,1755879209.561 [DAT](INFO): Rx dataTimestamp_ set to:1755879209.560396
2025-08-22T16:13:29.563Z,1755879209.563 [DAT](INFO): DAT read: Bearing 283.1,  48.1 (Local)

2025-08-22T16:13:29.563Z,1755879209.563 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.1,  48.1 (Local)

2025-08-22T16:13:29.566Z,1755879209.566 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:29.582Z,1755879209.582 [DAT](INFO): DAT read: 16:13:30.2341 LVL= 22736,  8673, 26178, 23187, AGC= 42, IDX= 512, 0.01,-0.058,-0.303,-1.763, 0.296, PHS=-0.252,-0.555,-2.104, RAW=  38.8,  30.9, CAL=  36.0,  36.8, ROT= 114.0, -36.8

2025-08-22T16:13:29.583Z,1755879209.583 [DAT](INFO): got valid direction response:
 16:13:30.2341 LVL= 22736,  8673, 26178, 23187, AGC= 42, IDX= 512, 0.01,-0.058,-0.303,-1.763, 0.296, PHS=-0.252,-0.555,-2.104, RAW=  38.8,  30.9, CAL=  36.0,  36.8, ROT= 114.0, -36.8

2025-08-22T16:13:29.583Z,1755879209.583 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T16:13:29.584Z,1755879209.584 [DAT](INFO): direction in FSK: [-0.325687,0.731504,0.599024]
2025-08-22T16:13:29.584Z,1755879209.584 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:29.611Z,1755879209.611 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.694763
2025-08-22T16:13:29.810Z,1755879209.810 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.894428
2025-08-22T16:13:29.850Z,1755879209.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505347 s,
      deltaX: -0.200000 m,
      approachRate: -0.395768 m/s,
      rangeRepo size: 4

2025-08-22T16:13:29.852Z,1755879209.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087125 m,
      bearing: 118.194463 deg,
      lat: 36.779419 deg,
      lon: -121.859654 deg,
      deltaT: 1.008252 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:30.063Z,1755879210.063 [DAT](INFO): DAT read: Rx Time:16:13:30.7341 

2025-08-22T16:13:30.063Z,1755879210.063 [DAT](INFO): Rx dataTimestamp_ set to:1755879210.062824
2025-08-22T16:13:30.065Z,1755879210.065 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:30.066Z,1755879210.066 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-08-22T16:13:30.067Z,1755879210.067 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.151100
2025-08-22T16:13:30.315Z,1755879210.315 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.398678
2025-08-22T16:13:30.352Z,1755879210.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.502428 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:30.567Z,1755879210.567 [DAT](INFO): DAT read: Rx Time:16:13:31.2340 

2025-08-22T16:13:30.567Z,1755879210.567 [DAT](INFO): Rx dataTimestamp_ set to:1755879210.567197
2025-08-22T16:13:30.569Z,1755879210.569 [DAT](INFO): DAT read: Bearing 250.1,  39.3 (Local)

2025-08-22T16:13:30.569Z,1755879210.569 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.1,  39.3 (Local)

2025-08-22T16:13:30.571Z,1755879210.571 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:30.575Z,1755879210.575 [DAT](INFO): DAT read: 16:13:31.2340 LVL= 22768,  8577, 26530, 24819, AGC= 42, IDX= 511, 0.25, 0.962, 0.082,-0.393, 1.648, PHS=-0.584,-1.522,-2.086, RAW=  68.2,  48.4, CAL=  64.7,  53.8, ROT=  85.3, -53.8

2025-08-22T16:13:30.576Z,1755879210.576 [DAT](INFO): got valid direction response:
 16:13:31.2340 LVL= 22768,  8577, 26530, 24819, AGC= 42, IDX= 511, 0.25, 0.962, 0.082,-0.393, 1.648, PHS=-0.584,-1.522,-2.086, RAW=  68.2,  48.4, CAL=  64.7,  53.8, ROT=  85.3, -53.8

2025-08-22T16:13:30.577Z,1755879210.577 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T16:13:30.578Z,1755879210.578 [DAT](INFO): direction in FSK: [0.048393,0.588620,0.806960]
2025-08-22T16:13:30.578Z,1755879210.578 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:30.582Z,1755879210.582 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.665726
2025-08-22T16:13:30.819Z,1755879210.819 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.902981
2025-08-22T16:13:30.822Z,1755879210.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504373 s,
      deltaX: -0.100000 m,
      approachRate: -0.198266 m/s,
      rangeRepo size: 4

2025-08-22T16:13:30.824Z,1755879210.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987739 m,
      bearing: 91.382651 deg,
      lat: 36.779426 deg,
      lon: -121.859655 deg,
      deltaT: 1.006801 s,
      deltaX: -0.099386 m,
      approachRate: -0.098715 m/s,
      posRepo size: 4

2025-08-22T16:13:31.071Z,1755879211.071 [DAT](INFO): DAT read: Rx Time:16:13:31.7341 

2025-08-22T16:13:31.071Z,1755879211.071 [DAT](INFO): Rx dataTimestamp_ set to:1755879211.070964
2025-08-22T16:13:31.072Z,1755879211.072 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:31.073Z,1755879211.073 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-08-22T16:13:31.074Z,1755879211.074 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.157997
2025-08-22T16:13:31.234Z,1755879211.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:31.236Z,1755879211.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503767 s,
      deltaX: 0.100000 m,
      approachRate: 0.198504 m/s,
      rangeRepo size: 4

2025-08-22T16:13:31.323Z,1755879211.323 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.406559
2025-08-22T16:13:31.579Z,1755879211.579 [DAT](INFO): DAT read: Rx Time:16:13:32.2340 

2025-08-22T16:13:31.579Z,1755879211.579 [DAT](INFO): Rx dataTimestamp_ set to:1755879211.578862
2025-08-22T16:13:31.580Z,1755879211.580 [DAT](INFO): DAT read: Bearing 287.0,  47.2 (Local)

2025-08-22T16:13:31.581Z,1755879211.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.0,  47.2 (Local)

2025-08-22T16:13:31.583Z,1755879211.583 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:31.587Z,1755879211.587 [DAT](INFO): DAT read: 16:13:32.2340 LVL= 23024,  8785, 26658, 23971, AGC= 42, IDX= 512,-0.39,-1.992,-2.145, 2.836,-1.641, PHS=-0.249,-0.459,-1.850, RAW=  36.9,  31.0, CAL=  34.3,  36.8, ROT= 115.7, -36.8

2025-08-22T16:13:31.588Z,1755879211.588 [DAT](INFO): got valid direction response:
 16:13:32.2340 LVL= 23024,  8785, 26658, 23971, AGC= 42, IDX= 512,-0.39,-1.992,-2.145, 2.836,-1.641, PHS=-0.249,-0.459,-1.850, RAW=  36.9,  31.0, CAL=  34.3,  36.8, ROT= 115.7, -36.8

2025-08-22T16:13:31.589Z,1755879211.589 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T16:13:31.594Z,1755879211.594 [DAT](INFO): direction in FSK: [-0.347244,0.721521,0.599024]
2025-08-22T16:13:31.594Z,1755879211.594 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:31.634Z,1755879211.634 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.717831
2025-08-22T16:13:31.645Z,1755879211.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.507898 s,
      deltaX: -0.100000 m,
      approachRate: -0.196890 m/s,
      rangeRepo size: 4

2025-08-22T16:13:31.667Z,1755879211.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987738 m,
      bearing: 122.000219 deg,
      lat: 36.779419 deg,
      lon: -121.859654 deg,
      deltaT: 1.011665 s,
      deltaX: -0.000001 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-22T16:13:31.827Z,1755879211.827 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.910706
2025-08-22T16:13:32.079Z,1755879212.079 [DAT](INFO): DAT read: Rx Time:16:13:32.7341 

2025-08-22T16:13:32.080Z,1755879212.080 [DAT](INFO): Rx dataTimestamp_ set to:1755879212.079344
2025-08-22T16:13:32.081Z,1755879212.081 [DAT](INFO): DAT read: Bearing 235.1,  40.5 (Local)

2025-08-22T16:13:32.081Z,1755879212.081 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.1,  40.5 (Local)

2025-08-22T16:13:32.083Z,1755879212.083 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:32.096Z,1755879212.096 [DAT](INFO): DAT read: 16:13:32.7341 LVL= 23200,  8609, 26482, 23875, AGC= 42, IDX= 513,-0.22,-1.510,-2.971,-3.014,-1.093, PHS=-0.315,-1.833,-1.965, RAW=  85.9,  42.5, CAL=  83.9,  49.5, ROT=  66.1, -49.5

2025-08-22T16:13:32.097Z,1755879212.097 [DAT](INFO): got valid direction response:
 16:13:32.7341 LVL= 23200,  8609, 26482, 23875, AGC= 42, IDX= 513,-0.22,-1.510,-2.971,-3.014,-1.093, PHS=-0.315,-1.833,-1.965, RAW=  85.9,  42.5, CAL=  83.9,  49.5, ROT=  66.1, -49.5

2025-08-22T16:13:32.097Z,1755879212.097 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T16:13:32.098Z,1755879212.098 [DAT](INFO): direction in FSK: [0.263118,0.593760,0.760406]
2025-08-22T16:13:32.099Z,1755879212.099 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:32.126Z,1755879212.126 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.210255
2025-08-22T16:13:32.170Z,1755879212.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.500482 s,
      deltaX: 0.100000 m,
      approachRate: 0.199807 m/s,
      rangeRepo size: 4

2025-08-22T16:13:32.178Z,1755879212.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087124 m,
      bearing: 71.464722 deg,
      lat: 36.779419 deg,
      lon: -121.859654 deg,
      deltaT: 0.500482 s,
      deltaX: 0.099387 m,
      approachRate: 0.198582 m/s,
      posRepo size: 4

2025-08-22T16:13:32.331Z,1755879212.331 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.414726
2025-08-22T16:13:32.584Z,1755879212.584 [DAT](INFO): DAT read: Rx Time:16:13:33.2341 

2025-08-22T16:13:32.585Z,1755879212.585 [DAT](INFO): Rx dataTimestamp_ set to:1755879212.584129
2025-08-22T16:13:32.587Z,1755879212.587 [DAT](INFO): DAT read: Bearing 283.4,  48.0 (Local)

2025-08-22T16:13:32.587Z,1755879212.587 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.4,  48.0 (Local)

2025-08-22T16:13:32.590Z,1755879212.590 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:32.595Z,1755879212.595 [DAT](INFO): DAT read: 16:13:33.2341 LVL= 23344,  8689, 26994, 23651, AGC= 42, IDX= 512,-0.12,-2.323,-2.601, 2.362,-1.965, PHS=-0.256,-0.591,-2.000, RAW=  40.4,  32.1, CAL=  37.7,  38.4, ROT= 112.3, -38.4

2025-08-22T16:13:32.596Z,1755879212.596 [DAT](INFO): got valid direction response:
 16:13:33.2341 LVL= 23344,  8689, 26994, 23651, AGC= 42, IDX= 512,-0.12,-2.323,-2.601, 2.362,-1.965, PHS=-0.256,-0.591,-2.000, RAW=  40.4,  32.1, CAL=  37.7,  38.4, ROT= 112.3, -38.4

2025-08-22T16:13:32.596Z,1755879212.596 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T16:13:32.597Z,1755879212.597 [DAT](INFO): direction in FSK: [-0.297377,0.725081,0.621148]
2025-08-22T16:13:32.601Z,1755879212.601 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:32.606Z,1755879212.606 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.690475
2025-08-22T16:13:32.835Z,1755879212.835 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.918526
2025-08-22T16:13:32.992Z,1755879212.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504785 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:33.000Z,1755879213.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087126 m,
      bearing: 120.265521 deg,
      lat: 36.779419 deg,
      lon: -121.859654 deg,
      deltaT: 0.504785 s,
      deltaX: 0.000001 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T16:13:33.087Z,1755879213.087 [DAT](INFO): DAT read: Rx Time:16:13:33.7342 

2025-08-22T16:13:33.088Z,1755879213.088 [DAT](INFO): Rx dataTimestamp_ set to:1755879213.087535
2025-08-22T16:13:33.089Z,1755879213.089 [DAT](INFO): DAT read: Bearing 239.5,  40.5 (Local)

2025-08-22T16:13:33.090Z,1755879213.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.5,  40.5 (Local)

2025-08-22T16:13:33.092Z,1755879213.092 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:33.096Z,1755879213.096 [DAT](INFO): DAT read: 16:13:33.7342 LVL= 23200,  8497, 25874, 23219, AGC= 42, IDX= 513,-0.02,-0.545,-1.828,-1.961,-0.085, PHS=-0.358,-1.698,-1.920, RAW=  82.5,  43.8, CAL=  80.1,  50.8, ROT=  69.9, -50.8

2025-08-22T16:13:33.098Z,1755879213.098 [DAT](INFO): got valid direction response:
 16:13:33.7342 LVL= 23200,  8497, 25874, 23219, AGC= 42, IDX= 513,-0.02,-0.545,-1.828,-1.961,-0.085, PHS=-0.358,-1.698,-1.920, RAW=  82.5,  43.8, CAL=  80.1,  50.8, ROT=  69.9, -50.8

2025-08-22T16:13:33.099Z,1755879213.099 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T16:13:33.100Z,1755879213.100 [DAT](INFO): direction in FSK: [0.217203,0.593535,0.774944]
2025-08-22T16:13:33.101Z,1755879213.101 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:33.106Z,1755879213.106 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.190304
2025-08-22T16:13:33.339Z,1755879213.339 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.422565
2025-08-22T16:13:33.444Z,1755879213.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.503406 s,
      deltaX: 0.200000 m,
      approachRate: 0.397294 m/s,
      rangeRepo size: 4

2025-08-22T16:13:33.466Z,1755879213.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285899 m,
      bearing: 76.326487 deg,
      lat: 36.779426 deg,
      lon: -121.859654 deg,
      deltaT: 0.503406 s,
      deltaX: 0.198774 m,
      approachRate: 0.394858 m/s,
      posRepo size: 4

2025-08-22T16:13:33.591Z,1755879213.591 [DAT](INFO): DAT read: Rx Time:16:13:34.2341 

2025-08-22T16:13:33.592Z,1755879213.592 [DAT](INFO): Rx dataTimestamp_ set to:1755879213.591473
2025-08-22T16:13:33.593Z,1755879213.593 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:33.594Z,1755879213.594 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-22T16:13:33.594Z,1755879213.594 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.678501
2025-08-22T16:13:33.797Z,1755879213.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:33.800Z,1755879213.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503938 s,
      deltaX: -0.200000 m,
      approachRate: -0.396874 m/s,
      rangeRepo size: 4

2025-08-22T16:13:33.844Z,1755879213.844 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.927719
2025-08-22T16:13:34.095Z,1755879214.095 [DAT](INFO): DAT read: Rx Time:16:13:34.7341 

2025-08-22T16:13:34.095Z,1755879214.095 [DAT](INFO): Rx dataTimestamp_ set to:1755879214.094967
2025-08-22T16:13:34.096Z,1755879214.096 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:34.097Z,1755879214.097 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-22T16:13:34.098Z,1755879214.098 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.182003
2025-08-22T16:13:34.244Z,1755879214.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.503494 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:34.347Z,1755879214.347 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.430828
2025-08-22T16:13:34.599Z,1755879214.599 [DAT](INFO): DAT read: Rx Time:16:13:35.2340 

2025-08-22T16:13:34.600Z,1755879214.600 [DAT](INFO): Rx dataTimestamp_ set to:1755879214.599644
2025-08-22T16:13:34.601Z,1755879214.601 [DAT](INFO): DAT read: Bearing 254.6,  39.5 (Local)

2025-08-22T16:13:34.602Z,1755879214.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.6,  39.5 (Local)

2025-08-22T16:13:34.604Z,1755879214.604 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:34.608Z,1755879214.608 [DAT](INFO): DAT read: 16:13:35.2340 LVL= 22416,  8801, 26322, 23587, AGC= 42, IDX= 511, 0.33,-0.627,-1.434,-1.961, 0.086, PHS=-0.611,-1.475,-2.091, RAW=  65.6,  48.9, CAL=  62.1,  54.0, ROT=  87.9, -54.0

2025-08-22T16:13:34.609Z,1755879214.609 [DAT](INFO): got valid direction response:
 16:13:35.2340 LVL= 22416,  8801, 26322, 23587, AGC= 42, IDX= 511, 0.33,-0.627,-1.434,-1.961, 0.086, PHS=-0.611,-1.475,-2.091, RAW=  65.6,  48.9, CAL=  62.1,  54.0, ROT=  87.9, -54.0

2025-08-22T16:13:34.610Z,1755879214.610 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T16:13:34.610Z,1755879214.610 [DAT](INFO): direction in FSK: [0.021539,0.587390,0.809017]
2025-08-22T16:13:34.611Z,1755879214.611 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:34.615Z,1755879214.615 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.698654
2025-08-22T16:13:34.647Z,1755879214.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.504677 s,
      deltaX: -0.100000 m,
      approachRate: -0.198146 m/s,
      rangeRepo size: 4

2025-08-22T16:13:34.649Z,1755879214.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987743 m,
      bearing: 96.570562 deg,
      lat: 36.779425 deg,
      lon: -121.859654 deg,
      deltaT: 1.512109 s,
      deltaX: -0.298157 m,
      approachRate: -0.197179 m/s,
      posRepo size: 4

2025-08-22T16:13:34.851Z,1755879214.851 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.934753
2025-08-22T16:13:35.107Z,1755879215.107 [DAT](INFO): DAT read: Rx Time:16:13:35.7341 

2025-08-22T16:13:35.107Z,1755879215.107 [DAT](INFO): Rx dataTimestamp_ set to:1755879215.106754
2025-08-22T16:13:35.108Z,1755879215.108 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:35.109Z,1755879215.109 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-22T16:13:35.110Z,1755879215.110 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.194332
2025-08-22T16:13:35.355Z,1755879215.355 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.438519
2025-08-22T16:13:35.486Z,1755879215.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.507110 s,
      deltaX: 0.100000 m,
      approachRate: 0.197196 m/s,
      rangeRepo size: 4

2025-08-22T16:13:35.607Z,1755879215.607 [DAT](INFO): DAT read: Rx Time:16:13:36.2340 

2025-08-22T16:13:35.608Z,1755879215.608 [DAT](INFO): Rx dataTimestamp_ set to:1755879215.607235
2025-08-22T16:13:35.609Z,1755879215.609 [DAT](INFO): DAT read: Bearing 252.2,  43.4 (Local)

2025-08-22T16:13:35.609Z,1755879215.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.2,  43.4 (Local)

2025-08-22T16:13:35.611Z,1755879215.611 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:35.616Z,1755879215.616 [DAT](INFO): DAT read: 16:13:36.2340 LVL= 21360,  8817, 25762, 23155, AGC= 42, IDX= 512,-0.29, 2.412, 1.360, 0.792, 2.973, PHS=-0.459,-1.568,-2.226, RAW=  68.4,  44.2, CAL=  64.6,  50.1, ROT=  85.4, -50.1

2025-08-22T16:13:35.617Z,1755879215.617 [DAT](INFO): got valid direction response:
 16:13:36.2340 LVL= 21360,  8817, 25762, 23155, AGC= 42, IDX= 512,-0.29, 2.412, 1.360, 0.792, 2.973, PHS=-0.459,-1.568,-2.226, RAW=  68.4,  44.2, CAL=  64.6,  50.1, ROT=  85.4, -50.1

2025-08-22T16:13:35.617Z,1755879215.617 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T16:13:35.618Z,1755879215.618 [DAT](INFO): direction in FSK: [0.051444,0.639383,0.767165]
2025-08-22T16:13:35.618Z,1755879215.618 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:35.624Z,1755879215.624 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.708435
2025-08-22T16:13:35.826Z,1755879215.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500481 s,
      deltaX: -0.100000 m,
      approachRate: -0.199808 m/s,
      rangeRepo size: 4

2025-08-22T16:13:35.828Z,1755879215.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987738 m,
      bearing: 92.899869 deg,
      lat: 36.779426 deg,
      lon: -121.859654 deg,
      deltaT: 1.007591 s,
      deltaX: -0.000005 m,
      approachRate: -0.000005 m/s,
      posRepo size: 4

2025-08-22T16:13:35.859Z,1755879215.859 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.942623
2025-08-22T16:13:36.111Z,1755879216.111 [DAT](INFO): DAT read: Rx Time:16:13:36.7342 

2025-08-22T16:13:36.112Z,1755879216.112 [DAT](INFO): Rx dataTimestamp_ set to:1755879216.111292
2025-08-22T16:13:36.113Z,1755879216.113 [DAT](INFO): DAT read: Bearing 243.4,  41.4 (Local)

2025-08-22T16:13:36.113Z,1755879216.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.4,  41.4 (Local)

2025-08-22T16:13:36.115Z,1755879216.115 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:36.120Z,1755879216.120 [DAT](INFO): DAT read: 16:13:36.7342 LVL= 21536,  8865, 25362, 23315, AGC= 42, IDX= 513,-0.15,-2.676, 2.357, 2.082,-2.166, PHS=-0.408,-1.715,-2.079, RAW=  78.1,  44.3, CAL=  74.9,  50.9, ROT=  75.1, -50.9

2025-08-22T16:13:36.121Z,1755879216.121 [DAT](INFO): got valid direction response:
 16:13:36.7342 LVL= 21536,  8865, 25362, 23315, AGC= 42, IDX= 513,-0.15,-2.676, 2.357, 2.082,-2.166, PHS=-0.408,-1.715,-2.079, RAW=  78.1,  44.3, CAL=  74.9,  50.9, ROT=  75.1, -50.9

2025-08-22T16:13:36.121Z,1755879216.121 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T16:13:36.127Z,1755879216.127 [DAT](INFO): direction in FSK: [0.162167,0.609470,0.776046]
2025-08-22T16:13:36.127Z,1755879216.127 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:36.131Z,1755879216.131 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.214970
2025-08-22T16:13:36.329Z,1755879216.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.504057 s,
      deltaX: 0.300000 m,
      approachRate: 0.595171 m/s,
      rangeRepo size: 4

2025-08-22T16:13:36.339Z,1755879216.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285899 m,
      bearing: 81.471973 deg,
      lat: 36.779426 deg,
      lon: -121.859653 deg,
      deltaT: 0.504057 s,
      deltaX: 0.298161 m,
      approachRate: 0.591522 m/s,
      posRepo size: 4

2025-08-22T16:13:36.363Z,1755879216.363 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.446655
2025-08-22T16:13:36.616Z,1755879216.616 [DAT](INFO): DAT read: Rx Time:16:13:37.2341 

2025-08-22T16:13:36.616Z,1755879216.616 [DAT](INFO): Rx dataTimestamp_ set to:1755879216.615816
2025-08-22T16:13:36.618Z,1755879216.618 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:36.619Z,1755879216.619 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-08-22T16:13:36.620Z,1755879216.620 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.703773
2025-08-22T16:13:36.736Z,1755879216.736 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:36.739Z,1755879216.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504524 s,
      deltaX: -0.200000 m,
      approachRate: -0.396413 m/s,
      rangeRepo size: 4

2025-08-22T16:13:36.867Z,1755879216.867 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.950928
2025-08-22T16:13:37.123Z,1755879217.123 [DAT](INFO): DAT read: Rx Time:16:13:37.7341 

2025-08-22T16:13:37.124Z,1755879217.124 [DAT](INFO): Rx dataTimestamp_ set to:1755879217.123410
2025-08-22T16:13:37.132Z,1755879217.132 [DAT](INFO): DAT read: Bearing 258.7,  44.0 (Local)

2025-08-22T16:13:37.134Z,1755879217.134 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.7,  44.0 (Local)

2025-08-22T16:13:37.137Z,1755879217.137 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:37.163Z,1755879217.163 [DAT](INFO): DAT read: 16:13:37.7341 LVL= 20192, 10449, 27810, 24483, AGC= 42, IDX= 512, 0.06,-2.184,-3.017, 2.476,-1.591, PHS=-0.491,-1.381,-2.260, RAW=  60.2,  43.6, CAL=  56.6,  49.1, ROT=  93.4, -49.1

2025-08-22T16:13:37.164Z,1755879217.164 [DAT](INFO): got valid direction response:
 16:13:37.7341 LVL= 20192, 10449, 27810, 24483, AGC= 42, IDX= 512, 0.06,-2.184,-3.017, 2.476,-1.591, PHS=-0.491,-1.381,-2.260, RAW=  60.2,  43.6, CAL=  56.6,  49.1, ROT=  93.4, -49.1

2025-08-22T16:13:37.165Z,1755879217.165 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:13:37.191Z,1755879217.191 [DAT](INFO): direction in FSK: [-0.038830,0.653588,0.755853]
2025-08-22T16:13:37.191Z,1755879217.191 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:37.218Z,1755879217.218 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.301849
2025-08-22T16:13:37.292Z,1755879217.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.507594 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:37.298Z,1755879217.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087126 m,
      bearing: 100.879870 deg,
      lat: 36.779426 deg,
      lon: -121.859653 deg,
      deltaT: 1.012118 s,
      deltaX: -0.198773 m,
      approachRate: -0.196393 m/s,
      posRepo size: 4

2025-08-22T16:13:37.324Z,1755879217.324 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:13:37.371Z,1755879217.371 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.454662
2025-08-22T16:13:37.623Z,1755879217.623 [DAT](INFO): DAT read: Rx Time:16:13:38.2340 

2025-08-22T16:13:37.624Z,1755879217.624 [DAT](INFO): Rx dataTimestamp_ set to:1755879217.623599
2025-08-22T16:13:37.625Z,1755879217.625 [DAT](INFO): DAT read: Bearing 256.0,  39.0 (Local)

2025-08-22T16:13:37.626Z,1755879217.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,  39.0 (Local)

2025-08-22T16:13:37.627Z,1755879217.627 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:37.632Z,1755879217.632 [DAT](INFO): DAT read: 16:13:38.2340 LVL= 20848, 10497, 27794, 25539, AGC= 41, IDX= 511, 0.15,-2.041,-2.753, 2.940,-1.301, PHS=-0.638,-1.407,-2.086, RAW=  62.1,  49.3, CAL=  58.8,  54.2, ROT=  91.2, -54.2

2025-08-22T16:13:37.633Z,1755879217.633 [DAT](INFO): got valid direction response:
 16:13:38.2340 LVL= 20848, 10497, 27794, 25539, AGC= 41, IDX= 511, 0.15,-2.041,-2.753, 2.940,-1.301, PHS=-0.638,-1.407,-2.086, RAW=  62.1,  49.3, CAL=  58.8,  54.2, ROT=  91.2, -54.2

2025-08-22T16:13:37.637Z,1755879217.637 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:13:37.638Z,1755879217.638 [DAT](INFO): direction in FSK: [-0.012250,0.584829,0.811064]
2025-08-22T16:13:37.639Z,1755879217.639 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:37.654Z,1755879217.654 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.738239
2025-08-22T16:13:37.750Z,1755879217.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500189 s,
      deltaX: -0.100000 m,
      approachRate: -0.199924 m/s,
      rangeRepo size: 4

2025-08-22T16:13:37.752Z,1755879217.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987747 m,
      bearing: 99.144806 deg,
      lat: 36.779425 deg,
      lon: -121.859654 deg,
      deltaT: 0.500189 s,
      deltaX: -0.099379 m,
      approachRate: -0.198682 m/s,
      posRepo size: 4

2025-08-22T16:13:37.875Z,1755879217.875 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.958843
2025-08-22T16:13:38.131Z,1755879218.131 [DAT](INFO): DAT read: Rx Time:16:13:38.7341 

2025-08-22T16:13:38.133Z,1755879218.133 [DAT](INFO): Rx dataTimestamp_ set to:1755879218.131669
2025-08-22T16:13:38.136Z,1755879218.136 [DAT](INFO): DAT read: Bearing 249.2,  44.7 (Local)

2025-08-22T16:13:38.136Z,1755879218.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.2,  44.7 (Local)

2025-08-22T16:13:38.138Z,1755879218.138 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:38.147Z,1755879218.147 [DAT](INFO): DAT read: 16:13:38.7341 LVL= 21664,  8737, 26194, 24307, AGC= 41, IDX= 512, 0.27,-1.876,-2.944, 2.856,-1.439, PHS=-0.335,-1.460,-2.032, RAW=  70.6,  42.1, CAL=  66.6,  48.5, ROT=  83.4, -48.5

2025-08-22T16:13:38.148Z,1755879218.148 [DAT](INFO): got valid direction response:
 16:13:38.7341 LVL= 21664,  8737, 26194, 24307, AGC= 41, IDX= 512, 0.27,-1.876,-2.944, 2.856,-1.439, PHS=-0.335,-1.460,-2.032, RAW=  70.6,  42.1, CAL=  66.6,  48.5, ROT=  83.4, -48.5

2025-08-22T16:13:38.148Z,1755879218.148 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T16:13:38.149Z,1755879218.149 [DAT](INFO): direction in FSK: [0.076160,0.658229,0.748956]
2025-08-22T16:13:38.158Z,1755879218.158 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:38.170Z,1755879218.170 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.245197
2025-08-22T16:13:38.380Z,1755879218.380 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.463150
2025-08-22T16:13:38.556Z,1755879218.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.508070 s,
      deltaX: 0.100000 m,
      approachRate: 0.196823 m/s,
      rangeRepo size: 4

2025-08-22T16:13:38.559Z,1755879218.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087134 m,
      bearing: 90.205342 deg,
      lat: 36.779426 deg,
      lon: -121.859653 deg,
      deltaT: 0.508070 s,
      deltaX: 0.099387 m,
      approachRate: 0.195617 m/s,
      posRepo size: 4

2025-08-22T16:13:38.633Z,1755879218.633 [DAT](INFO): DAT read: Rx Time:16:13:39.2340 

2025-08-22T16:13:38.633Z,1755879218.633 [DAT](INFO): Rx dataTimestamp_ set to:1755879218.632779
2025-08-22T16:13:38.634Z,1755879218.634 [DAT](INFO): DAT read: Bearing 251.1,  36.5 (Local)

2025-08-22T16:13:38.635Z,1755879218.635 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.1,  36.5 (Local)

2025-08-22T16:13:38.637Z,1755879218.637 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:38.649Z,1755879218.649 [DAT](INFO): DAT read: 16:13:39.2340 LVL= 20448, 10161, 26866, 25635, AGC= 41, IDX= 511, 0.37,-1.196,-2.048,-2.491,-0.432, PHS=-0.662,-1.571,-2.103, RAW=  68.6,  50.5, CAL=  65.3,  55.7, ROT=  84.7, -55.7

2025-08-22T16:13:38.651Z,1755879218.651 [DAT](INFO): got valid direction response:
 16:13:39.2340 LVL= 20448, 10161, 26866, 25635, AGC= 41, IDX= 511, 0.37,-1.196,-2.048,-2.491,-0.432, PHS=-0.662,-1.571,-2.103, RAW=  68.6,  50.5, CAL=  65.3,  55.7, ROT=  84.7, -55.7

2025-08-22T16:13:38.652Z,1755879218.652 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T16:13:38.653Z,1755879218.653 [DAT](INFO): direction in FSK: [0.052053,0.561117,0.826098]
2025-08-22T16:13:38.667Z,1755879218.667 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:38.675Z,1755879218.675 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.759052
2025-08-22T16:13:38.882Z,1755879218.882 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.966442
2025-08-22T16:13:38.956Z,1755879218.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.501110 s,
      deltaX: -0.100000 m,
      approachRate: -0.199557 m/s,
      rangeRepo size: 4

2025-08-22T16:13:38.959Z,1755879218.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987747 m,
      bearing: 92.614242 deg,
      lat: 36.779426 deg,
      lon: -121.859653 deg,
      deltaT: 0.501110 s,
      deltaX: -0.099388 m,
      approachRate: -0.198335 m/s,
      posRepo size: 4

2025-08-22T16:13:39.145Z,1755879219.145 [DAT](INFO): DAT read: Rx Time:16:13:39.7341 

2025-08-22T16:13:39.183Z,1755879219.183 [DAT](INFO): Rx dataTimestamp_ set to:1755879219.173171
2025-08-22T16:13:39.198Z,1755879219.198 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:39.199Z,1755879219.199 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-22T16:13:39.201Z,1755879219.201 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.284595
2025-08-22T16:13:39.354Z,1755879219.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:39.357Z,1755879219.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.540392 s,
      deltaX: 0.100000 m,
      approachRate: 0.185051 m/s,
      rangeRepo size: 4

2025-08-22T16:13:39.387Z,1755879219.387 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=55.470554
2025-08-22T16:13:39.639Z,1755879219.639 [DAT](INFO): DAT read: Rx Time:16:13:40.2340 

2025-08-22T16:13:39.639Z,1755879219.639 [DAT](INFO): Rx dataTimestamp_ set to:1755879219.638760
2025-08-22T16:13:39.640Z,1755879219.640 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:39.641Z,1755879219.641 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-22T16:13:39.647Z,1755879219.647 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.730583
2025-08-22T16:13:39.753Z,1755879219.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.465589 s,
      deltaX: -0.100000 m,
      approachRate: -0.214782 m/s,
      rangeRepo size: 4

2025-08-22T16:13:39.891Z,1755879219.891 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.974789
2025-08-22T16:13:40.146Z,1755879220.146 [DAT](INFO): DAT read: Rx Time:16:13:40.7342 

2025-08-22T16:13:40.147Z,1755879220.147 [DAT](INFO): Rx dataTimestamp_ set to:1755879220.146269
2025-08-22T16:13:40.151Z,1755879220.151 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:40.153Z,1755879220.153 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-08-22T16:13:40.156Z,1755879220.156 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.239468
2025-08-22T16:13:40.252Z,1755879220.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.507509 s,
      deltaX: 0.300000 m,
      approachRate: 0.591122 m/s,
      rangeRepo size: 4

2025-08-22T16:13:40.398Z,1755879220.398 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=56.481384
2025-08-22T16:13:40.647Z,1755879220.647 [DAT](INFO): DAT read: Rx Time:16:13:41.2341 

2025-08-22T16:13:40.647Z,1755879220.647 [DAT](INFO): Rx dataTimestamp_ set to:1755879220.647048
2025-08-22T16:13:40.648Z,1755879220.648 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:40.649Z,1755879220.649 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-22T16:13:40.650Z,1755879220.650 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.734097
2025-08-22T16:13:40.909Z,1755879220.909 [DAT](INFO): DAT read: Rx Time:16:13:41.7341 

2025-08-22T16:13:40.911Z,1755879220.911 [DAT](INFO): Rx dataTimestamp_ set to:1755879220.910014
2025-08-22T16:13:40.912Z,1755879220.912 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:40.913Z,1755879220.913 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-08-22T16:13:40.914Z,1755879220.914 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.997684
2025-08-22T16:13:40.978Z,1755879220.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.763745 s,
      deltaX: -0.200000 m,
      approachRate: -0.261868 m/s,
      rangeRepo size: 4

2025-08-22T16:13:41.094Z,1755879221.094 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:13:41.153Z,1755879221.153 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.236603
2025-08-22T16:13:41.383Z,1755879221.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:41.406Z,1755879221.406 [DAT](INFO): DAT read: Rx Time:16:13:42.2340 

2025-08-22T16:13:41.407Z,1755879221.407 [DAT](INFO): Rx dataTimestamp_ set to:1755879221.406273
2025-08-22T16:13:41.410Z,1755879221.410 [DAT](INFO): DAT read: Bearing 239.7,  35.5 (Local)

2025-08-22T16:13:41.412Z,1755879221.412 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.7,  35.5 (Local)

2025-08-22T16:13:41.415Z,1755879221.415 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=57.497128
2025-08-22T16:13:41.657Z,1755879221.657 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:41.662Z,1755879221.662 [DAT](INFO): DAT read: 16:13:42.2340 LVL= 21584, 11457, 22834, 25459, AGC= 40, IDX= 511, 0.18,-2.080, 2.909, 2.828,-1.407, PHS=-0.572,-1.922,-2.093, RAW=  84.1,  48.3, CAL=  82.2,  54.5, ROT=  67.8, -54.5

2025-08-22T16:13:41.663Z,1755879221.663 [DAT](INFO): got valid direction response:
 16:13:42.2340 LVL= 21584, 11457, 22834, 25459, AGC= 40, IDX= 511, 0.18,-2.080, 2.909, 2.828,-1.407, PHS=-0.572,-1.922,-2.093, RAW=  84.1,  48.3, CAL=  82.2,  54.5, ROT=  67.8, -54.5

2025-08-22T16:13:41.664Z,1755879221.664 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:13:41.666Z,1755879221.666 [DAT](INFO): direction in FSK: [0.219413,0.537656,0.814116]
2025-08-22T16:13:41.666Z,1755879221.666 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:41.687Z,1755879221.687 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.770535
2025-08-22T16:13:41.824Z,1755879221.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.743933 s,
      deltaX: -0.100000 m,
      approachRate: -0.134421 m/s,
      rangeRepo size: 4

2025-08-22T16:13:41.826Z,1755879221.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.987740 m,
      bearing: 75.069277 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 3.021168 s,
      deltaX: -0.000007 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-08-22T16:13:41.911Z,1755879221.911 [DAT](INFO): DAT read: Rx Time:16:13:42.7342 

2025-08-22T16:13:41.912Z,1755879221.912 [DAT](INFO): Rx dataTimestamp_ set to:1755879221.911454
2025-08-22T16:13:41.913Z,1755879221.913 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:41.914Z,1755879221.914 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-08-22T16:13:41.915Z,1755879221.915 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.998665
2025-08-22T16:13:42.098Z,1755879222.098 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:13:42.162Z,1755879222.162 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=58.245125
2025-08-22T16:13:42.254Z,1755879222.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.257507 s,
      deltaX: 0.300000 m,
      approachRate: 1.165017 m/s,
      rangeRepo size: 4

2025-08-22T16:13:42.255Z,1755879222.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m.
2025-08-22T16:13:42.412Z,1755879222.412 [DAT](INFO): DAT read: Rx Time:16:13:43.2340 

2025-08-22T16:13:42.412Z,1755879222.412 [DAT](INFO): Rx dataTimestamp_ set to:1755879222.412219
2025-08-22T16:13:42.414Z,1755879222.414 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:42.414Z,1755879222.414 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-22T16:13:42.415Z,1755879222.415 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.499222
2025-08-22T16:13:42.606Z,1755879222.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500765 s,
      deltaX: -0.300000 m,
      approachRate: -0.599083 m/s,
      rangeRepo size: 4

2025-08-22T16:13:42.606Z,1755879222.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-08-22T16:13:42.664Z,1755879222.664 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.747921
2025-08-22T16:13:42.915Z,1755879222.915 [DAT](INFO): DAT read: Rx Time:16:13:43.7341 

2025-08-22T16:13:42.915Z,1755879222.915 [DAT](INFO): Rx dataTimestamp_ set to:1755879222.915003
2025-08-22T16:13:42.916Z,1755879222.916 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:42.917Z,1755879222.917 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-22T16:13:42.918Z,1755879222.918 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.002357
2025-08-22T16:13:43.030Z,1755879223.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.502784 s,
      deltaX: 0.100000 m,
      approachRate: 0.198892 m/s,
      rangeRepo size: 4

2025-08-22T16:13:43.171Z,1755879223.171 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=59.254757
2025-08-22T16:13:43.419Z,1755879223.419 [DAT](INFO): DAT read: Rx Time:16:13:44.2340 

2025-08-22T16:13:43.419Z,1755879223.419 [DAT](INFO): Rx dataTimestamp_ set to:1755879223.418771
2025-08-22T16:13:43.420Z,1755879223.420 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:43.421Z,1755879223.421 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-08-22T16:13:43.421Z,1755879223.421 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:13:43.422Z,1755879223.422 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:13:43.422Z,1755879223.422 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:43.504Z,1755879223.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:43.507Z,1755879223.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503768 s,
      deltaX: -0.100000 m,
      approachRate: -0.198504 m/s,
      rangeRepo size: 4

2025-08-22T16:13:43.671Z,1755879223.671 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:43.671Z,1755879223.671 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:43.672Z,1755879223.672 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:43.927Z,1755879223.927 [DAT](INFO): DAT read: Rx Time:16:13:44.7342 

2025-08-22T16:13:43.928Z,1755879223.928 [DAT](INFO): Rx dataTimestamp_ set to:1755879223.927343
2025-08-22T16:13:43.933Z,1755879223.933 [DAT](INFO): DAT read: Bearing 245.4,  36.5 (Local)

2025-08-22T16:13:43.934Z,1755879223.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  36.5 (Local)

2025-08-22T16:13:43.945Z,1755879223.945 [DAT](INFO): DAT read: Range 11 to 50 :     2.3 m (trip time 1.5 ms) speed 0.0

2025-08-22T16:13:43.971Z,1755879223.971 [DAT](INFO): DAT read: 16:13:44.7342 LVL= 17856, 10625, 18450, 21299, AGC= 45, IDX=   2,-0.06,-1.785,-2.889,-3.123,-1.097, PHS=-0.585,-1.747,-2.070, RAW=  78.1,  49.0, CAL=  75.3,  54.9, ROT=  74.7, -54.9

2025-08-22T16:13:43.972Z,1755879223.972 [DAT](INFO): got valid direction response:
 16:13:44.7342 LVL= 17856, 10625, 18450, 21299, AGC= 45, IDX=   2,-0.06,-1.785,-2.889,-3.123,-1.097, PHS=-0.585,-1.747,-2.070, RAW=  78.1,  49.0, CAL=  75.3,  54.9, ROT=  74.7, -54.9

2025-08-22T16:13:43.972Z,1755879223.972 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:13:43.973Z,1755879223.973 [DAT](INFO): direction in FSK: [0.151728,0.554626,0.818150]
2025-08-22T16:13:43.982Z,1755879223.982 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:43.985Z,1755879223.985 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:44.004Z,1755879224.004 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:44.177Z,1755879224.177 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:44.181Z,1755879224.181 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:44.183Z,1755879224.183 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:44.320Z,1755879224.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.300000 m,
      deltaT: 0.508572 s,
      deltaX: 0.300000 m,
      approachRate: 0.589887 m/s,
      rangeRepo size: 4

2025-08-22T16:13:44.342Z,1755879224.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.285914 m,
      bearing: 83.634766 deg,
      lat: 36.779426 deg,
      lon: -121.859656 deg,
      deltaT: 2.273396 s,
      deltaX: 0.298174 m,
      approachRate: 0.131158 m/s,
      posRepo size: 4

2025-08-22T16:13:44.432Z,1755879224.432 [DAT](INFO): DAT read: Rx Time:16:13:45.2341 

2025-08-22T16:13:44.434Z,1755879224.434 [DAT](INFO): Rx dataTimestamp_ set to:1755879224.432427
2025-08-22T16:13:44.438Z,1755879224.438 [DAT](INFO): DAT read: Bearing 243.7,  36.2 (Local)

2025-08-22T16:13:44.439Z,1755879224.439 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.7,  36.2 (Local)

2025-08-22T16:13:44.450Z,1755879224.450 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:44.465Z,1755879224.465 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:13:44.466Z,1755879224.466 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:44.467Z,1755879224.467 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:44.684Z,1755879224.684 [DAT](INFO): DAT read: 16:13:45.2341 LVL= 24160, 10369, 25410, 27123, AGC= 42, IDX= 497, 0.04,-1.352,-2.525,-2.703,-0.670, PHS=-0.580,-1.811,-2.077, RAW=  80.4,  48.8, CAL=  78.0,  54.9, ROT=  72.0, -54.9

2025-08-22T16:13:44.700Z,1755879224.700 [DAT](INFO): got valid direction response:
 16:13:45.2341 LVL= 24160, 10369, 25410, 27123, AGC= 42, IDX= 497, 0.04,-1.352,-2.525,-2.703,-0.670, PHS=-0.580,-1.811,-2.077, RAW=  80.4,  48.8, CAL=  78.0,  54.9, ROT=  72.0, -54.9

2025-08-22T16:13:44.705Z,1755879224.705 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-22T16:13:44.710Z,1755879224.710 [DAT](INFO): direction in FSK: [0.177686,0.546862,0.818150]
2025-08-22T16:13:44.714Z,1755879224.714 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:44.714Z,1755879224.714 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:44.714Z,1755879224.714 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:44.826Z,1755879224.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.505084 s,
      deltaX: -0.200000 m,
      approachRate: -0.395974 m/s,
      rangeRepo size: 4

2025-08-22T16:13:44.828Z,1755879224.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.087142 m,
      bearing: 80.679368 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.505084 s,
      deltaX: -0.198772 m,
      approachRate: -0.393542 m/s,
      posRepo size: 4

2025-08-22T16:13:44.931Z,1755879224.931 [DAT](INFO): DAT read: Rx Time:16:13:45.7341 

2025-08-22T16:13:44.932Z,1755879224.932 [DAT](INFO): Rx dataTimestamp_ set to:1755879224.931541
2025-08-22T16:13:44.934Z,1755879224.934 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:44.935Z,1755879224.935 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:13:44.936Z,1755879224.936 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:44.936Z,1755879224.936 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:45.183Z,1755879225.183 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:45.183Z,1755879225.183 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:45.184Z,1755879225.184 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:45.266Z,1755879225.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.499114 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:45.435Z,1755879225.435 [DAT](INFO): DAT read: Rx Time:16:13:46.2340 

2025-08-22T16:13:45.435Z,1755879225.435 [DAT](INFO): Rx dataTimestamp_ set to:1755879225.434915
2025-08-22T16:13:45.436Z,1755879225.436 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:13:45.437Z,1755879225.437 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:13:45.438Z,1755879225.438 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:45.438Z,1755879225.438 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:45.629Z,1755879225.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:45.631Z,1755879225.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.503374 s,
      deltaX: -0.100000 m,
      approachRate: -0.198659 m/s,
      rangeRepo size: 4

2025-08-22T16:13:45.687Z,1755879225.687 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:45.687Z,1755879225.687 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:45.688Z,1755879225.688 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:45.939Z,1755879225.939 [DAT](INFO): DAT read: Rx Time:16:13:46.7341 

2025-08-22T16:13:45.939Z,1755879225.939 [DAT](INFO): Rx dataTimestamp_ set to:1755879225.939093
2025-08-22T16:13:45.940Z,1755879225.940 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.0

2025-08-22T16:13:45.941Z,1755879225.941 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:13:45.942Z,1755879225.942 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:45.942Z,1755879225.942 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:46.080Z,1755879226.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504178 s,
      deltaX: 0.100000 m,
      approachRate: 0.198342 m/s,
      rangeRepo size: 4

2025-08-22T16:13:46.192Z,1755879226.192 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:46.193Z,1755879226.193 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:46.195Z,1755879226.195 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:46.442Z,1755879226.442 [DAT](INFO): DAT read: user:100>

2025-08-22T16:13:46.443Z,1755879226.443 [DAT](INFO): Reached modem response timeout
2025-08-22T16:13:46.443Z,1755879226.443 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:13:46.443Z,1755879226.443 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:13:46.694Z,1755879226.694 [DAT](INFO): DAT read: 50

2025-08-22T16:13:46.695Z,1755879226.695 [DAT](INFO): unknown deviceResponse_: 50

2025-08-22T16:13:46.695Z,1755879226.695 [DAT](INFO): DAT read: Ok

2025-08-22T16:13:46.695Z,1755879226.695 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-22T16:13:46.696Z,1755879226.696 [DAT](INFO): DAT read: user:101>

2025-08-22T16:13:46.696Z,1755879226.696 [DAT](INFO): DAT read: Tx time:16:13:47.7514

2025-08-22T16:13:46.697Z,1755879226.697 [DAT](INFO): Ping request sent.
2025-08-22T16:13:46.697Z,1755879226.697 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:13:46.697Z,1755879226.697 [DAT](INFO): publishing transmit ping time
2025-08-22T16:13:46.697Z,1755879226.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722
2025-08-22T16:13:46.947Z,1755879226.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250289
2025-08-22T16:13:47.199Z,1755879227.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502181
2025-08-22T16:13:47.451Z,1755879227.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754115
2025-08-22T16:13:47.701Z,1755879227.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:47.703Z,1755879227.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006028
2025-08-22T16:13:47.826Z,1755879227.826 [DockingStepper](FAULT): Timed out moving from: 7283 to: 14700 response: ÿ
2025-08-22T16:13:47.826Z,1755879227.826 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-22T16:13:47.826Z,1755879227.826 [DockingStepper](ERROR): Hardware Fault
2025-08-22T16:13:47.955Z,1755879227.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257873
2025-08-22T16:13:47.965Z,1755879227.965 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-22T16:13:48.060Z,1755879228.060 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:13:48.060Z,1755879228.060 [DockingStepper](INFO): Powering down
2025-08-22T16:13:48.209Z,1755879228.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511964
2025-08-22T16:13:48.459Z,1755879228.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761950
2025-08-22T16:13:48.711Z,1755879228.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013901
2025-08-22T16:13:48.962Z,1755879228.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265780
2025-08-22T16:13:49.215Z,1755879229.215 [DAT](INFO): DAT read: Rx Time:16:13:49.8831 

2025-08-22T16:13:49.215Z,1755879229.215 [DAT](INFO): Rx dataTimestamp_ set to:1755879229.214864
2025-08-22T16:13:49.216Z,1755879229.216 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:13:49.217Z,1755879229.217 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:13:49.218Z,1755879229.218 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.521178
2025-08-22T16:13:49.358Z,1755879229.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 3.275771 s,
      deltaX: -0.300000 m,
      approachRate: -0.091581 m/s,
      rangeRepo size: 4

2025-08-22T16:13:49.467Z,1755879229.467 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769886
2025-08-22T16:13:49.719Z,1755879229.719 [DAT](INFO): DAT read: Rx Time:16:13:50.3829 

2025-08-22T16:13:49.720Z,1755879229.720 [DAT](INFO): Rx dataTimestamp_ set to:1755879229.719306
2025-08-22T16:13:49.721Z,1755879229.721 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:49.722Z,1755879229.722 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T16:13:49.722Z,1755879229.722 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.025819
2025-08-22T16:13:49.970Z,1755879229.970 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273810
2025-08-22T16:13:50.087Z,1755879230.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:50.090Z,1755879230.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504442 s,
      deltaX: -0.300000 m,
      approachRate: -0.594716 m/s,
      rangeRepo size: 4

2025-08-22T16:13:50.223Z,1755879230.223 [DAT](INFO): DAT read: Rx Time:16:13:50.8830 

2025-08-22T16:13:50.223Z,1755879230.223 [DAT](INFO): Rx dataTimestamp_ set to:1755879230.222779
2025-08-22T16:13:50.224Z,1755879230.224 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:50.225Z,1755879230.225 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T16:13:50.226Z,1755879230.226 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.529110
2025-08-22T16:13:50.475Z,1755879230.475 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777944
2025-08-22T16:13:50.500Z,1755879230.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503473 s,
      deltaX: 0.200000 m,
      approachRate: 0.397241 m/s,
      rangeRepo size: 4

2025-08-22T16:13:50.728Z,1755879230.728 [DAT](INFO): DAT read: Rx Time:16:13:51.3829 

2025-08-22T16:13:50.728Z,1755879230.728 [DAT](INFO): Rx dataTimestamp_ set to:1755879230.727807
2025-08-22T16:13:50.730Z,1755879230.730 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:50.730Z,1755879230.730 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T16:13:50.731Z,1755879230.731 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.034477
2025-08-22T16:13:50.882Z,1755879230.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.505028 s,
      deltaX: -0.200000 m,
      approachRate: -0.396018 m/s,
      rangeRepo size: 4

2025-08-22T16:13:50.978Z,1755879230.978 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281822
2025-08-22T16:13:51.243Z,1755879231.243 [DAT](INFO): DAT read: Rx Time:16:13:51.8831 

2025-08-22T16:13:51.243Z,1755879231.243 [DAT](INFO): Rx dataTimestamp_ set to:1755879231.243107
2025-08-22T16:13:51.244Z,1755879231.244 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:13:51.245Z,1755879231.245 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T16:13:51.250Z,1755879231.250 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.553521
2025-08-22T16:13:51.385Z,1755879231.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.515300 s,
      deltaX: 0.300000 m,
      approachRate: 0.582185 m/s,
      rangeRepo size: 4

2025-08-22T16:13:51.495Z,1755879231.495 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.797852
2025-08-22T16:13:51.747Z,1755879231.747 [DAT](INFO): DAT read: Rx Time:16:13:52.3830 

2025-08-22T16:13:51.747Z,1755879231.747 [DAT](INFO): Rx dataTimestamp_ set to:1755879231.746927
2025-08-22T16:13:51.748Z,1755879231.748 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:51.749Z,1755879231.749 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-22T16:13:51.750Z,1755879231.750 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.053244
2025-08-22T16:13:52.000Z,1755879232.000 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.303746
2025-08-22T16:13:52.124Z,1755879232.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:52.127Z,1755879232.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503820 s,
      deltaX: -0.100000 m,
      approachRate: -0.198483 m/s,
      rangeRepo size: 4

2025-08-22T16:13:52.251Z,1755879232.251 [DAT](INFO): DAT read: Rx Time:16:13:52.8830 

2025-08-22T16:13:52.252Z,1755879232.252 [DAT](INFO): Rx dataTimestamp_ set to:1755879232.251296
2025-08-22T16:13:52.253Z,1755879232.253 [DAT](INFO): DAT read: Bearing 238.7,  35.8 (Local)

2025-08-22T16:13:52.253Z,1755879232.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.7,  35.8 (Local)

2025-08-22T16:13:52.255Z,1755879232.255 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:52.260Z,1755879232.260 [DAT](INFO): DAT read: 16:13:52.8830 LVL= 24352, 12625, 25810, 27363, AGC= 40, IDX= 501, 0.18, 1.442,-0.011, 0.055, 2.075, PHS=-0.531,-2.040,-2.064, RAW=  89.2,  47.1, CAL=  87.9,  53.3, ROT=  62.1, -53.3

2025-08-22T16:13:52.261Z,1755879232.261 [DAT](INFO): got valid direction response:
 16:13:52.8830 LVL= 24352, 12625, 25810, 27363, AGC= 40, IDX= 501, 0.18, 1.442,-0.011, 0.055, 2.075, PHS=-0.531,-2.040,-2.064, RAW=  89.2,  47.1, CAL=  87.9,  53.3, ROT=  62.1, -53.3

2025-08-22T16:13:52.261Z,1755879232.261 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T16:13:52.262Z,1755879232.262 [DAT](INFO): direction in FSK: [0.279647,0.528161,0.801776]
2025-08-22T16:13:52.262Z,1755879232.262 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:52.271Z,1755879232.271 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.574701
2025-08-22T16:13:52.507Z,1755879232.507 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.810418
2025-08-22T16:13:52.537Z,1755879232.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504369 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:52.543Z,1755879232.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689597 m,
      bearing: 71.981474 deg,
      lat: 36.779428 deg,
      lon: -121.859656 deg,
      deltaT: 7.818869 s,
      deltaX: -0.397545 m,
      approachRate: -0.050844 m/s,
      posRepo size: 4

2025-08-22T16:13:52.759Z,1755879232.759 [DAT](INFO): DAT read: Rx Time:16:13:53.3829 

2025-08-22T16:13:52.759Z,1755879232.759 [DAT](INFO): Rx dataTimestamp_ set to:1755879232.758768
2025-08-22T16:13:52.760Z,1755879232.760 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:52.761Z,1755879232.761 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-22T16:13:52.762Z,1755879232.762 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.065048
2025-08-22T16:13:52.899Z,1755879232.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.507472 s,
      deltaX: -0.200000 m,
      approachRate: -0.394111 m/s,
      rangeRepo size: 4

2025-08-22T16:13:53.011Z,1755879233.011 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.313894
2025-08-22T16:13:53.263Z,1755879233.263 [DAT](INFO): DAT read: Rx Time:16:13:53.8830 

2025-08-22T16:13:53.264Z,1755879233.264 [DAT](INFO): Rx dataTimestamp_ set to:1755879233.263241
2025-08-22T16:13:53.265Z,1755879233.265 [DAT](INFO): DAT read: Bearing 241.3,  35.9 (Local)

2025-08-22T16:13:53.265Z,1755879233.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.3,  35.9 (Local)

2025-08-22T16:13:53.273Z,1755879233.273 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:53.299Z,1755879233.299 [DAT](INFO): DAT read: 16:13:53.8830 LVL= 23888, 12241, 25586, 27075, AGC= 41, IDX= 502,-0.50,-0.425,-1.757,-1.783, 0.230, PHS=-0.553,-1.942,-2.058, RAW=  86.0,  48.0, CAL=  84.3,  54.2, ROT=  65.7, -54.2

2025-08-22T16:13:53.300Z,1755879233.300 [DAT](INFO): got valid direction response:
 16:13:53.8830 LVL= 23888, 12241, 25586, 27075, AGC= 41, IDX= 502,-0.50,-0.425,-1.757,-1.783, 0.230, PHS=-0.553,-1.942,-2.058, RAW=  86.0,  48.0, CAL=  84.3,  54.2, ROT=  65.7, -54.2

2025-08-22T16:13:53.300Z,1755879233.300 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:13:53.301Z,1755879233.301 [DAT](INFO): direction in FSK: [0.240718,0.533132,0.811064]
2025-08-22T16:13:53.301Z,1755879233.301 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:53.315Z,1755879233.315 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.618408
2025-08-22T16:13:53.407Z,1755879233.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504473 s,
      deltaX: 0.200000 m,
      approachRate: 0.396453 m/s,
      rangeRepo size: 4

2025-08-22T16:13:53.413Z,1755879233.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689596 m,
      bearing: 75.832175 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 1.011945 s,
      deltaX: -0.000002 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-08-22T16:13:53.515Z,1755879233.515 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.818329
2025-08-22T16:13:53.767Z,1755879233.767 [DAT](INFO): DAT read: Rx Time:16:13:54.3829 

2025-08-22T16:13:53.768Z,1755879233.768 [DAT](INFO): Rx dataTimestamp_ set to:1755879233.767379
2025-08-22T16:13:53.769Z,1755879233.769 [DAT](INFO): DAT read: Bearing 243.2,  36.2 (Local)

2025-08-22T16:13:53.770Z,1755879233.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.2,  36.2 (Local)

2025-08-22T16:13:53.772Z,1755879233.772 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:53.778Z,1755879233.778 [DAT](INFO): DAT read: 16:13:54.3829 LVL= 24032, 12145, 25426, 27027, AGC= 40, IDX= 501,-0.30,-2.144, 2.890, 2.792,-1.482, PHS=-0.560,-1.866,-2.053, RAW=  83.4,  48.3, CAL=  81.4,  54.6, ROT=  68.6, -54.6

2025-08-22T16:13:53.780Z,1755879233.780 [DAT](INFO): got valid direction response:
 16:13:54.3829 LVL= 24032, 12145, 25426, 27027, AGC= 40, IDX= 501,-0.30,-2.144, 2.890, 2.792,-1.482, PHS=-0.560,-1.866,-2.053, RAW=  83.4,  48.3, CAL=  81.4,  54.6, ROT=  68.6, -54.6

2025-08-22T16:13:53.780Z,1755879233.780 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:13:53.782Z,1755879233.782 [DAT](INFO): direction in FSK: [0.211366,0.539343,0.815128]
2025-08-22T16:13:53.783Z,1755879233.783 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:53.786Z,1755879233.786 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089627
2025-08-22T16:13:54.019Z,1755879234.019 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.321978
2025-08-22T16:13:54.145Z,1755879234.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504138 s,
      deltaX: -0.200000 m,
      approachRate: -0.396717 m/s,
      rangeRepo size: 4

2025-08-22T16:13:54.160Z,1755879234.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490819 m,
      bearing: 78.787974 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504138 s,
      deltaX: -0.198776 m,
      approachRate: -0.394290 m/s,
      posRepo size: 4

2025-08-22T16:13:54.271Z,1755879234.271 [DAT](INFO): DAT read: Rx Time:16:13:54.8830 

2025-08-22T16:13:54.272Z,1755879234.272 [DAT](INFO): Rx dataTimestamp_ set to:1755879234.271412
2025-08-22T16:13:54.273Z,1755879234.273 [DAT](INFO): DAT read: Bearing 239.5,  35.4 (Local)

2025-08-22T16:13:54.273Z,1755879234.273 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.5,  35.4 (Local)

2025-08-22T16:13:54.275Z,1755879234.275 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:54.280Z,1755879234.280 [DAT](INFO): DAT read: 16:13:54.8830 LVL= 21488, 12353, 23154, 24227, AGC= 41, IDX= 502,-0.17,-0.847,-2.241,-2.212,-0.190, PHS=-0.554,-2.005,-2.065, RAW=  88.0,  47.8, CAL=  86.5,  54.0, ROT=  63.5, -54.0

2025-08-22T16:13:54.281Z,1755879234.281 [DAT](INFO): got valid direction response:
 16:13:54.8830 LVL= 21488, 12353, 23154, 24227, AGC= 41, IDX= 502,-0.17,-0.847,-2.241,-2.212,-0.190, PHS=-0.554,-2.005,-2.065, RAW=  88.0,  47.8, CAL=  86.5,  54.0, ROT=  63.5, -54.0

2025-08-22T16:13:54.281Z,1755879234.281 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:13:54.282Z,1755879234.282 [DAT](INFO): direction in FSK: [0.262268,0.526029,0.809017]
2025-08-22T16:13:54.283Z,1755879234.283 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:54.286Z,1755879234.286 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.589730
2025-08-22T16:13:54.523Z,1755879234.523 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.825987
2025-08-22T16:13:54.584Z,1755879234.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504033 s,
      deltaX: 0.200000 m,
      approachRate: 0.396800 m/s,
      rangeRepo size: 4

2025-08-22T16:13:54.605Z,1755879234.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689595 m,
      bearing: 72.883905 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504033 s,
      deltaX: 0.198776 m,
      approachRate: 0.394371 m/s,
      posRepo size: 4

2025-08-22T16:13:54.775Z,1755879234.775 [DAT](INFO): DAT read: Rx Time:16:13:55.3830 

2025-08-22T16:13:54.776Z,1755879234.776 [DAT](INFO): Rx dataTimestamp_ set to:1755879234.775301
2025-08-22T16:13:54.777Z,1755879234.777 [DAT](INFO): DAT read: Bearing 244.3,  36.2 (Local)

2025-08-22T16:13:54.777Z,1755879234.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.3,  36.2 (Local)

2025-08-22T16:13:54.779Z,1755879234.779 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:54.784Z,1755879234.784 [DAT](INFO): DAT read: 16:13:55.3830 LVL= 23664, 10881, 25842, 27059, AGC= 42, IDX= 501,-0.07,-1.221,-2.425,-2.570,-0.554, PHS=-0.566,-1.827,-2.061, RAW=  81.6,  48.5, CAL=  79.4,  54.7, ROT=  70.6, -54.7

2025-08-22T16:13:54.785Z,1755879234.785 [DAT](INFO): got valid direction response:
 16:13:55.3830 LVL= 23664, 10881, 25842, 27059, AGC= 42, IDX= 501,-0.07,-1.221,-2.425,-2.570,-0.554, PHS=-0.566,-1.827,-2.061, RAW=  81.6,  48.5, CAL=  79.4,  54.7, ROT=  70.6, -54.7

2025-08-22T16:13:54.785Z,1755879234.785 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:13:54.786Z,1755879234.786 [DAT](INFO): direction in FSK: [0.191942,0.545048,0.816138]
2025-08-22T16:13:54.786Z,1755879234.786 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:54.794Z,1755879234.794 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.096117
2025-08-22T16:13:54.945Z,1755879234.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503889 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:54.955Z,1755879234.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689594 m,
      bearing: 80.702087 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503889 s,
      deltaX: -0.000001 m,
      approachRate: -0.000002 m/s,
      posRepo size: 4

2025-08-22T16:13:55.027Z,1755879235.027 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.330017
2025-08-22T16:13:55.279Z,1755879235.279 [DAT](INFO): DAT read: Rx Time:16:13:55.8831 

2025-08-22T16:13:55.280Z,1755879235.280 [DAT](INFO): Rx dataTimestamp_ set to:1755879235.279258
2025-08-22T16:13:55.281Z,1755879235.281 [DAT](INFO): DAT read: Bearing 242.9,  36.0 (Local)

2025-08-22T16:13:55.281Z,1755879235.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.9,  36.0 (Local)

2025-08-22T16:13:55.283Z,1755879235.283 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:13:55.287Z,1755879235.287 [DAT](INFO): DAT read: 16:13:55.8831 LVL= 23440, 11217, 25842, 26963, AGC= 42, IDX= 502, 0.03, 0.760,-0.498,-0.604, 1.426, PHS=-0.564,-1.878,-2.073, RAW=  83.2,  48.3, CAL=  81.2,  54.5, ROT=  68.8, -54.5

2025-08-22T16:13:55.288Z,1755879235.288 [DAT](INFO): got valid direction response:
 16:13:55.8831 LVL= 23440, 11217, 25842, 26963, AGC= 42, IDX= 502, 0.03, 0.760,-0.498,-0.604, 1.426, PHS=-0.564,-1.878,-2.073, RAW=  83.2,  48.3, CAL=  81.2,  54.5, ROT=  68.8, -54.5

2025-08-22T16:13:55.289Z,1755879235.289 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T16:13:55.290Z,1755879235.290 [DAT](INFO): direction in FSK: [0.209996,0.541403,0.814116]
2025-08-22T16:13:55.290Z,1755879235.290 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:55.294Z,1755879235.294 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.597027
2025-08-22T16:13:55.436Z,1755879235.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503957 s,
      deltaX: 0.100000 m,
      approachRate: 0.198429 m/s,
      rangeRepo size: 4

2025-08-22T16:13:55.442Z,1755879235.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788982 m,
      bearing: 78.683603 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503957 s,
      deltaX: 0.099388 m,
      approachRate: 0.197215 m/s,
      posRepo size: 4

2025-08-22T16:13:55.531Z,1755879235.531 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.833971
2025-08-22T16:13:55.770Z,1755879235.770 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:55.784Z,1755879235.784 [DAT](INFO): DAT read: Rx Time:16:13:56.3830 

2025-08-22T16:13:55.784Z,1755879235.784 [DAT](INFO): Rx dataTimestamp_ set to:1755879235.783712
2025-08-22T16:13:55.785Z,1755879235.785 [DAT](INFO): DAT read: Bearing 242.6,  36.0 (Local)

2025-08-22T16:13:55.786Z,1755879235.786 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.6,  36.0 (Local)

2025-08-22T16:13:55.788Z,1755879235.788 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:55.792Z,1755879235.792 [DAT](INFO): DAT read: 16:13:56.3830 LVL= 23472, 11313, 25810, 26899, AGC= 42, IDX= 501, 0.14,-0.229,-1.493,-1.592, 0.433, PHS=-0.560,-1.881,-2.069, RAW=  83.4,  48.2, CAL=  81.4,  54.5, ROT=  68.6, -54.5

2025-08-22T16:13:55.793Z,1755879235.793 [DAT](INFO): got valid direction response:
 16:13:56.3830 LVL= 23472, 11313, 25810, 26899, AGC= 42, IDX= 501, 0.14,-0.229,-1.493,-1.592, 0.433, PHS=-0.560,-1.881,-2.069, RAW=  83.4,  48.2, CAL=  81.4,  54.5, ROT=  68.6, -54.5

2025-08-22T16:13:55.810Z,1755879235.810 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:13:55.811Z,1755879235.811 [DAT](INFO): direction in FSK: [0.211885,0.540667,0.814116]
2025-08-22T16:13:55.811Z,1755879235.811 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:55.819Z,1755879235.819 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.121920
2025-08-22T16:13:56.035Z,1755879236.035 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.337901
2025-08-22T16:13:56.158Z,1755879236.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504454 s,
      deltaX: -0.100000 m,
      approachRate: -0.198234 m/s,
      rangeRepo size: 4

2025-08-22T16:13:56.162Z,1755879236.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689599 m,
      bearing: 78.259914 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504454 s,
      deltaX: -0.099383 m,
      approachRate: -0.197011 m/s,
      posRepo size: 4

2025-08-22T16:13:56.287Z,1755879236.287 [DAT](INFO): DAT read: Rx Time:16:13:56.8830 

2025-08-22T16:13:56.288Z,1755879236.288 [DAT](INFO): Rx dataTimestamp_ set to:1755879236.287229
2025-08-22T16:13:56.289Z,1755879236.289 [DAT](INFO): DAT read: Bearing 242.3,  36.0 (Local)

2025-08-22T16:13:56.289Z,1755879236.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.3,  36.0 (Local)

2025-08-22T16:13:56.291Z,1755879236.291 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:56.296Z,1755879236.296 [DAT](INFO): DAT read: 16:13:56.8830 LVL= 23584, 11121, 25794, 27059, AGC= 42, IDX= 501, 0.27,-0.071,-1.346,-1.436, 0.588, PHS=-0.557,-1.889,-2.068, RAW=  83.8,  48.1, CAL=  81.8,  54.4, ROT=  68.2, -54.4

2025-08-22T16:13:56.297Z,1755879236.297 [DAT](INFO): got valid direction response:
 16:13:56.8830 LVL= 23584, 11121, 25794, 27059, AGC= 42, IDX= 501, 0.27,-0.071,-1.346,-1.436, 0.588, PHS=-0.557,-1.889,-2.068, RAW=  83.8,  48.1, CAL=  81.8,  54.4, ROT=  68.2, -54.4

2025-08-22T16:13:56.297Z,1755879236.297 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:13:56.298Z,1755879236.298 [DAT](INFO): direction in FSK: [0.216182,0.540493,0.813101]
2025-08-22T16:13:56.298Z,1755879236.298 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:56.302Z,1755879236.302 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.605350
2025-08-22T16:13:56.538Z,1755879236.538 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.841672
2025-08-22T16:13:56.628Z,1755879236.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503517 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:56.630Z,1755879236.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689599 m,
      bearing: 77.803946 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503517 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:56.791Z,1755879236.791 [DAT](INFO): DAT read: Rx Time:16:13:57.3829 

2025-08-22T16:13:56.792Z,1755879236.792 [DAT](INFO): Rx dataTimestamp_ set to:1755879236.791290
2025-08-22T16:13:56.793Z,1755879236.793 [DAT](INFO): DAT read: Bearing 238.7,  35.5 (Local)

2025-08-22T16:13:56.793Z,1755879236.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.7,  35.5 (Local)

2025-08-22T16:13:56.795Z,1755879236.795 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:56.810Z,1755879236.810 [DAT](INFO): DAT read: 16:13:57.3829 LVL= 21296, 12385, 22898, 24147, AGC= 41, IDX= 500, 0.45,-1.798, 3.069, 3.104,-1.154, PHS=-0.542,-2.015,-2.068, RAW=  88.2,  47.5, CAL=  86.8,  53.6, ROT=  63.2, -53.6

2025-08-22T16:13:56.812Z,1755879236.812 [DAT](INFO): got valid direction response:
 16:13:57.3829 LVL= 21296, 12385, 22898, 24147, AGC= 41, IDX= 500, 0.45,-1.798, 3.069, 3.104,-1.154, PHS=-0.542,-2.015,-2.068, RAW=  88.2,  47.5, CAL=  86.8,  53.6, ROT=  63.2, -53.6

2025-08-22T16:13:56.812Z,1755879236.812 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:13:56.813Z,1755879236.813 [DAT](INFO): direction in FSK: [0.267559,0.529677,0.804894]
2025-08-22T16:13:56.813Z,1755879236.813 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:56.817Z,1755879236.817 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.120268
2025-08-22T16:13:56.955Z,1755879236.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504061 s,
      deltaX: -0.200000 m,
      approachRate: -0.396777 m/s,
      rangeRepo size: 4

2025-08-22T16:13:56.957Z,1755879236.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490830 m,
      bearing: 72.369857 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504061 s,
      deltaX: -0.198769 m,
      approachRate: -0.394335 m/s,
      posRepo size: 4

2025-08-22T16:13:57.043Z,1755879237.043 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.345984
2025-08-22T16:13:57.295Z,1755879237.295 [DAT](INFO): DAT read: Rx Time:16:13:57.8830 

2025-08-22T16:13:57.296Z,1755879237.296 [DAT](INFO): Rx dataTimestamp_ set to:1755879237.295311
2025-08-22T16:13:57.297Z,1755879237.297 [DAT](INFO): DAT read: Bearing 238.3,  35.3 (Local)

2025-08-22T16:13:57.297Z,1755879237.297 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.3,  35.3 (Local)

2025-08-22T16:13:57.299Z,1755879237.299 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:57.304Z,1755879237.304 [DAT](INFO): DAT read: 16:13:57.8830 LVL= 21440, 12337, 22898, 24451, AGC= 41, IDX= 502,-0.33,-1.858, 2.999, 3.055,-1.213, PHS=-0.543,-2.027,-2.059, RAW=  88.9,  47.5, CAL=  87.6,  53.6, ROT=  62.4, -53.6

2025-08-22T16:13:57.305Z,1755879237.305 [DAT](INFO): got valid direction response:
 16:13:57.8830 LVL= 21440, 12337, 22898, 24451, AGC= 41, IDX= 502,-0.33,-1.858, 2.999, 3.055,-1.213, PHS=-0.543,-2.027,-2.059, RAW=  88.9,  47.5, CAL=  87.6,  53.6, ROT=  62.4, -53.6

2025-08-22T16:13:57.305Z,1755879237.305 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:13:57.306Z,1755879237.306 [DAT](INFO): direction in FSK: [0.274929,0.525890,0.804894]
2025-08-22T16:13:57.306Z,1755879237.306 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:57.310Z,1755879237.310 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.613303
2025-08-22T16:13:57.377Z,1755879237.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504021 s,
      deltaX: 0.200000 m,
      approachRate: 0.396809 m/s,
      rangeRepo size: 4

2025-08-22T16:13:57.419Z,1755879237.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689607 m,
      bearing: 71.638014 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504021 s,
      deltaX: 0.198777 m,
      approachRate: 0.394383 m/s,
      posRepo size: 4

2025-08-22T16:13:57.547Z,1755879237.547 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.850173
2025-08-22T16:13:57.773Z,1755879237.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:13:57.799Z,1755879237.799 [DAT](INFO): DAT read: Rx Time:16:13:58.3829 

2025-08-22T16:13:57.800Z,1755879237.800 [DAT](INFO): Rx dataTimestamp_ set to:1755879237.799355
2025-08-22T16:13:57.801Z,1755879237.801 [DAT](INFO): DAT read: Bearing 237.9,  35.3 (Local)

2025-08-22T16:13:57.801Z,1755879237.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.9,  35.3 (Local)

2025-08-22T16:13:57.803Z,1755879237.803 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:13:57.808Z,1755879237.808 [DAT](INFO): DAT read: 16:13:58.3829 LVL= 21680, 12497, 22770, 24387, AGC= 41, IDX= 501,-0.20,-2.919, 1.915, 1.990,-2.278, PHS=-0.539,-2.045,-2.059, RAW=  89.5,  47.3, CAL=  88.3,  53.5, ROT=  61.7, -53.5

2025-08-22T16:13:57.809Z,1755879237.809 [DAT](INFO): got valid direction response:
 16:13:58.3829 LVL= 21680, 12497, 22770, 24387, AGC= 41, IDX= 501,-0.20,-2.919, 1.915, 1.990,-2.278, PHS=-0.539,-2.045,-2.059, RAW=  89.5,  47.3, CAL=  88.3,  53.5, ROT=  61.7, -53.5

2025-08-22T16:13:57.809Z,1755879237.809 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:13:57.810Z,1755879237.810 [DAT](INFO): direction in FSK: [0.281998,0.523728,0.803857]
2025-08-22T16:13:57.810Z,1755879237.810 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:57.818Z,1755879237.818 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.121359
2025-08-22T16:13:58.054Z,1755879238.054 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.357017
2025-08-22T16:13:58.208Z,1755879238.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504044 s,
      deltaX: -0.200000 m,
      approachRate: -0.396791 m/s,
      rangeRepo size: 4

2025-08-22T16:13:58.214Z,1755879238.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490832 m,
      bearing: 71.199195 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504044 s,
      deltaX: -0.198775 m,
      approachRate: -0.394360 m/s,
      posRepo size: 4

2025-08-22T16:13:58.303Z,1755879238.303 [DAT](INFO): DAT read: Rx Time:16:13:58.8831 

2025-08-22T16:13:58.304Z,1755879238.304 [DAT](INFO): Rx dataTimestamp_ set to:1755879238.303292
2025-08-22T16:13:58.305Z,1755879238.305 [DAT](INFO): DAT read: Bearing 237.7,  35.2 (Local)

2025-08-22T16:13:58.305Z,1755879238.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.7,  35.2 (Local)

2025-08-22T16:13:58.307Z,1755879238.307 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:13:58.312Z,1755879238.312 [DAT](INFO): DAT read: 16:13:58.8831 LVL= 21680, 12417, 22962, 24307, AGC= 40, IDX= 502,-0.09,-1.624,-3.080,-2.993,-0.984, PHS=-0.538,-2.051,-2.053, RAW=  89.9,  47.3, CAL=  88.7,  53.4, ROT=  61.3, -53.4

2025-08-22T16:13:58.313Z,1755879238.313 [DAT](INFO): got valid direction response:
 16:13:58.8831 LVL= 21680, 12417, 22962, 24307, AGC= 40, IDX= 502,-0.09,-1.624,-3.080,-2.993,-0.984, PHS=-0.538,-2.051,-2.053, RAW=  89.9,  47.3, CAL=  88.7,  53.4, ROT=  61.3, -53.4

2025-08-22T16:13:58.313Z,1755879238.313 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T16:13:58.314Z,1755879238.314 [DAT](INFO): direction in FSK: [0.286321,0.522976,0.802817]
2025-08-22T16:13:58.314Z,1755879238.314 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:58.318Z,1755879238.318 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.621475
2025-08-22T16:13:58.558Z,1755879238.558 [DAT](INFO): DAT read: Rx Time:16:13:59.3830 

2025-08-22T16:13:58.560Z,1755879238.560 [DAT](INFO): Rx dataTimestamp_ set to:1755879238.558994
2025-08-22T16:13:58.564Z,1755879238.564 [DAT](INFO): DAT read: Bearing 237.5,  35.3 (Local)

2025-08-22T16:13:58.565Z,1755879238.565 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.5,  35.3 (Local)

2025-08-22T16:13:58.568Z,1755879238.568 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.870496
2025-08-22T16:13:58.721Z,1755879238.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503937 s,
      deltaX: 0.300000 m,
      approachRate: 0.595312 m/s,
      rangeRepo size: 4

2025-08-22T16:13:58.723Z,1755879238.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788999 m,
      bearing: 70.929354 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503937 s,
      deltaX: 0.298166 m,
      approachRate: 0.591674 m/s,
      posRepo size: 4

2025-08-22T16:13:58.809Z,1755879238.809 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:58.814Z,1755879238.814 [DAT](INFO): DAT read: 16:13:59.3830 LVL= 21552, 12465, 22818, 24371, AGC= 40, IDX= 501, 0.03,-1.897, 2.905, 3.003,-1.266, PHS=-0.529,-2.068,-2.058, RAW=  90.3,  47.0, CAL=  89.1,  53.2, ROT=  60.9, -53.2

2025-08-22T16:13:58.815Z,1755879238.815 [DAT](INFO): got valid direction response:
 16:13:59.3830 LVL= 21552, 12465, 22818, 24371, AGC= 40, IDX= 501, 0.03,-1.897, 2.905, 3.003,-1.266, PHS=-0.529,-2.068,-2.058, RAW=  90.3,  47.0, CAL=  89.1,  53.2, ROT=  60.9, -53.2

2025-08-22T16:13:58.815Z,1755879238.815 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:13:58.816Z,1755879238.816 [DAT](INFO): direction in FSK: [0.291326,0.523410,0.800731]
2025-08-22T16:13:58.816Z,1755879238.816 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:58.820Z,1755879238.820 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.123234
2025-08-22T16:13:59.062Z,1755879239.062 [DAT](INFO): DAT read: Rx Time:16:13:59.8831 

2025-08-22T16:13:59.064Z,1755879239.064 [DAT](INFO): Rx dataTimestamp_ set to:1755879239.062988
2025-08-22T16:13:59.067Z,1755879239.067 [DAT](INFO): DAT read: Bearing 241.0,  35.9 (Local)

2025-08-22T16:13:59.069Z,1755879239.069 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.0,  35.9 (Local)

2025-08-22T16:13:59.071Z,1755879239.071 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.373590
2025-08-22T16:13:59.185Z,1755879239.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503625 s,
      deltaX: -0.100000 m,
      approachRate: -0.198560 m/s,
      rangeRepo size: 4

2025-08-22T16:13:59.192Z,1755879239.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689611 m,
      bearing: 70.458079 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.503625 s,
      deltaX: -0.099388 m,
      approachRate: -0.197344 m/s,
      posRepo size: 4

2025-08-22T16:13:59.312Z,1755879239.312 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:13:59.316Z,1755879239.316 [DAT](INFO): DAT read: 16:13:59.8831 LVL= 24224, 11329, 25490, 26899, AGC= 42, IDX= 502, 0.13,-0.574,-1.922,-1.940, 0.069, PHS=-0.540,-1.946,-2.053, RAW=  86.4,  47.7, CAL=  84.7,  53.9, ROT=  65.3, -53.9

2025-08-22T16:13:59.317Z,1755879239.317 [DAT](INFO): got valid direction response:
 16:13:59.8831 LVL= 24224, 11329, 25490, 26899, AGC= 42, IDX= 502, 0.13,-0.574,-1.922,-1.940, 0.069, PHS=-0.540,-1.946,-2.053, RAW=  86.4,  47.7, CAL=  84.7,  53.9, ROT=  65.3, -53.9

2025-08-22T16:13:59.318Z,1755879239.318 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:13:59.319Z,1755879239.319 [DAT](INFO): direction in FSK: [0.246206,0.535290,0.807990]
2025-08-22T16:13:59.319Z,1755879239.319 [DAT](INFO): publishing direction and range info
2025-08-22T16:13:59.322Z,1755879239.322 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.625821
2025-08-22T16:13:59.566Z,1755879239.566 [DAT](INFO): DAT read: Rx Time:16:14:00.3830 

2025-08-22T16:13:59.566Z,1755879239.566 [DAT](INFO): Rx dataTimestamp_ set to:1755879239.566023
2025-08-22T16:13:59.567Z,1755879239.567 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:13:59.568Z,1755879239.568 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-08-22T16:13:59.569Z,1755879239.569 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.872201
2025-08-22T16:13:59.696Z,1755879239.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.759106 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:13:59.710Z,1755879239.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689611 m,
      bearing: 75.842380 deg,
      lat: 36.779429 deg,
      lon: -121.859658 deg,
      deltaT: 0.759106 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:13:59.815Z,1755879239.815 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.117949
2025-08-22T16:14:00.026Z,1755879240.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:00.067Z,1755879240.067 [DAT](INFO): DAT read: Rx Time:16:14:00.8830 

2025-08-22T16:14:00.067Z,1755879240.067 [DAT](INFO): Rx dataTimestamp_ set to:1755879240.066969
2025-08-22T16:14:00.068Z,1755879240.068 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:00.069Z,1755879240.069 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-22T16:14:00.075Z,1755879240.075 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.377810
2025-08-22T16:14:00.318Z,1755879240.318 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.621790
2025-08-22T16:14:00.487Z,1755879240.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.500946 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:00.571Z,1755879240.571 [DAT](INFO): DAT read: Rx Time:16:14:01.3829 

2025-08-22T16:14:00.571Z,1755879240.571 [DAT](INFO): Rx dataTimestamp_ set to:1755879240.571152
2025-08-22T16:14:00.573Z,1755879240.573 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:00.573Z,1755879240.573 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-22T16:14:00.574Z,1755879240.574 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.877615
2025-08-22T16:14:00.823Z,1755879240.823 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.125906
2025-08-22T16:14:00.868Z,1755879240.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504183 s,
      deltaX: -0.200000 m,
      approachRate: -0.396681 m/s,
      rangeRepo size: 4

2025-08-22T16:14:01.078Z,1755879241.078 [DAT](INFO): DAT read: Rx Time:16:14:01.8830 

2025-08-22T16:14:01.079Z,1755879241.079 [DAT](INFO): Rx dataTimestamp_ set to:1755879241.078234
2025-08-22T16:14:01.082Z,1755879241.082 [DAT](INFO): DAT read: Bearing 238.6,  35.1 (Local)

2025-08-22T16:14:01.083Z,1755879241.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.6,  35.1 (Local)

2025-08-22T16:14:01.088Z,1755879241.088 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:01.090Z,1755879241.090 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-22T16:14:01.094Z,1755879241.094 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.396404
2025-08-22T16:14:01.257Z,1755879241.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.507082 s,
      deltaX: 0.200000 m,
      approachRate: 0.394414 m/s,
      rangeRepo size: 4

2025-08-22T16:14:01.330Z,1755879241.330 [DAT](INFO): DAT read: 16:14:01.8830 LVL= 21488, 12513, 23282, 23795, AGC= 40, IDX= 502,-0.22, 3.114, 1.635, 1.741,-2.530, PHS=-0.537,-2.073,-2.057, RAW=  90.5,  47.2, CAL=  89.4,  53.3, ROT=  60.6, -53.3

2025-08-22T16:14:01.331Z,1755879241.331 [DAT](INFO): got valid direction response:
 16:14:01.8830 LVL= 21488, 12513, 23282, 23795, AGC= 40, IDX= 502,-0.22, 3.114, 1.635, 1.741,-2.530, PHS=-0.537,-2.073,-2.057, RAW=  90.5,  47.2, CAL=  89.4,  53.3, ROT=  60.6, -53.3

2025-08-22T16:14:01.332Z,1755879241.332 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-22T16:14:01.332Z,1755879241.332 [DAT](INFO): direction in FSK: [0.293376,0.520659,0.801776]
2025-08-22T16:14:01.336Z,1755879241.336 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.639286
2025-08-22T16:14:01.579Z,1755879241.579 [DAT](INFO): DAT read: Rx Time:16:14:02.3830 

2025-08-22T16:14:01.579Z,1755879241.579 [DAT](INFO): Rx dataTimestamp_ set to:1755879241.578813
2025-08-22T16:14:01.580Z,1755879241.580 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:01.581Z,1755879241.581 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-22T16:14:01.582Z,1755879241.582 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.885135
2025-08-22T16:14:01.699Z,1755879241.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.500579 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:01.701Z,1755879241.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689615 m,
      bearing: 71.149047 deg,
      lat: 36.779429 deg,
      lon: -121.859658 deg,
      deltaT: 2.012790 s,
      deltaX: 0.000004 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T16:14:01.834Z,1755879241.834 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.137342
2025-08-22T16:14:02.080Z,1755879242.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:02.086Z,1755879242.086 [DAT](INFO): DAT read: Rx Time:16:14:02.8831 

2025-08-22T16:14:02.088Z,1755879242.088 [DAT](INFO): Rx dataTimestamp_ set to:1755879242.086861
2025-08-22T16:14:02.092Z,1755879242.092 [DAT](INFO): DAT read: Bearing 244.3,  36.3 (Local)

2025-08-22T16:14:02.093Z,1755879242.093 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.3,  36.3 (Local)

2025-08-22T16:14:02.103Z,1755879242.103 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:02.113Z,1755879242.113 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-08-22T16:14:02.114Z,1755879242.114 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.417704
2025-08-22T16:14:02.116Z,1755879242.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.508048 s,
      deltaX: 0.100000 m,
      approachRate: 0.196832 m/s,
      rangeRepo size: 4

2025-08-22T16:14:02.339Z,1755879242.339 [DAT](INFO): DAT read: 16:14:02.8831 LVL= 24048, 11361, 25666, 27123, AGC= 42, IDX= 502,-0.01,-2.178, 2.838, 2.745,-1.526, PHS=-0.550,-1.874,-2.056, RAW=  83.6,  48.0, CAL=  81.6,  54.3, ROT=  68.4, -54.3

2025-08-22T16:14:02.340Z,1755879242.340 [DAT](INFO): got valid direction response:
 16:14:02.8831 LVL= 24048, 11361, 25666, 27123, AGC= 42, IDX= 502,-0.01,-2.178, 2.838, 2.745,-1.526, PHS=-0.550,-1.874,-2.056, RAW=  83.6,  48.0, CAL=  81.6,  54.3, ROT=  68.4, -54.3

2025-08-22T16:14:02.340Z,1755879242.340 [DAT](INFO): #Rx 29: Read direction message, but no range.
2025-08-22T16:14:02.341Z,1755879242.341 [DAT](INFO): direction in FSK: [0.214816,0.542563,0.812084]
2025-08-22T16:14:02.345Z,1755879242.345 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.647923
2025-08-22T16:14:02.591Z,1755879242.591 [DAT](INFO): DAT read: Rx Time:16:14:03.3830 

2025-08-22T16:14:02.593Z,1755879242.593 [DAT](INFO): Rx dataTimestamp_ set to:1755879242.591965
2025-08-22T16:14:02.599Z,1755879242.599 [DAT](INFO): DAT read: Bearing 244.1,  36.3 (Local)

2025-08-22T16:14:02.600Z,1755879242.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.1,  36.3 (Local)

2025-08-22T16:14:02.611Z,1755879242.611 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:02.621Z,1755879242.621 [DAT](INFO): DAT read: 16:14:03.3830 LVL= 24000, 11201, 25970, 26867, AGC= 42, IDX= 501, 0.10,-2.470, 2.532, 2.445,-1.819, PHS=-0.549,-1.888,-2.064, RAW=  83.9,  48.0, CAL=  81.9,  54.2, ROT=  68.1, -54.2

2025-08-22T16:14:02.628Z,1755879242.628 [DAT](INFO): got valid direction response:
 16:14:03.3830 LVL= 24000, 11201, 25970, 26867, AGC= 42, IDX= 501, 0.10,-2.470, 2.532, 2.445,-1.819, PHS=-0.549,-1.888,-2.064, RAW=  83.9,  48.0, CAL=  81.9,  54.2, ROT=  68.1, -54.2

2025-08-22T16:14:02.628Z,1755879242.628 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T16:14:02.635Z,1755879242.635 [DAT](INFO): direction in FSK: [0.218182,0.542745,0.811064]
2025-08-22T16:14:02.635Z,1755879242.635 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:02.644Z,1755879242.644 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.947060
2025-08-22T16:14:02.839Z,1755879242.839 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.142008
2025-08-22T16:14:02.875Z,1755879242.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505104 s,
      deltaX: -0.100000 m,
      approachRate: -0.197979 m/s,
      rangeRepo size: 4

2025-08-22T16:14:02.877Z,1755879242.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689616 m,
      bearing: 79.642327 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 1.013152 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:03.095Z,1755879243.095 [DAT](INFO): DAT read: Rx Time:16:14:03.8831 

2025-08-22T16:14:03.097Z,1755879243.097 [DAT](INFO): Rx dataTimestamp_ set to:1755879243.095583
2025-08-22T16:14:03.103Z,1755879243.103 [DAT](INFO): DAT read: Bearing 240.6,  35.6 (Local)

2025-08-22T16:14:03.104Z,1755879243.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.6,  35.6 (Local)

2025-08-22T16:14:03.133Z,1755879243.133 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:03.157Z,1755879243.157 [DAT](INFO): DAT read: 16:14:03.8831 LVL= 21232, 12177, 22994, 24467, AGC= 40, IDX= 502, 0.21,-1.134,-2.559,-2.520,-0.490, PHS=-0.542,-2.024,-2.075, RAW=  88.3,  47.4, CAL=  86.9,  53.6, ROT=  63.1, -53.6

2025-08-22T16:14:03.166Z,1755879243.166 [DAT](INFO): got valid direction response:
 16:14:03.8831 LVL= 21232, 12177, 22994, 24467, AGC= 40, IDX= 502, 0.21,-1.134,-2.559,-2.520,-0.490, PHS=-0.542,-2.024,-2.075, RAW=  88.3,  47.4, CAL=  86.9,  53.6, ROT=  63.1, -53.6

2025-08-22T16:14:03.167Z,1755879243.167 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T16:14:03.168Z,1755879243.168 [DAT](INFO): direction in FSK: [0.268483,0.529210,0.804894]
2025-08-22T16:14:03.169Z,1755879243.169 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:03.193Z,1755879243.193 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.496428
2025-08-22T16:14:03.281Z,1755879243.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503618 s,
      deltaX: 0.100000 m,
      approachRate: 0.198563 m/s,
      rangeRepo size: 4

2025-08-22T16:14:03.291Z,1755879243.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789005 m,
      bearing: 73.996195 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503618 s,
      deltaX: 0.099389 m,
      approachRate: 0.197350 m/s,
      posRepo size: 4

2025-08-22T16:14:03.343Z,1755879243.343 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.646282
2025-08-22T16:14:03.601Z,1755879243.601 [DAT](INFO): DAT read: Rx Time:16:14:04.3830 

2025-08-22T16:14:03.603Z,1755879243.603 [DAT](INFO): Rx dataTimestamp_ set to:1755879243.601742
2025-08-22T16:14:03.611Z,1755879243.611 [DAT](INFO): DAT read: Bearing 244.8,  36.3 (Local)

2025-08-22T16:14:03.611Z,1755879243.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.8,  36.3 (Local)

2025-08-22T16:14:03.626Z,1755879243.626 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:03.654Z,1755879243.654 [DAT](INFO): DAT read: 16:14:04.3830 LVL= 23792, 10913, 25874, 27235, AGC= 42, IDX= 501, 0.35,-2.187, 2.831, 2.729,-1.531, PHS=-0.554,-1.877,-2.068, RAW=  83.3,  48.1, CAL=  81.3,  54.3, ROT=  68.7, -54.3

2025-08-22T16:14:03.655Z,1755879243.655 [DAT](INFO): got valid direction response:
 16:14:04.3830 LVL= 23792, 10913, 25874, 27235, AGC= 42, IDX= 501, 0.35,-2.187, 2.831, 2.729,-1.531, PHS=-0.554,-1.877,-2.068, RAW=  83.3,  48.1, CAL=  81.3,  54.3, ROT=  68.7, -54.3

2025-08-22T16:14:03.655Z,1755879243.655 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T16:14:03.656Z,1755879243.656 [DAT](INFO): direction in FSK: [0.211972,0.543680,0.812084]
2025-08-22T16:14:03.656Z,1755879243.656 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:03.680Z,1755879243.680 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.983297
2025-08-22T16:14:03.778Z,1755879243.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.506159 s,
      deltaX: -0.100000 m,
      approachRate: -0.197566 m/s,
      rangeRepo size: 4

2025-08-22T16:14:03.780Z,1755879243.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689616 m,
      bearing: 80.277106 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.506159 s,
      deltaX: -0.099389 m,
      approachRate: -0.196359 m/s,
      posRepo size: 4

2025-08-22T16:14:03.847Z,1755879243.847 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.149904
2025-08-22T16:14:04.103Z,1755879244.103 [DAT](INFO): DAT read: Rx Time:16:14:04.8830 

2025-08-22T16:14:04.104Z,1755879244.104 [DAT](INFO): Rx dataTimestamp_ set to:1755879244.103467
2025-08-22T16:14:04.109Z,1755879244.109 [DAT](INFO): DAT read: Bearing 241.2,  35.5 (Local)

2025-08-22T16:14:04.110Z,1755879244.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.2,  35.5 (Local)

2025-08-22T16:14:04.112Z,1755879244.112 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:04.141Z,1755879244.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:04.142Z,1755879244.142 [DAT](INFO): DAT read: 16:14:04.8830 LVL= 21152, 12113, 23154, 24435, AGC= 41, IDX= 502,-0.43, 2.162, 0.764, 0.785, 2.817, PHS=-0.553,-2.008,-2.076, RAW=  87.7,  47.7, CAL=  86.2,  53.9, ROT=  63.8, -53.9

2025-08-22T16:14:04.144Z,1755879244.144 [DAT](INFO): got valid direction response:
 16:14:04.8830 LVL= 21152, 12113, 23154, 24435, AGC= 41, IDX= 502,-0.43, 2.162, 0.764, 0.785, 2.817, PHS=-0.553,-2.008,-2.076, RAW=  87.7,  47.7, CAL=  86.2,  53.9, ROT=  63.8, -53.9

2025-08-22T16:14:04.144Z,1755879244.144 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T16:14:04.154Z,1755879244.154 [DAT](INFO): direction in FSK: [0.260134,0.528661,0.807990]
2025-08-22T16:14:04.154Z,1755879244.154 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:04.238Z,1755879244.238 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.471495
2025-08-22T16:14:04.351Z,1755879244.351 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.653900
2025-08-22T16:14:04.606Z,1755879244.606 [DAT](INFO): DAT read: Rx Time:16:14:05.3829 

2025-08-22T16:14:04.608Z,1755879244.608 [DAT](INFO): Rx dataTimestamp_ set to:1755879244.607101
2025-08-22T16:14:04.611Z,1755879244.611 [DAT](INFO): DAT read: Bearing 244.0,  36.0 (Local)

2025-08-22T16:14:04.611Z,1755879244.611 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.0,  36.0 (Local)

2025-08-22T16:14:04.613Z,1755879244.613 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:04.620Z,1755879244.620 [DAT](INFO): DAT read: 16:14:05.3829 LVL= 23536, 12081, 25538, 27635, AGC= 41, IDX= 501,-0.25, 1.112,-0.174,-0.253, 1.778, PHS=-0.564,-1.907,-2.075, RAW=  84.2,  48.3, CAL=  82.3,  54.5, ROT=  67.7, -54.5

2025-08-22T16:14:04.622Z,1755879244.622 [DAT](INFO): got valid direction response:
 16:14:05.3829 LVL= 23536, 12081, 25538, 27635, AGC= 41, IDX= 501,-0.25, 1.112,-0.174,-0.253, 1.778, PHS=-0.564,-1.907,-2.075, RAW=  84.2,  48.3, CAL=  82.3,  54.5, ROT=  67.7, -54.5

2025-08-22T16:14:04.623Z,1755879244.623 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T16:14:04.625Z,1755879244.625 [DAT](INFO): direction in FSK: [0.220351,0.537272,0.814116]
2025-08-22T16:14:04.625Z,1755879244.625 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:04.631Z,1755879244.631 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.934326
2025-08-22T16:14:04.706Z,1755879244.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 1.005359 s,
      deltaX: -0.200000 m,
      approachRate: -0.198934 m/s,
      rangeRepo size: 4

2025-08-22T16:14:04.708Z,1755879244.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490830 m,
      bearing: 79.076767 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 1.005359 s,
      deltaX: -0.198785 m,
      approachRate: -0.197726 m/s,
      posRepo size: 4

2025-08-22T16:14:04.855Z,1755879244.855 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.157972
2025-08-22T16:14:05.111Z,1755879245.111 [DAT](INFO): DAT read: Rx Time:16:14:05.8831 

2025-08-22T16:14:05.111Z,1755879245.111 [DAT](INFO): Rx dataTimestamp_ set to:1755879245.110861
2025-08-22T16:14:05.112Z,1755879245.112 [DAT](INFO): DAT read: Bearing 244.0,  36.0 (Local)

2025-08-22T16:14:05.113Z,1755879245.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.0,  36.0 (Local)

2025-08-22T16:14:05.116Z,1755879245.116 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:05.129Z,1755879245.129 [DAT](INFO): DAT read: 16:14:05.8831 LVL= 23744, 12177, 25794, 27203, AGC= 41, IDX= 502,-0.13, 2.492, 1.208, 1.128,-3.128, PHS=-0.560,-1.902,-2.071, RAW=  84.1,  48.2, CAL=  82.2,  54.4, ROT=  67.8, -54.4

2025-08-22T16:14:05.148Z,1755879245.148 [DAT](INFO): got valid direction response:
 16:14:05.8831 LVL= 23744, 12177, 25794, 27203, AGC= 41, IDX= 502,-0.13, 2.492, 1.208, 1.128,-3.128, PHS=-0.560,-1.902,-2.071, RAW=  84.1,  48.2, CAL=  82.2,  54.4, ROT=  67.8, -54.4

2025-08-22T16:14:05.148Z,1755879245.148 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T16:14:05.149Z,1755879245.149 [DAT](INFO): direction in FSK: [0.219950,0.538971,0.813101]
2025-08-22T16:14:05.154Z,1755879245.154 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:05.175Z,1755879245.175 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.477808
2025-08-22T16:14:05.398Z,1755879245.398 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.701797
2025-08-22T16:14:05.441Z,1755879245.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503760 s,
      deltaX: 0.300000 m,
      approachRate: 0.595522 m/s,
      rangeRepo size: 4

2025-08-22T16:14:05.443Z,1755879245.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.788997 m,
      bearing: 79.161024 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503760 s,
      deltaX: 0.298167 m,
      approachRate: 0.591883 m/s,
      posRepo size: 4

2025-08-22T16:14:05.651Z,1755879245.651 [DAT](INFO): DAT read: Rx Time:16:14:06.3830 

2025-08-22T16:14:05.652Z,1755879245.652 [DAT](INFO): Rx dataTimestamp_ set to:1755879245.651411
2025-08-22T16:14:05.653Z,1755879245.653 [DAT](INFO): DAT read: Bearing 240.3,  35.3 (Local)

2025-08-22T16:14:05.653Z,1755879245.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.3,  35.3 (Local)

2025-08-22T16:14:05.655Z,1755879245.655 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:05.664Z,1755879245.664 [DAT](INFO): DAT read: 16:14:06.3830 LVL= 21456, 12161, 22866, 24435, AGC= 41, IDX= 501,-0.02, 1.464, 0.035, 0.083, 2.117, PHS=-0.551,-2.037,-2.079, RAW=  88.6,  47.6, CAL=  87.2,  53.7, ROT=  62.8, -53.7

2025-08-22T16:14:05.672Z,1755879245.672 [DAT](INFO): got valid direction response:
 16:14:06.3830 LVL= 21456, 12161, 22866, 24435, AGC= 41, IDX= 501,-0.02, 1.464, 0.035, 0.083, 2.117, PHS=-0.551,-2.037,-2.079, RAW=  88.6,  47.6, CAL=  87.2,  53.7, ROT=  62.8, -53.7

2025-08-22T16:14:05.672Z,1755879245.672 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T16:14:05.678Z,1755879245.678 [DAT](INFO): direction in FSK: [0.270608,0.526546,0.805928]
2025-08-22T16:14:05.679Z,1755879245.679 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:05.685Z,1755879245.685 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.988464
2025-08-22T16:14:05.903Z,1755879245.903 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.206043
2025-08-22T16:14:05.904Z,1755879245.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.540550 s,
      deltaX: -0.100000 m,
      approachRate: -0.184997 m/s,
      rangeRepo size: 4

2025-08-22T16:14:05.906Z,1755879245.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689614 m,
      bearing: 73.531163 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.540550 s,
      deltaX: -0.099383 m,
      approachRate: -0.183856 m/s,
      posRepo size: 4

2025-08-22T16:14:06.155Z,1755879246.155 [DAT](INFO): DAT read: Rx Time:16:14:06.8831 

2025-08-22T16:14:06.156Z,1755879246.156 [DAT](INFO): Rx dataTimestamp_ set to:1755879246.155274
2025-08-22T16:14:06.157Z,1755879246.157 [DAT](INFO): DAT read: Bearing 240.6,  35.6 (Local)

2025-08-22T16:14:06.157Z,1755879246.157 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.6,  35.6 (Local)

2025-08-22T16:14:06.160Z,1755879246.160 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:06.171Z,1755879246.171 [DAT](INFO): DAT read: 16:14:06.8831 LVL= 21600, 12225, 23154, 24275, AGC= 41, IDX= 502, 0.08,-2.811, 2.057, 2.087,-2.167, PHS=-0.542,-2.014,-2.073, RAW=  88.1,  47.4, CAL=  86.6,  53.6, ROT=  63.4, -53.6

2025-08-22T16:14:06.173Z,1755879246.173 [DAT](INFO): got valid direction response:
 16:14:06.8831 LVL= 21600, 12225, 23154, 24275, AGC= 41, IDX= 502, 0.08,-2.811, 2.057, 2.087,-2.167, PHS=-0.542,-2.014,-2.073, RAW=  88.1,  47.4, CAL=  86.6,  53.6, ROT=  63.4, -53.6

2025-08-22T16:14:06.173Z,1755879246.173 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T16:14:06.175Z,1755879246.175 [DAT](INFO): direction in FSK: [0.265709,0.530608,0.804894]
2025-08-22T16:14:06.175Z,1755879246.175 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:06.228Z,1755879246.228 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.530861
2025-08-22T16:14:06.307Z,1755879246.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503863 s,
      deltaX: 0.100000 m,
      approachRate: 0.198466 m/s,
      rangeRepo size: 4

2025-08-22T16:14:06.309Z,1755879246.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789003 m,
      bearing: 74.199673 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503863 s,
      deltaX: 0.099389 m,
      approachRate: 0.197254 m/s,
      posRepo size: 4

2025-08-22T16:14:06.407Z,1755879246.407 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.709997
2025-08-22T16:14:06.659Z,1755879246.659 [DAT](INFO): DAT read: Rx Time:16:14:07.3830 

2025-08-22T16:14:06.660Z,1755879246.660 [DAT](INFO): Rx dataTimestamp_ set to:1755879246.659351
2025-08-22T16:14:06.661Z,1755879246.661 [DAT](INFO): DAT read: Bearing 241.7,  35.8 (Local)

2025-08-22T16:14:06.661Z,1755879246.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.7,  35.8 (Local)

2025-08-22T16:14:06.663Z,1755879246.663 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:06.668Z,1755879246.668 [DAT](INFO): DAT read: 16:14:07.3830 LVL= 23856, 12321, 25634, 26995, AGC= 40, IDX= 501, 0.19, 2.446, 1.081, 1.071, 3.094, PHS=-0.546,-1.968,-2.067, RAW=  86.7,  47.7, CAL=  85.0,  53.9, ROT=  65.0, -53.9

2025-08-22T16:14:06.669Z,1755879246.669 [DAT](INFO): got valid direction response:
 16:14:07.3830 LVL= 23856, 12321, 25634, 26995, AGC= 40, IDX= 501, 0.19, 2.446, 1.081, 1.071, 3.094, PHS=-0.546,-1.968,-2.067, RAW=  86.7,  47.7, CAL=  85.0,  53.9, ROT=  65.0, -53.9

2025-08-22T16:14:06.669Z,1755879246.669 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:14:06.670Z,1755879246.670 [DAT](INFO): direction in FSK: [0.249005,0.533993,0.807990]
2025-08-22T16:14:06.670Z,1755879246.670 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:06.678Z,1755879246.678 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.981382
2025-08-22T16:14:06.818Z,1755879246.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504077 s,
      deltaX: -0.100000 m,
      approachRate: -0.198382 m/s,
      rangeRepo size: 4

2025-08-22T16:14:06.820Z,1755879246.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689614 m,
      bearing: 76.043388 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504077 s,
      deltaX: -0.099389 m,
      approachRate: -0.197170 m/s,
      posRepo size: 4

2025-08-22T16:14:06.911Z,1755879246.911 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.213898
2025-08-22T16:14:07.161Z,1755879247.161 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:07.164Z,1755879247.164 [DAT](INFO): DAT read: Rx Time:16:14:07.8831 

2025-08-22T16:14:07.165Z,1755879247.165 [DAT](INFO): Rx dataTimestamp_ set to:1755879247.164290
2025-08-22T16:14:07.167Z,1755879247.167 [DAT](INFO): DAT read: Bearing 239.3,  35.5 (Local)

2025-08-22T16:14:07.167Z,1755879247.167 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.3,  35.5 (Local)

2025-08-22T16:14:07.170Z,1755879247.170 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:07.176Z,1755879247.176 [DAT](INFO): DAT read: 16:14:07.8831 LVL= 21488, 12593, 22930, 24211, AGC= 41, IDX= 502, 0.33,-2.483, 2.337, 2.411,-1.847, PHS=-0.534,-2.054,-2.069, RAW=  89.5,  47.1, CAL=  88.2,  53.3, ROT=  61.8, -53.3

2025-08-22T16:14:07.183Z,1755879247.183 [DAT](INFO): got valid direction response:
 16:14:07.8831 LVL= 21488, 12593, 22930, 24211, AGC= 41, IDX= 502, 0.33,-2.483, 2.337, 2.411,-1.847, PHS=-0.534,-2.054,-2.069, RAW=  89.5,  47.1, CAL=  88.2,  53.3, ROT=  61.8, -53.3

2025-08-22T16:14:07.183Z,1755879247.183 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T16:14:07.185Z,1755879247.185 [DAT](INFO): direction in FSK: [0.282408,0.526689,0.801776]
2025-08-22T16:14:07.185Z,1755879247.185 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:07.206Z,1755879247.206 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.509678
2025-08-22T16:14:07.415Z,1755879247.415 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.718504
2025-08-22T16:14:07.609Z,1755879247.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504939 s,
      deltaX: 0.100000 m,
      approachRate: 0.198044 m/s,
      rangeRepo size: 4

2025-08-22T16:14:07.620Z,1755879247.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789003 m,
      bearing: 72.393502 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.504939 s,
      deltaX: 0.099389 m,
      approachRate: 0.196835 m/s,
      posRepo size: 4

2025-08-22T16:14:07.667Z,1755879247.667 [DAT](INFO): DAT read: Rx Time:16:14:08.3830 

2025-08-22T16:14:07.668Z,1755879247.668 [DAT](INFO): Rx dataTimestamp_ set to:1755879247.666893
2025-08-22T16:14:07.669Z,1755879247.669 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:07.670Z,1755879247.670 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-08-22T16:14:07.672Z,1755879247.672 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.974539
2025-08-22T16:14:07.918Z,1755879247.918 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.221739
2025-08-22T16:14:07.969Z,1755879247.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502603 s,
      deltaX: -0.100000 m,
      approachRate: -0.198964 m/s,
      rangeRepo size: 4

2025-08-22T16:14:08.171Z,1755879248.171 [DAT](INFO): DAT read: Rx Time:16:14:08.8830 

2025-08-22T16:14:08.172Z,1755879248.172 [DAT](INFO): Rx dataTimestamp_ set to:1755879248.171553
2025-08-22T16:14:08.174Z,1755879248.174 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:08.175Z,1755879248.175 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-22T16:14:08.176Z,1755879248.176 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.479090
2025-08-22T16:14:08.364Z,1755879248.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504660 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:08.423Z,1755879248.423 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.725965
2025-08-22T16:14:08.675Z,1755879248.675 [DAT](INFO): DAT read: Rx Time:16:14:09.3829 

2025-08-22T16:14:08.676Z,1755879248.676 [DAT](INFO): Rx dataTimestamp_ set to:1755879248.675232
2025-08-22T16:14:08.677Z,1755879248.677 [DAT](INFO): DAT read: Bearing 238.4,  35.2 (Local)

2025-08-22T16:14:08.677Z,1755879248.677 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.4,  35.2 (Local)

2025-08-22T16:14:08.679Z,1755879248.679 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:08.684Z,1755879248.684 [DAT](INFO): DAT read: 16:14:09.3829 LVL= 21728, 12593, 23138, 24131, AGC= 40, IDX= 501,-0.15,-0.198,-1.666,-1.570, 0.448, PHS=-0.544,-2.069,-2.062, RAW=  90.2,  47.4, CAL=  89.0,  53.5, ROT=  61.0, -53.5

2025-08-22T16:14:08.685Z,1755879248.685 [DAT](INFO): got valid direction response:
 16:14:09.3829 LVL= 21728, 12593, 23138, 24131, AGC= 40, IDX= 501,-0.15,-0.198,-1.666,-1.570, 0.448, PHS=-0.544,-2.069,-2.062, RAW=  90.2,  47.4, CAL=  89.0,  53.5, ROT=  61.0, -53.5

2025-08-22T16:14:08.685Z,1755879248.685 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T16:14:08.686Z,1755879248.686 [DAT](INFO): direction in FSK: [0.288376,0.520244,0.803857]
2025-08-22T16:14:08.686Z,1755879248.686 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:08.690Z,1755879248.690 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.993397
2025-08-22T16:14:08.833Z,1755879248.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503679 s,
      deltaX: -0.200000 m,
      approachRate: -0.397078 m/s,
      rangeRepo size: 4

2025-08-22T16:14:08.839Z,1755879248.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490839 m,
      bearing: 71.382154 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 1.510942 s,
      deltaX: -0.298164 m,
      approachRate: -0.197337 m/s,
      posRepo size: 4

2025-08-22T16:14:08.927Z,1755879248.927 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.230057
2025-08-22T16:14:09.096Z,1755879249.096 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:14:09.096Z,1755879249.096 [DockingStepper] No Fault, FailCount= 1
2025-08-22T16:14:09.180Z,1755879249.180 [DAT](INFO): DAT read: Rx Time:16:14:09.8831 

2025-08-22T16:14:09.180Z,1755879249.180 [DAT](INFO): Rx dataTimestamp_ set to:1755879249.179773
2025-08-22T16:14:09.182Z,1755879249.182 [DAT](INFO): DAT read: Bearing 241.2,  35.8 (Local)

2025-08-22T16:14:09.183Z,1755879249.183 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.2,  35.8 (Local)

2025-08-22T16:14:09.185Z,1755879249.185 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:09.191Z,1755879249.191 [DAT](INFO): DAT read: 16:14:09.8831 LVL= 24048, 12401, 25714, 27123, AGC= 41, IDX= 502,-0.04, 1.162,-0.191,-0.204, 1.817, PHS=-0.552,-1.963,-2.065, RAW=  86.5,  47.9, CAL=  84.9,  54.1, ROT=  65.1, -54.1

2025-08-22T16:14:09.192Z,1755879249.192 [DAT](INFO): got valid direction response:
 16:14:09.8831 LVL= 24048, 12401, 25714, 27123, AGC= 41, IDX= 502,-0.04, 1.162,-0.191,-0.204, 1.817, PHS=-0.552,-1.963,-2.065, RAW=  86.5,  47.9, CAL=  84.9,  54.1, ROT=  65.1, -54.1

2025-08-22T16:14:09.193Z,1755879249.193 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:14:09.194Z,1755879249.194 [DAT](INFO): direction in FSK: [0.246884,0.531866,0.810042]
2025-08-22T16:14:09.195Z,1755879249.195 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:09.200Z,1755879249.200 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.502991
2025-08-22T16:14:09.294Z,1755879249.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504541 s,
      deltaX: 0.300000 m,
      approachRate: 0.594600 m/s,
      rangeRepo size: 4

2025-08-22T16:14:09.296Z,1755879249.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789007 m,
      bearing: 75.942645 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.504541 s,
      deltaX: 0.298168 m,
      approachRate: 0.590968 m/s,
      posRepo size: 4

2025-08-22T16:14:09.325Z,1755879249.325 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:14:09.431Z,1755879249.431 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.733873
2025-08-22T16:14:09.455Z,1755879249.455 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:14:09.684Z,1755879249.684 [DAT](INFO): DAT read: Rx Time:16:14:10.3829 

2025-08-22T16:14:09.684Z,1755879249.684 [DAT](INFO): Rx dataTimestamp_ set to:1755879249.683734
2025-08-22T16:14:09.685Z,1755879249.685 [DAT](INFO): DAT read: Bearing 241.1,  36.0 (Local)

2025-08-22T16:14:09.686Z,1755879249.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.1,  36.0 (Local)

2025-08-22T16:14:09.688Z,1755879249.688 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:09.692Z,1755879249.692 [DAT](INFO): DAT read: 16:14:10.3829 LVL= 23984, 12369, 25746, 26867, AGC= 40, IDX= 501, 0.06, 1.600, 0.238, 0.221, 2.248, PHS=-0.546,-1.965,-2.071, RAW=  86.4,  47.7, CAL=  84.8,  53.9, ROT=  65.2, -53.9

2025-08-22T16:14:09.693Z,1755879249.693 [DAT](INFO): got valid direction response:
 16:14:10.3829 LVL= 23984, 12369, 25746, 26867, AGC= 40, IDX= 501, 0.06, 1.600, 0.238, 0.221, 2.248, PHS=-0.546,-1.965,-2.071, RAW=  86.4,  47.7, CAL=  84.8,  53.9, ROT=  65.2, -53.9

2025-08-22T16:14:09.694Z,1755879249.694 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-22T16:14:09.694Z,1755879249.694 [DAT](INFO): direction in FSK: [0.247140,0.534859,0.807990]
2025-08-22T16:14:09.695Z,1755879249.695 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:09.707Z,1755879249.707 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.009884
2025-08-22T16:14:09.845Z,1755879249.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503961 s,
      deltaX: -0.300000 m,
      approachRate: -0.595284 m/s,
      rangeRepo size: 4

2025-08-22T16:14:09.851Z,1755879249.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490838 m,
      bearing: 76.026685 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503961 s,
      deltaX: -0.298169 m,
      approachRate: -0.591650 m/s,
      posRepo size: 4

2025-08-22T16:14:09.935Z,1755879249.935 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.238008
2025-08-22T16:14:10.176Z,1755879250.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:10.188Z,1755879250.188 [DAT](INFO): DAT read: Rx Time:16:14:10.8830 

2025-08-22T16:14:10.189Z,1755879250.189 [DAT](INFO): Rx dataTimestamp_ set to:1755879250.188219
2025-08-22T16:14:10.191Z,1755879250.191 [DAT](INFO): DAT read: Bearing 239.3,  35.7 (Local)

2025-08-22T16:14:10.191Z,1755879250.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.3,  35.7 (Local)

2025-08-22T16:14:10.194Z,1755879250.194 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:10.200Z,1755879250.200 [DAT](INFO): DAT read: 16:14:10.8830 LVL= 21488, 12257, 22834, 24803, AGC= 40, IDX= 502, 0.17, 2.898, 1.463, 1.505,-2.743, PHS=-0.540,-2.032,-2.079, RAW=  88.5,  47.3, CAL=  87.0,  53.5, ROT=  63.0, -53.5

2025-08-22T16:14:10.201Z,1755879250.201 [DAT](INFO): got valid direction response:
 16:14:10.8830 LVL= 21488, 12257, 22834, 24803, AGC= 40, IDX= 502, 0.17, 2.898, 1.463, 1.505,-2.743, PHS=-0.540,-2.032,-2.079, RAW=  88.5,  47.3, CAL=  87.0,  53.5, ROT=  63.0, -53.5

2025-08-22T16:14:10.201Z,1755879250.201 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-22T16:14:10.207Z,1755879250.207 [DAT](INFO): direction in FSK: [0.270044,0.529991,0.803857]
2025-08-22T16:14:10.207Z,1755879250.207 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:10.225Z,1755879250.225 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.528200
2025-08-22T16:14:10.439Z,1755879250.439 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.741926
2025-08-22T16:14:10.651Z,1755879250.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504485 s,
      deltaX: 0.200000 m,
      approachRate: 0.396444 m/s,
      rangeRepo size: 4

2025-08-22T16:14:10.653Z,1755879250.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689617 m,
      bearing: 72.941937 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504485 s,
      deltaX: 0.198779 m,
      approachRate: 0.394023 m/s,
      posRepo size: 4

2025-08-22T16:14:10.691Z,1755879250.691 [DAT](INFO): DAT read: Rx Time:16:14:11.3829 

2025-08-22T16:14:10.692Z,1755879250.692 [DAT](INFO): Rx dataTimestamp_ set to:1755879250.691405
2025-08-22T16:14:10.693Z,1755879250.693 [DAT](INFO): DAT read: Bearing 243.2,  36.2 (Local)

2025-08-22T16:14:10.694Z,1755879250.694 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.2,  36.2 (Local)

2025-08-22T16:14:10.697Z,1755879250.697 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:10.703Z,1755879250.703 [DAT](INFO): DAT read: 16:14:11.3829 LVL= 23968, 11233, 25682, 27043, AGC= 42, IDX= 501, 0.30, 1.908, 0.640, 0.538, 2.569, PHS=-0.559,-1.884,-2.075, RAW=  83.4,  48.2, CAL=  81.3,  54.4, ROT=  68.7, -54.4

2025-08-22T16:14:10.705Z,1755879250.705 [DAT](INFO): got valid direction response:
 16:14:11.3829 LVL= 23968, 11233, 25682, 27043, AGC= 42, IDX= 501, 0.30, 1.908, 0.640, 0.538, 2.569, PHS=-0.559,-1.884,-2.075, RAW=  83.4,  48.2, CAL=  81.3,  54.4, ROT=  68.7, -54.4

2025-08-22T16:14:10.705Z,1755879250.705 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-22T16:14:10.707Z,1755879250.707 [DAT](INFO): direction in FSK: [0.211457,0.542359,0.813101]
2025-08-22T16:14:10.707Z,1755879250.707 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:10.713Z,1755879250.713 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.015627
2025-08-22T16:14:10.943Z,1755879250.943 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.245886
2025-08-22T16:14:11.155Z,1755879251.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503186 s,
      deltaX: -0.200000 m,
      approachRate: -0.397467 m/s,
      rangeRepo size: 4

2025-08-22T16:14:11.157Z,1755879251.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490842 m,
      bearing: 79.397472 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.503186 s,
      deltaX: -0.198775 m,
      approachRate: -0.395033 m/s,
      posRepo size: 4

2025-08-22T16:14:11.196Z,1755879251.196 [DAT](INFO): DAT read: Rx Time:16:14:11.8830 

2025-08-22T16:14:11.197Z,1755879251.197 [DAT](INFO): Rx dataTimestamp_ set to:1755879251.196303
2025-08-22T16:14:11.199Z,1755879251.199 [DAT](INFO): DAT read: Bearing 241.9,  36.0 (Local)

2025-08-22T16:14:11.199Z,1755879251.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.9,  36.0 (Local)

2025-08-22T16:14:11.201Z,1755879251.201 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:11.206Z,1755879251.206 [DAT](INFO): DAT read: 16:14:11.8830 LVL= 23744, 12049, 25746, 27251, AGC= 41, IDX= 502, 0.49, 2.540, 1.232, 1.167,-3.083, PHS=-0.557,-1.922,-2.077, RAW=  84.7,  48.0, CAL=  82.8,  54.3, ROT=  67.2, -54.3

2025-08-22T16:14:11.207Z,1755879251.207 [DAT](INFO): got valid direction response:
 16:14:11.8830 LVL= 23744, 12049, 25746, 27251, AGC= 41, IDX= 502, 0.49, 2.540, 1.232, 1.167,-3.083, PHS=-0.557,-1.922,-2.077, RAW=  84.7,  48.0, CAL=  82.8,  54.3, ROT=  67.2, -54.3

2025-08-22T16:14:11.208Z,1755879251.208 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-22T16:14:11.208Z,1755879251.208 [DAT](INFO): direction in FSK: [0.226131,0.537945,0.812084]
2025-08-22T16:14:11.209Z,1755879251.209 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:11.212Z,1755879251.212 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.515614
2025-08-22T16:14:11.447Z,1755879251.447 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.749929
2025-08-22T16:14:11.478Z,1755879251.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504898 s,
      deltaX: 0.200000 m,
      approachRate: 0.396120 m/s,
      rangeRepo size: 4

2025-08-22T16:14:11.480Z,1755879251.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689621 m,
      bearing: 77.718111 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504898 s,
      deltaX: 0.198779 m,
      approachRate: 0.393701 m/s,
      posRepo size: 4

2025-08-22T16:14:11.700Z,1755879251.700 [DAT](INFO): DAT read: Rx Time:16:14:12.3829 

2025-08-22T16:14:11.700Z,1755879251.700 [DAT](INFO): Rx dataTimestamp_ set to:1755879251.699906
2025-08-22T16:14:11.702Z,1755879251.702 [DAT](INFO): DAT read: Bearing 245.5,  36.4 (Local)

2025-08-22T16:14:11.703Z,1755879251.703 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.5,  36.4 (Local)

2025-08-22T16:14:11.706Z,1755879251.706 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:11.710Z,1755879251.710 [DAT](INFO): DAT read: 16:14:12.3829 LVL= 23360, 11121, 25906, 27267, AGC= 42, IDX= 502,-0.29,-0.584,-1.743,-1.926, 0.094, PHS=-0.576,-1.793,-2.064, RAW=  80.1,  48.8, CAL=  77.7,  54.9, ROT=  72.3, -54.9

2025-08-22T16:14:11.711Z,1755879251.711 [DAT](INFO): got valid direction response:
 16:14:12.3829 LVL= 23360, 11121, 25906, 27267, AGC= 42, IDX= 502,-0.29,-0.584,-1.743,-1.926, 0.094, PHS=-0.576,-1.793,-2.064, RAW=  80.1,  48.8, CAL=  77.7,  54.9, ROT=  72.3, -54.9

2025-08-22T16:14:11.712Z,1755879251.712 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-22T16:14:11.713Z,1755879251.713 [DAT](INFO): direction in FSK: [0.174821,0.547785,0.818150]
2025-08-22T16:14:11.713Z,1755879251.713 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:11.717Z,1755879251.717 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.020554
2025-08-22T16:14:11.912Z,1755879251.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503603 s,
      deltaX: -0.200000 m,
      approachRate: -0.397138 m/s,
      rangeRepo size: 4

2025-08-22T16:14:11.918Z,1755879251.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490846 m,
      bearing: 83.461794 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.503603 s,
      deltaX: -0.198775 m,
      approachRate: -0.394705 m/s,
      posRepo size: 4

2025-08-22T16:14:11.951Z,1755879251.951 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.254160
2025-08-22T16:14:12.203Z,1755879252.203 [DAT](INFO): DAT read: Rx Time:16:14:12.8829 

2025-08-22T16:14:12.204Z,1755879252.204 [DAT](INFO): Rx dataTimestamp_ set to:1755879252.203293
2025-08-22T16:14:12.205Z,1755879252.205 [DAT](INFO): DAT read: Bearing 245.3,  36.4 (Local)

2025-08-22T16:14:12.205Z,1755879252.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.3,  36.4 (Local)

2025-08-22T16:14:12.207Z,1755879252.207 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:12.212Z,1755879252.212 [DAT](INFO): DAT read: 16:14:12.8829 LVL= 23488, 10865, 25794, 26931, AGC= 42, IDX= 502,-0.18,-0.466,-1.628,-1.810, 0.212, PHS=-0.577,-1.796,-2.066, RAW=  80.2,  48.8, CAL=  77.7,  54.9, ROT=  72.3, -54.9

2025-08-22T16:14:12.213Z,1755879252.213 [DAT](INFO): got valid direction response:
 16:14:12.8829 LVL= 23488, 10865, 25794, 26931, AGC= 42, IDX= 502,-0.18,-0.466,-1.628,-1.810, 0.212, PHS=-0.577,-1.796,-2.066, RAW=  80.2,  48.8, CAL=  77.7,  54.9, ROT=  72.3, -54.9

2025-08-22T16:14:12.213Z,1755879252.213 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-22T16:14:12.214Z,1755879252.214 [DAT](INFO): direction in FSK: [0.174821,0.547785,0.818150]
2025-08-22T16:14:12.214Z,1755879252.214 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:12.218Z,1755879252.218 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:14:12.219Z,1755879252.219 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.522108
2025-08-22T16:14:12.335Z,1755879252.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503387 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:12.337Z,1755879252.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490846 m,
      bearing: 82.655541 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.503387 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:12.455Z,1755879252.455 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.757912
2025-08-22T16:14:12.707Z,1755879252.707 [DAT](INFO): DAT read: Rx Time:16:14:13.3829 

2025-08-22T16:14:12.708Z,1755879252.708 [DAT](INFO): Rx dataTimestamp_ set to:1755879252.707401
2025-08-22T16:14:12.709Z,1755879252.709 [DAT](INFO): DAT read: Bearing 242.5,  35.9 (Local)

2025-08-22T16:14:12.709Z,1755879252.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.5,  35.9 (Local)

2025-08-22T16:14:12.711Z,1755879252.711 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:12.716Z,1755879252.716 [DAT](INFO): DAT read: 16:14:13.3829 LVL= 23664, 12241, 25522, 27347, AGC= 41, IDX= 501,-0.06,-0.745,-2.007,-2.104,-0.076, PHS=-0.567,-1.886,-2.072, RAW=  83.5,  48.4, CAL=  81.5,  54.6, ROT=  68.5, -54.6

2025-08-22T16:14:12.717Z,1755879252.717 [DAT](INFO): got valid direction response:
 16:14:13.3829 LVL= 23664, 12241, 25522, 27347, AGC= 41, IDX= 501,-0.06,-0.745,-2.007,-2.104,-0.076, PHS=-0.567,-1.886,-2.072, RAW=  83.5,  48.4, CAL=  81.5,  54.6, ROT=  68.5, -54.6

2025-08-22T16:14:12.717Z,1755879252.717 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:14:12.726Z,1755879252.726 [DAT](INFO): direction in FSK: [0.212307,0.538973,0.815128]
2025-08-22T16:14:12.727Z,1755879252.727 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:12.730Z,1755879252.730 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.033606
2025-08-22T16:14:12.750Z,1755879252.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504108 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:12.752Z,1755879252.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490846 m,
      bearing: 78.265447 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.504108 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:12.959Z,1755879252.959 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.261986
2025-08-22T16:14:13.141Z,1755879253.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:13.185Z,1755879253.185 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:14:13.212Z,1755879253.212 [DAT](INFO): DAT read: Rx Time:16:14:13.8830 

2025-08-22T16:14:13.213Z,1755879253.213 [DAT](INFO): Rx dataTimestamp_ set to:1755879253.212221
2025-08-22T16:14:13.214Z,1755879253.214 [DAT](INFO): DAT read: Bearing 243.4,  36.2 (Local)

2025-08-22T16:14:13.215Z,1755879253.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.4,  36.2 (Local)

2025-08-22T16:14:13.222Z,1755879253.222 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:14:13.224Z,1755879253.224 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:13.231Z,1755879253.231 [DAT](INFO): DAT read: 16:14:13.8830 LVL= 23664, 10897, 25810, 27235, AGC= 42, IDX= 502, 0.05, 1.395, 0.159, 0.028, 2.062, PHS=-0.565,-1.858,-2.078, RAW=  82.2,  48.3, CAL=  80.1,  54.6, ROT=  69.9, -54.6

2025-08-22T16:14:13.233Z,1755879253.233 [DAT](INFO): got valid direction response:
 16:14:13.8830 LVL= 23664, 10897, 25810, 27235, AGC= 42, IDX= 502, 0.05, 1.395, 0.159, 0.028, 2.062, PHS=-0.565,-1.858,-2.078, RAW=  82.2,  48.3, CAL=  80.1,  54.6, ROT=  69.9, -54.6

2025-08-22T16:14:13.233Z,1755879253.233 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-22T16:14:13.234Z,1755879253.234 [DAT](INFO): direction in FSK: [0.199076,0.544000,0.815128]
2025-08-22T16:14:13.234Z,1755879253.234 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:13.238Z,1755879253.238 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.541368
2025-08-22T16:14:13.463Z,1755879253.463 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.765932
2025-08-22T16:14:13.504Z,1755879253.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504820 s,
      deltaX: 0.200000 m,
      approachRate: 0.396181 m/s,
      rangeRepo size: 4

2025-08-22T16:14:13.510Z,1755879253.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689627 m,
      bearing: 79.596494 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.504820 s,
      deltaX: 0.198781 m,
      approachRate: 0.393766 m/s,
      posRepo size: 4

2025-08-22T16:14:13.719Z,1755879253.719 [DAT](INFO): DAT read: Rx Time:16:14:14.3829 

2025-08-22T16:14:13.720Z,1755879253.720 [DAT](INFO): Rx dataTimestamp_ set to:1755879253.719337
2025-08-22T16:14:13.721Z,1755879253.721 [DAT](INFO): DAT read: Bearing 238.8,  35.4 (Local)

2025-08-22T16:14:13.721Z,1755879253.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.8,  35.4 (Local)

2025-08-22T16:14:13.723Z,1755879253.723 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:13.729Z,1755879253.729 [DAT](INFO): DAT read: 16:14:14.3829 LVL= 21136, 12241, 23266, 24051, AGC= 40, IDX= 501, 0.15, 0.374,-1.034,-1.016, 1.027, PHS=-0.551,-2.016,-2.086, RAW=  87.7,  47.6, CAL=  86.2,  53.8, ROT=  63.8, -53.8

2025-08-22T16:14:13.735Z,1755879253.735 [DAT](INFO): got valid direction response:
 16:14:14.3829 LVL= 21136, 12241, 23266, 24051, AGC= 40, IDX= 501, 0.15, 0.374,-1.034,-1.016, 1.027, PHS=-0.551,-2.016,-2.086, RAW=  87.7,  47.6, CAL=  86.2,  53.8, ROT=  63.8, -53.8

2025-08-22T16:14:13.735Z,1755879253.735 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-22T16:14:13.736Z,1755879253.736 [DAT](INFO): direction in FSK: [0.260756,0.529926,0.806960]
2025-08-22T16:14:13.736Z,1755879253.736 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:13.740Z,1755879253.740 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.043123
2025-08-22T16:14:13.918Z,1755879253.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.507116 s,
      deltaX: -0.200000 m,
      approachRate: -0.394387 m/s,
      rangeRepo size: 4

2025-08-22T16:14:13.920Z,1755879253.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490848 m,
      bearing: 72.846138 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.507116 s,
      deltaX: -0.198779 m,
      approachRate: -0.391980 m/s,
      posRepo size: 4

2025-08-22T16:14:13.967Z,1755879253.967 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.270752
2025-08-22T16:14:14.219Z,1755879254.219 [DAT](INFO): DAT read: Rx Time:16:14:14.8830 

2025-08-22T16:14:14.220Z,1755879254.220 [DAT](INFO): Rx dataTimestamp_ set to:1755879254.219292
2025-08-22T16:14:14.221Z,1755879254.221 [DAT](INFO): DAT read: Bearing 239.0,  35.5 (Local)

2025-08-22T16:14:14.221Z,1755879254.221 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.0,  35.5 (Local)

2025-08-22T16:14:14.223Z,1755879254.223 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:14.229Z,1755879254.229 [DAT](INFO): DAT read: 16:14:14.8830 LVL= 21104, 12081, 23250, 24435, AGC= 41, IDX= 502, 0.30, 1.835, 0.428, 0.441, 2.484, PHS=-0.548,-2.011,-2.087, RAW=  87.5,  47.5, CAL=  85.9,  53.7, ROT=  64.1, -53.7

2025-08-22T16:14:14.230Z,1755879254.230 [DAT](INFO): got valid direction response:
 16:14:14.8830 LVL= 21104, 12081, 23250, 24435, AGC= 41, IDX= 502, 0.30, 1.835, 0.428, 0.441, 2.484, PHS=-0.548,-2.011,-2.087, RAW=  87.5,  47.5, CAL=  85.9,  53.7, ROT=  64.1, -53.7

2025-08-22T16:14:14.231Z,1755879254.231 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-22T16:14:14.232Z,1755879254.232 [DAT](INFO): direction in FSK: [0.258592,0.532550,0.805928]
2025-08-22T16:14:14.232Z,1755879254.232 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:14.235Z,1755879254.235 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.538696
2025-08-22T16:14:14.341Z,1755879254.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.499955 s,
      deltaX: 0.200000 m,
      approachRate: 0.400036 m/s,
      rangeRepo size: 4

2025-08-22T16:14:14.363Z,1755879254.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689627 m,
      bearing: 73.396926 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.499955 s,
      deltaX: 0.198780 m,
      approachRate: 0.397595 m/s,
      posRepo size: 4

2025-08-22T16:14:14.471Z,1755879254.471 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.774122
2025-08-22T16:14:14.723Z,1755879254.723 [DAT](INFO): DAT read: Rx Time:16:14:15.3829 

2025-08-22T16:14:14.724Z,1755879254.724 [DAT](INFO): Rx dataTimestamp_ set to:1755879254.723417
2025-08-22T16:14:14.725Z,1755879254.725 [DAT](INFO): DAT read: Bearing 242.5,  36.0 (Local)

2025-08-22T16:14:14.725Z,1755879254.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.5,  36.0 (Local)

2025-08-22T16:14:14.727Z,1755879254.727 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:14.732Z,1755879254.732 [DAT](INFO): DAT read: 16:14:15.3829 LVL= 23760, 10801, 25650, 26963, AGC= 42, IDX= 501, 0.49, 0.107,-1.157,-1.260, 0.768, PHS=-0.559,-1.880,-2.073, RAW=  83.3,  48.2, CAL=  81.3,  54.4, ROT=  68.7, -54.4

2025-08-22T16:14:14.733Z,1755879254.733 [DAT](INFO): got valid direction response:
 16:14:15.3829 LVL= 23760, 10801, 25650, 26963, AGC= 42, IDX= 501, 0.49, 0.107,-1.157,-1.260, 0.768, PHS=-0.559,-1.880,-2.073, RAW=  83.3,  48.2, CAL=  81.3,  54.4, ROT=  68.7, -54.4

2025-08-22T16:14:14.733Z,1755879254.733 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-22T16:14:14.734Z,1755879254.734 [DAT](INFO): direction in FSK: [0.211457,0.542359,0.813101]
2025-08-22T16:14:14.734Z,1755879254.734 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:14.742Z,1755879254.742 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.045462
2025-08-22T16:14:14.894Z,1755879254.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504125 s,
      deltaX: -0.200000 m,
      approachRate: -0.396727 m/s,
      rangeRepo size: 4

2025-08-22T16:14:14.896Z,1755879254.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 78.721192 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.504125 s,
      deltaX: -0.198778 m,
      approachRate: -0.394303 m/s,
      posRepo size: 4

2025-08-22T16:14:14.975Z,1755879254.975 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.278376
2025-08-22T16:14:15.227Z,1755879255.227 [DAT](INFO): DAT read: Rx Time:16:14:15.8829 

2025-08-22T16:14:15.228Z,1755879255.228 [DAT](INFO): Rx dataTimestamp_ set to:1755879255.227483
2025-08-22T16:14:15.229Z,1755879255.229 [DAT](INFO): DAT read: Bearing 239.1,  35.2 (Local)

2025-08-22T16:14:15.230Z,1755879255.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.1,  35.2 (Local)

2025-08-22T16:14:15.232Z,1755879255.232 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:15.237Z,1755879255.237 [DAT](INFO): DAT read: 16:14:15.8829 LVL= 21136, 12097, 23154, 24307, AGC= 41, IDX= 502,-0.30,-1.820, 3.077, 3.097,-1.166, PHS=-0.552,-1.995,-2.064, RAW=  87.7,  47.8, CAL=  86.2,  53.9, ROT=  63.8, -53.9

2025-08-22T16:14:15.238Z,1755879255.238 [DAT](INFO): got valid direction response:
 16:14:15.8829 LVL= 21136, 12097, 23154, 24307, AGC= 41, IDX= 502,-0.30,-1.820, 3.077, 3.097,-1.166, PHS=-0.552,-1.995,-2.064, RAW=  87.7,  47.8, CAL=  86.2,  53.9, ROT=  63.8, -53.9

2025-08-22T16:14:15.238Z,1755879255.238 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T16:14:15.239Z,1755879255.239 [DAT](INFO): direction in FSK: [0.260134,0.528661,0.807990]
2025-08-22T16:14:15.239Z,1755879255.239 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:15.243Z,1755879255.243 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.546364
2025-08-22T16:14:15.337Z,1755879255.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:15.343Z,1755879255.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 73.532165 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.504066 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:15.479Z,1755879255.479 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.781885
2025-08-22T16:14:15.731Z,1755879255.731 [DAT](INFO): DAT read: Rx Time:16:14:16.3828 

2025-08-22T16:14:15.732Z,1755879255.732 [DAT](INFO): Rx dataTimestamp_ set to:1755879255.731374
2025-08-22T16:14:15.733Z,1755879255.733 [DAT](INFO): DAT read: Bearing 244.9,  36.5 (Local)

2025-08-22T16:14:15.733Z,1755879255.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.9,  36.5 (Local)

2025-08-22T16:14:15.735Z,1755879255.735 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-22T16:14:15.740Z,1755879255.740 [DAT](INFO): DAT read: 16:14:16.3828 LVL= 23840, 11057, 26162, 27379, AGC= 42, IDX= 501,-0.17,-2.824, 2.280, 2.107,-2.163, PHS=-0.559,-1.796,-2.058, RAW=  80.6,  48.4, CAL=  78.2,  54.5, ROT=  71.8, -54.5

2025-08-22T16:14:15.741Z,1755879255.741 [DAT](INFO): got valid direction response:
 16:14:16.3828 LVL= 23840, 11057, 26162, 27379, AGC= 42, IDX= 501,-0.17,-2.824, 2.280, 2.107,-2.163, PHS=-0.559,-1.796,-2.058, RAW=  80.6,  48.4, CAL=  78.2,  54.5, ROT=  71.8, -54.5

2025-08-22T16:14:15.741Z,1755879255.741 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T16:14:15.746Z,1755879255.746 [DAT](INFO): direction in FSK: [0.181374,0.551652,0.814116]
2025-08-22T16:14:15.747Z,1755879255.747 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:15.750Z,1755879255.750 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.053623
2025-08-22T16:14:15.848Z,1755879255.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.503891 s,
      deltaX: -0.100000 m,
      approachRate: -0.198456 m/s,
      rangeRepo size: 4

2025-08-22T16:14:15.854Z,1755879255.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.391460 m,
      bearing: 82.503917 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.503891 s,
      deltaX: -0.099389 m,
      approachRate: -0.197243 m/s,
      posRepo size: 4

2025-08-22T16:14:15.983Z,1755879255.983 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.286087
2025-08-22T16:14:16.220Z,1755879256.220 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:16.235Z,1755879256.235 [DAT](INFO): DAT read: Rx Time:16:14:16.8830 

2025-08-22T16:14:16.236Z,1755879256.236 [DAT](INFO): Rx dataTimestamp_ set to:1755879256.235274
2025-08-22T16:14:16.237Z,1755879256.237 [DAT](INFO): DAT read: Bearing 238.3,  35.1 (Local)

2025-08-22T16:14:16.237Z,1755879256.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.3,  35.1 (Local)

2025-08-22T16:14:16.239Z,1755879256.239 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:16.244Z,1755879256.244 [DAT](INFO): DAT read: 16:14:16.8830 LVL= 21536, 12641, 22994, 24883, AGC= 41, IDX= 502,-0.06,-1.475,-2.914,-2.850,-0.831, PHS=-0.543,-2.038,-2.063, RAW=  89.2,  47.4, CAL=  87.9,  53.6, ROT=  62.1, -53.6

2025-08-22T16:14:16.245Z,1755879256.245 [DAT](INFO): got valid direction response:
 16:14:16.8830 LVL= 21536, 12641, 22994, 24883, AGC= 41, IDX= 502,-0.06,-1.475,-2.914,-2.850,-0.831, PHS=-0.543,-2.038,-2.063, RAW=  89.2,  47.4, CAL=  87.9,  53.6, ROT=  62.1, -53.6

2025-08-22T16:14:16.245Z,1755879256.245 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T16:14:16.246Z,1755879256.246 [DAT](INFO): direction in FSK: [0.277678,0.524443,0.804894]
2025-08-22T16:14:16.246Z,1755879256.246 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:16.250Z,1755879256.250 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.553223
2025-08-22T16:14:16.487Z,1755879256.487 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.789879
2025-08-22T16:14:16.723Z,1755879256.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503900 s,
      deltaX: 0.300000 m,
      approachRate: 0.595356 m/s,
      rangeRepo size: 4

2025-08-22T16:14:16.725Z,1755879256.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689630 m,
      bearing: 72.305343 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.503900 s,
      deltaX: 0.298170 m,
      approachRate: 0.591725 m/s,
      posRepo size: 4

2025-08-22T16:14:16.739Z,1755879256.739 [DAT](INFO): DAT read: Rx Time:16:14:17.3829 

2025-08-22T16:14:16.740Z,1755879256.740 [DAT](INFO): Rx dataTimestamp_ set to:1755879256.739354
2025-08-22T16:14:16.741Z,1755879256.741 [DAT](INFO): DAT read: Bearing 242.6,  36.1 (Local)

2025-08-22T16:14:16.741Z,1755879256.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.6,  36.1 (Local)

2025-08-22T16:14:16.743Z,1755879256.743 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:16.748Z,1755879256.748 [DAT](INFO): DAT read: 16:14:17.3829 LVL= 24144, 11201, 25538, 27379, AGC= 39, IDX= 501, 0.04,-1.098,-2.379,-2.460,-0.447, PHS=-0.549,-1.887,-2.057, RAW=  84.1,  48.0, CAL=  82.1,  54.2, ROT=  67.9, -54.2

2025-08-22T16:14:16.749Z,1755879256.749 [DAT](INFO): got valid direction response:
 16:14:17.3829 LVL= 24144, 11201, 25538, 27379, AGC= 39, IDX= 501, 0.04,-1.098,-2.379,-2.460,-0.447, PHS=-0.549,-1.887,-2.057, RAW=  84.1,  48.0, CAL=  82.1,  54.2, ROT=  67.9, -54.2

2025-08-22T16:14:16.749Z,1755879256.749 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T16:14:16.750Z,1755879256.750 [DAT](INFO): direction in FSK: [0.220075,0.541980,0.811064]
2025-08-22T16:14:16.750Z,1755879256.750 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:16.762Z,1755879256.762 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.065435
2025-08-22T16:14:16.991Z,1755879256.991 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.293854
2025-08-22T16:14:17.243Z,1755879257.243 [DAT](INFO): DAT read: Rx Time:16:14:17.8830 

2025-08-22T16:14:17.243Z,1755879257.243 [DAT](INFO): Rx dataTimestamp_ set to:1755879257.242974
2025-08-22T16:14:17.244Z,1755879257.244 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:17.245Z,1755879257.245 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-22T16:14:17.246Z,1755879257.246 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.549444
2025-08-22T16:14:17.262Z,1755879257.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 1.007700 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:17.264Z,1755879257.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490850 m,
      bearing: 78.979979 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.504080 s,
      deltaX: -0.198780 m,
      approachRate: -0.394343 m/s,
      posRepo size: 4

2025-08-22T16:14:17.495Z,1755879257.495 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.798195
2025-08-22T16:14:17.747Z,1755879257.747 [DAT](INFO): DAT read: Rx Time:16:14:18.3829 

2025-08-22T16:14:17.748Z,1755879257.748 [DAT](INFO): Rx dataTimestamp_ set to:1755879257.747297
2025-08-22T16:14:17.749Z,1755879257.749 [DAT](INFO): DAT read: Bearing 242.0,  36.0 (Local)

2025-08-22T16:14:17.749Z,1755879257.749 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0,  36.0 (Local)

2025-08-22T16:14:17.751Z,1755879257.751 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:17.756Z,1755879257.756 [DAT](INFO): DAT read: 16:14:18.3829 LVL= 24160, 11121, 25746, 27107, AGC= 40, IDX= 501, 0.29,-0.734,-2.059,-2.102,-0.088, PHS=-0.544,-1.925,-2.057, RAW=  85.5,  47.8, CAL=  83.7,  54.0, ROT=  66.3, -54.0

2025-08-22T16:14:17.757Z,1755879257.757 [DAT](INFO): got valid direction response:
 16:14:18.3829 LVL= 24160, 11121, 25746, 27107, AGC= 40, IDX= 501, 0.29,-0.734,-2.059,-2.102,-0.088, PHS=-0.544,-1.925,-2.057, RAW=  85.5,  47.8, CAL=  83.7,  54.0, ROT=  66.3, -54.0

2025-08-22T16:14:17.757Z,1755879257.757 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T16:14:17.758Z,1755879257.758 [DAT](INFO): direction in FSK: [0.236259,0.538213,0.809017]
2025-08-22T16:14:17.758Z,1755879257.758 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:17.762Z,1755879257.762 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.065582
2025-08-22T16:14:17.999Z,1755879257.999 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.302158
2025-08-22T16:14:18.199Z,1755879258.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504323 s,
      deltaX: -0.200000 m,
      approachRate: -0.396571 m/s,
      rangeRepo size: 4

2025-08-22T16:14:18.201Z,1755879258.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 77.878972 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 1.007943 s,
      deltaX: -0.000001 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-22T16:14:18.252Z,1755879258.252 [DAT](INFO): DAT read: Rx Time:16:14:18.8830 

2025-08-22T16:14:18.252Z,1755879258.252 [DAT](INFO): Rx dataTimestamp_ set to:1755879258.251789
2025-08-22T16:14:18.254Z,1755879258.254 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:18.255Z,1755879258.255 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-22T16:14:18.256Z,1755879258.256 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.559408
2025-08-22T16:14:18.503Z,1755879258.503 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.805817
2025-08-22T16:14:18.617Z,1755879258.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:18.631Z,1755879258.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504492 s,
      deltaX: 0.200000 m,
      approachRate: 0.396438 m/s,
      rangeRepo size: 4

2025-08-22T16:14:18.756Z,1755879258.756 [DAT](INFO): DAT read: Rx Time:16:14:19.3829 

2025-08-22T16:14:18.757Z,1755879258.757 [DAT](INFO): Rx dataTimestamp_ set to:1755879258.756264
2025-08-22T16:14:18.759Z,1755879258.759 [DAT](INFO): DAT read: Bearing 239.1,  35.2 (Local)

2025-08-22T16:14:18.759Z,1755879258.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.1,  35.2 (Local)

2025-08-22T16:14:18.762Z,1755879258.762 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:18.768Z,1755879258.768 [DAT](INFO): DAT read: 16:14:19.3829 LVL= 21408, 12657, 23074, 23939, AGC= 40, IDX= 502,-0.31,-3.129, 1.699, 1.784,-2.487, PHS=-0.541,-2.052,-2.057, RAW=  89.9,  47.4, CAL=  88.6,  53.5, ROT=  61.4, -53.5

2025-08-22T16:14:18.770Z,1755879258.770 [DAT](INFO): got valid direction response:
 16:14:19.3829 LVL= 21408, 12657, 23074, 23939, AGC= 40, IDX= 502,-0.31,-3.129, 1.699, 1.784,-2.487, PHS=-0.541,-2.052,-2.057, RAW=  89.9,  47.4, CAL=  88.6,  53.5, ROT=  61.4, -53.5

2025-08-22T16:14:18.770Z,1755879258.770 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T16:14:18.772Z,1755879258.772 [DAT](INFO): direction in FSK: [0.284737,0.522244,0.803857]
2025-08-22T16:14:18.772Z,1755879258.772 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:18.782Z,1755879258.782 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.085644
2025-08-22T16:14:19.007Z,1755879259.007 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.309898
2025-08-22T16:14:19.143Z,1755879259.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504475 s,
      deltaX: -0.200000 m,
      approachRate: -0.396452 m/s,
      rangeRepo size: 4

2025-08-22T16:14:19.146Z,1755879259.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490848 m,
      bearing: 72.551064 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 1.008967 s,
      deltaX: -0.000001 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-22T16:14:19.259Z,1755879259.259 [DAT](INFO): DAT read: Rx Time:16:14:19.8829 

2025-08-22T16:14:19.260Z,1755879259.260 [DAT](INFO): Rx dataTimestamp_ set to:1755879259.259428
2025-08-22T16:14:19.261Z,1755879259.261 [DAT](INFO): DAT read: Bearing 240.1,  35.4 (Local)

2025-08-22T16:14:19.262Z,1755879259.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.1,  35.4 (Local)

2025-08-22T16:14:19.264Z,1755879259.264 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:19.269Z,1755879259.269 [DAT](INFO): DAT read: 16:14:19.8829 LVL= 21568, 12593, 23522, 24435, AGC= 40, IDX= 502,-0.18,-2.938, 1.919, 1.975,-2.296, PHS=-0.540,-2.023,-2.056, RAW=  88.9,  47.4, CAL=  87.5,  53.6, ROT=  62.5, -53.6

2025-08-22T16:14:19.270Z,1755879259.270 [DAT](INFO): got valid direction response:
 16:14:19.8829 LVL= 21568, 12593, 23522, 24435, AGC= 40, IDX= 502,-0.18,-2.938, 1.919, 1.975,-2.296, PHS=-0.540,-2.023,-2.056, RAW=  88.9,  47.4, CAL=  87.5,  53.6, ROT=  62.5, -53.6

2025-08-22T16:14:19.270Z,1755879259.270 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T16:14:19.271Z,1755879259.271 [DAT](INFO): direction in FSK: [0.274010,0.526369,0.804894]
2025-08-22T16:14:19.272Z,1755879259.272 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:19.275Z,1755879259.275 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.578388
2025-08-22T16:14:19.506Z,1755879259.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503164 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:19.508Z,1755879259.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490848 m,
      bearing: 74.348593 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.503164 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:19.511Z,1755879259.511 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.814030
2025-08-22T16:14:19.766Z,1755879259.766 [DAT](INFO): DAT read: Rx Time:16:14:20.3829 

2025-08-22T16:14:19.766Z,1755879259.766 [DAT](INFO): Rx dataTimestamp_ set to:1755879259.766173
2025-08-22T16:14:19.768Z,1755879259.768 [DAT](INFO): DAT read: Bearing 240.1,  35.5 (Local)

2025-08-22T16:14:19.768Z,1755879259.768 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.1,  35.5 (Local)

2025-08-22T16:14:19.770Z,1755879259.770 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:19.774Z,1755879259.774 [DAT](INFO): DAT read: 16:14:20.3829 LVL= 21216, 12353, 23346, 24499, AGC= 40, IDX= 501,-0.06, 3.088, 1.644, 1.706,-2.557, PHS=-0.536,-2.037,-2.064, RAW=  89.1,  47.3, CAL=  87.8,  53.4, ROT=  62.2, -53.4

2025-08-22T16:14:19.775Z,1755879259.775 [DAT](INFO): got valid direction response:
 16:14:20.3829 LVL= 21216, 12353, 23346, 24499, AGC= 40, IDX= 501,-0.06, 3.088, 1.644, 1.706,-2.557, PHS=-0.536,-2.037,-2.064, RAW=  89.1,  47.3, CAL=  87.8,  53.4, ROT=  62.2, -53.4

2025-08-22T16:14:19.776Z,1755879259.776 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:14:19.777Z,1755879259.777 [DAT](INFO): direction in FSK: [0.278071,0.527409,0.802817]
2025-08-22T16:14:19.777Z,1755879259.777 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:19.818Z,1755879259.818 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.121387
2025-08-22T16:14:19.961Z,1755879259.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.506745 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:19.967Z,1755879259.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 74.264088 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.506745 s,
      deltaX: 0.000001 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-22T16:14:20.015Z,1755879260.015 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.318707
2025-08-22T16:14:20.267Z,1755879260.267 [DAT](INFO): DAT read: Rx Time:16:14:20.8830 

2025-08-22T16:14:20.268Z,1755879260.268 [DAT](INFO): Rx dataTimestamp_ set to:1755879260.267324
2025-08-22T16:14:20.269Z,1755879260.269 [DAT](INFO): DAT read: Bearing 239.9,  35.4 (Local)

2025-08-22T16:14:20.269Z,1755879260.269 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.9,  35.4 (Local)

2025-08-22T16:14:20.271Z,1755879260.271 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:20.276Z,1755879260.276 [DAT](INFO): DAT read: 16:14:20.8830 LVL= 21216, 12465, 23026, 24003, AGC= 40, IDX= 502, 0.04,-1.081,-2.548,-2.468,-0.442, PHS=-0.537,-2.060,-2.069, RAW=  89.7,  47.2, CAL=  88.4,  53.4, ROT=  61.6, -53.4

2025-08-22T16:14:20.277Z,1755879260.277 [DAT](INFO): got valid direction response:
 16:14:20.8830 LVL= 21216, 12465, 23026, 24003, AGC= 40, IDX= 502, 0.04,-1.081,-2.548,-2.468,-0.442, PHS=-0.537,-2.060,-2.069, RAW=  89.7,  47.2, CAL=  88.4,  53.4, ROT=  61.6, -53.4

2025-08-22T16:14:20.277Z,1755879260.277 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:14:20.278Z,1755879260.278 [DAT](INFO): direction in FSK: [0.283579,0.524468,0.802817]
2025-08-22T16:14:20.278Z,1755879260.278 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:20.282Z,1755879260.283 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.585819
2025-08-22T16:14:20.372Z,1755879260.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501151 s,
      deltaX: 0.200000 m,
      approachRate: 0.399081 m/s,
      rangeRepo size: 4

2025-08-22T16:14:20.387Z,1755879260.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689629 m,
      bearing: 73.771253 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.501151 s,
      deltaX: 0.198780 m,
      approachRate: 0.396647 m/s,
      posRepo size: 4

2025-08-22T16:14:20.519Z,1755879260.519 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.821972
2025-08-22T16:14:20.771Z,1755879260.771 [DAT](INFO): DAT read: Rx Time:16:14:21.3829 

2025-08-22T16:14:20.772Z,1755879260.772 [DAT](INFO): Rx dataTimestamp_ set to:1755879260.771525
2025-08-22T16:14:20.773Z,1755879260.773 [DAT](INFO): DAT read: Bearing 243.7,  36.2 (Local)

2025-08-22T16:14:20.773Z,1755879260.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.7,  36.2 (Local)

2025-08-22T16:14:20.775Z,1755879260.775 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:20.780Z,1755879260.780 [DAT](INFO): DAT read: 16:14:21.3829 LVL= 23760, 12337, 25682, 27347, AGC= 40, IDX= 501, 0.15,-2.078, 2.880, 2.836,-1.432, PHS=-0.544,-1.926,-2.059, RAW=  85.5,  47.8, CAL=  83.7,  54.0, ROT=  66.3, -54.0

2025-08-22T16:14:20.781Z,1755879260.781 [DAT](INFO): got valid direction response:
 16:14:21.3829 LVL= 23760, 12337, 25682, 27347, AGC= 40, IDX= 501, 0.15,-2.078, 2.880, 2.836,-1.432, PHS=-0.544,-1.926,-2.059, RAW=  85.5,  47.8, CAL=  83.7,  54.0, ROT=  66.3, -54.0

2025-08-22T16:14:20.781Z,1755879260.781 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:14:20.782Z,1755879260.782 [DAT](INFO): direction in FSK: [0.236259,0.538213,0.809017]
2025-08-22T16:14:20.783Z,1755879260.783 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:20.786Z,1755879260.786 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.089596
2025-08-22T16:14:20.898Z,1755879260.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504201 s,
      deltaX: -0.200000 m,
      approachRate: -0.396667 m/s,
      rangeRepo size: 4

2025-08-22T16:14:20.900Z,1755879260.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 79.363227 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.504201 s,
      deltaX: -0.198780 m,
      approachRate: -0.394247 m/s,
      posRepo size: 4

2025-08-22T16:14:21.023Z,1755879261.023 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.326069
2025-08-22T16:14:21.204Z,1755879261.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:21.276Z,1755879261.276 [DAT](INFO): DAT read: Rx Time:16:14:21.8830 

2025-08-22T16:14:21.277Z,1755879261.277 [DAT](INFO): Rx dataTimestamp_ set to:1755879261.275981
2025-08-22T16:14:21.278Z,1755879261.278 [DAT](INFO): DAT read: Bearing 243.7,  36.2 (Local)

2025-08-22T16:14:21.279Z,1755879261.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.7,  36.2 (Local)

2025-08-22T16:14:21.287Z,1755879261.287 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:21.308Z,1755879261.308 [DAT](INFO): DAT read: 16:14:21.8830 LVL= 23984, 12481, 25714, 27123, AGC= 40, IDX= 502, 0.29,-0.727,-2.065,-2.097,-0.078, PHS=-0.548,-1.942,-2.064, RAW=  85.9,  47.8, CAL=  84.1,  54.0, ROT=  65.9, -54.0

2025-08-22T16:14:21.309Z,1755879261.309 [DAT](INFO): got valid direction response:
 16:14:21.8830 LVL= 23984, 12481, 25714, 27123, AGC= 40, IDX= 502, 0.29,-0.727,-2.065,-2.097,-0.078, PHS=-0.548,-1.942,-2.064, RAW=  85.9,  47.8, CAL=  84.1,  54.0, ROT=  65.9, -54.0

2025-08-22T16:14:21.310Z,1755879261.310 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T16:14:21.311Z,1755879261.311 [DAT](INFO): direction in FSK: [0.240011,0.536550,0.809017]
2025-08-22T16:14:21.312Z,1755879261.312 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:21.328Z,1755879261.328 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.631432
2025-08-22T16:14:21.527Z,1755879261.527 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.829865
2025-08-22T16:14:21.655Z,1755879261.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504456 s,
      deltaX: 0.200000 m,
      approachRate: 0.396467 m/s,
      rangeRepo size: 4

2025-08-22T16:14:21.657Z,1755879261.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689629 m,
      bearing: 79.311886 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.504456 s,
      deltaX: 0.198780 m,
      approachRate: 0.394048 m/s,
      posRepo size: 4

2025-08-22T16:14:21.783Z,1755879261.783 [DAT](INFO): DAT read: Rx Time:16:14:22.3829 

2025-08-22T16:14:21.785Z,1755879261.785 [DAT](INFO): Rx dataTimestamp_ set to:1755879261.783958
2025-08-22T16:14:21.789Z,1755879261.789 [DAT](INFO): DAT read: Bearing 246.3,  36.7 (Local)

2025-08-22T16:14:21.790Z,1755879261.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.3,  36.7 (Local)

2025-08-22T16:14:21.796Z,1755879261.796 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:21.801Z,1755879261.801 [DAT](INFO): DAT read: 16:14:22.3829 LVL= 23904, 11073, 25874, 27123, AGC= 42, IDX= 501, 0.47,-2.469, 2.563, 2.448,-1.816, PHS=-0.551,-1.860,-2.064, RAW=  82.9,  48.1, CAL=  80.8,  54.3, ROT=  69.2, -54.3

2025-08-22T16:14:21.802Z,1755879261.802 [DAT](INFO): got valid direction response:
 16:14:22.3829 LVL= 23904, 11073, 25874, 27123, AGC= 42, IDX= 501, 0.47,-2.469, 2.563, 2.448,-1.816, PHS=-0.551,-1.860,-2.064, RAW=  82.9,  48.1, CAL=  80.8,  54.3, ROT=  69.2, -54.3

2025-08-22T16:14:21.802Z,1755879261.802 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T16:14:21.803Z,1755879261.803 [DAT](INFO): direction in FSK: [0.207220,0.545509,0.812084]
2025-08-22T16:14:21.803Z,1755879261.803 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:21.807Z,1755879261.807 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.110359
2025-08-22T16:14:22.017Z,1755879262.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.507977 s,
      deltaX: -0.200000 m,
      approachRate: -0.393719 m/s,
      rangeRepo size: 4

2025-08-22T16:14:22.019Z,1755879262.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490849 m,
      bearing: 83.119350 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.507977 s,
      deltaX: -0.198781 m,
      approachRate: -0.391318 m/s,
      posRepo size: 4

2025-08-22T16:14:22.032Z,1755879262.032 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.334824
2025-08-22T16:14:22.283Z,1755879262.283 [DAT](INFO): DAT read: Rx Time:16:14:22.8830 

2025-08-22T16:14:22.284Z,1755879262.284 [DAT](INFO): Rx dataTimestamp_ set to:1755879262.283397
2025-08-22T16:14:22.285Z,1755879262.285 [DAT](INFO): DAT read: Bearing 241.8,  35.7 (Local)

2025-08-22T16:14:22.285Z,1755879262.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.8,  35.7 (Local)

2025-08-22T16:14:22.288Z,1755879262.288 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:22.300Z,1755879262.300 [DAT](INFO): DAT read: 16:14:22.8830 LVL= 21232, 12577, 23090, 24259, AGC= 40, IDX= 503,-0.32,-2.494, 2.367, 2.415,-1.846, PHS=-0.546,-2.025,-2.066, RAW=  88.6,  47.5, CAL=  87.3,  53.7, ROT=  62.7, -53.7

2025-08-22T16:14:22.302Z,1755879262.302 [DAT](INFO): got valid direction response:
 16:14:22.8830 LVL= 21232, 12577, 23090, 24259, AGC= 40, IDX= 503,-0.32,-2.494, 2.367, 2.415,-1.846, PHS=-0.546,-2.025,-2.066, RAW=  88.6,  47.5, CAL=  87.3,  53.7, ROT=  62.7, -53.7

2025-08-22T16:14:22.302Z,1755879262.302 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T16:14:22.304Z,1755879262.304 [DAT](INFO): direction in FSK: [0.271527,0.526073,0.805928]
2025-08-22T16:14:22.304Z,1755879262.304 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:22.335Z,1755879262.335 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.632717
2025-08-22T16:14:22.450Z,1755879262.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.499439 s,
      deltaX: 0.200000 m,
      approachRate: 0.400449 m/s,
      rangeRepo size: 4

2025-08-22T16:14:22.452Z,1755879262.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689629 m,
      bearing: 75.886751 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.499439 s,
      deltaX: 0.198780 m,
      approachRate: 0.398006 m/s,
      posRepo size: 4

2025-08-22T16:14:22.535Z,1755879262.535 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.838081
2025-08-22T16:14:22.791Z,1755879262.791 [DAT](INFO): DAT read: Rx Time:16:14:23.3829 

2025-08-22T16:14:22.792Z,1755879262.792 [DAT](INFO): Rx dataTimestamp_ set to:1755879262.791256
2025-08-22T16:14:22.795Z,1755879262.795 [DAT](INFO): DAT read: Bearing 242.0,  35.8 (Local)

2025-08-22T16:14:22.795Z,1755879262.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0,  35.8 (Local)

2025-08-22T16:14:22.797Z,1755879262.797 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:22.803Z,1755879262.803 [DAT](INFO): DAT read: 16:14:23.3829 LVL= 21632, 11969, 23410, 24195, AGC= 41, IDX= 502,-0.19, 2.741, 1.317, 1.361,-2.894, PHS=-0.546,-2.027,-2.073, RAW=  88.5,  47.5, CAL=  87.1,  53.7, ROT=  62.9, -53.7

2025-08-22T16:14:22.804Z,1755879262.804 [DAT](INFO): got valid direction response:
 16:14:23.3829 LVL= 21632, 11969, 23410, 24195, AGC= 41, IDX= 502,-0.19, 2.741, 1.317, 1.361,-2.894, PHS=-0.546,-2.027,-2.073, RAW=  88.5,  47.5, CAL=  87.1,  53.7, ROT=  62.9, -53.7

2025-08-22T16:14:22.804Z,1755879262.804 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:14:22.805Z,1755879262.805 [DAT](INFO): direction in FSK: [0.269689,0.527018,0.805928]
2025-08-22T16:14:22.805Z,1755879262.805 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:22.809Z,1755879262.809 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.112160
2025-08-22T16:14:22.954Z,1755879262.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.507859 s,
      deltaX: -0.200000 m,
      approachRate: -0.393810 m/s,
      rangeRepo size: 4

2025-08-22T16:14:22.956Z,1755879262.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490853 m,
      bearing: 76.217312 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.507859 s,
      deltaX: -0.198775 m,
      approachRate: -0.391399 m/s,
      posRepo size: 4

2025-08-22T16:14:23.039Z,1755879263.039 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.342113
2025-08-22T16:14:23.076Z,1755879263.076 [DockingStepper](FAULT): Timed out moving from: 7327 to: 14700 response: ÿ
2025-08-22T16:14:23.076Z,1755879263.076 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-22T16:14:23.076Z,1755879263.076 [DockingStepper](ERROR): Hardware Fault
2025-08-22T16:14:23.237Z,1755879263.237 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-22T16:14:23.291Z,1755879263.291 [DAT](INFO): DAT read: Rx Time:16:14:23.8830 

2025-08-22T16:14:23.292Z,1755879263.292 [DAT](INFO): Rx dataTimestamp_ set to:1755879263.291394
2025-08-22T16:14:23.293Z,1755879263.293 [DAT](INFO): DAT read: Bearing 242.0,  35.8 (Local)

2025-08-22T16:14:23.293Z,1755879263.293 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.0,  35.8 (Local)

2025-08-22T16:14:23.296Z,1755879263.296 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:23.301Z,1755879263.301 [DAT](INFO): DAT read: 16:14:23.8830 LVL= 21136, 12001, 23778, 24243, AGC= 40, IDX= 502,-0.08, 2.893, 1.469, 1.512,-2.740, PHS=-0.548,-2.029,-2.075, RAW=  88.5,  47.6, CAL=  87.1,  53.7, ROT=  62.9, -53.7

2025-08-22T16:14:23.306Z,1755879263.306 [DAT](INFO): got valid direction response:
 16:14:23.8830 LVL= 21136, 12001, 23778, 24243, AGC= 40, IDX= 502,-0.08, 2.893, 1.469, 1.512,-2.740, PHS=-0.548,-2.029,-2.075, RAW=  88.5,  47.6, CAL=  87.1,  53.7, ROT=  62.9, -53.7

2025-08-22T16:14:23.306Z,1755879263.306 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:14:23.307Z,1755879263.307 [DAT](INFO): direction in FSK: [0.269689,0.527018,0.805928]
2025-08-22T16:14:23.307Z,1755879263.307 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:23.312Z,1755879263.312 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.614841
2025-08-22T16:14:23.331Z,1755879263.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.500138 s,
      deltaX: 0.200000 m,
      approachRate: 0.399890 m/s,
      rangeRepo size: 4

2025-08-22T16:14:23.338Z,1755879263.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689634 m,
      bearing: 76.073036 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.500138 s,
      deltaX: 0.198780 m,
      approachRate: 0.397451 m/s,
      posRepo size: 4

2025-08-22T16:14:23.368Z,1755879263.368 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:14:23.368Z,1755879263.368 [DockingStepper](INFO): Powering down
2025-08-22T16:14:23.543Z,1755879263.543 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.845829
2025-08-22T16:14:23.693Z,1755879263.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:23.800Z,1755879263.800 [DAT](INFO): DAT read: Rx Time:16:14:24.3829 

2025-08-22T16:14:23.802Z,1755879263.802 [DAT](INFO): Rx dataTimestamp_ set to:1755879263.800964
2025-08-22T16:14:23.806Z,1755879263.806 [DAT](INFO): DAT read: Bearing 246.5,  36.7 (Local)

2025-08-22T16:14:23.807Z,1755879263.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  36.7 (Local)

2025-08-22T16:14:23.813Z,1755879263.813 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:23.862Z,1755879263.862 [DAT](INFO): DAT read: 16:14:24.3829 LVL= 23408, 11057, 26082, 27747, AGC= 42, IDX= 501, 0.02, 2.550, 1.301, 1.183,-3.073, PHS=-0.558,-1.865,-2.072, RAW=  82.8,  48.2, CAL=  80.7,  54.4, ROT=  69.3, -54.4

2025-08-22T16:14:23.863Z,1755879263.863 [DAT](INFO): got valid direction response:
 16:14:24.3829 LVL= 23408, 11057, 26082, 27747, AGC= 42, IDX= 501, 0.02, 2.550, 1.301, 1.183,-3.073, PHS=-0.558,-1.865,-2.072, RAW=  82.8,  48.2, CAL=  80.7,  54.4, ROT=  69.3, -54.4

2025-08-22T16:14:23.863Z,1755879263.863 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:14:23.864Z,1755879263.864 [DAT](INFO): direction in FSK: [0.205766,0.544543,0.813101]
2025-08-22T16:14:23.865Z,1755879263.865 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:23.884Z,1755879263.884 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.187664
2025-08-22T16:14:24.049Z,1755879264.049 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.351845
2025-08-22T16:14:24.169Z,1755879264.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.509570 s,
      deltaX: -0.200000 m,
      approachRate: -0.392488 m/s,
      rangeRepo size: 4

2025-08-22T16:14:24.172Z,1755879264.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490852 m,
      bearing: 83.096485 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.509570 s,
      deltaX: -0.198782 m,
      approachRate: -0.390097 m/s,
      posRepo size: 4

2025-08-22T16:14:24.299Z,1755879264.299 [DAT](INFO): DAT read: Rx Time:16:14:24.8830 

2025-08-22T16:14:24.300Z,1755879264.300 [DAT](INFO): Rx dataTimestamp_ set to:1755879264.299312
2025-08-22T16:14:24.301Z,1755879264.301 [DAT](INFO): DAT read: Bearing 244.5,  36.4 (Local)

2025-08-22T16:14:24.301Z,1755879264.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.5,  36.4 (Local)

2025-08-22T16:14:24.303Z,1755879264.303 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:24.308Z,1755879264.308 [DAT](INFO): DAT read: 16:14:24.8830 LVL= 23728, 12401, 26002, 27283, AGC= 41, IDX= 502, 0.13,-2.302, 2.662, 2.609,-1.647, PHS=-0.553,-1.929,-2.071, RAW=  85.1,  47.9, CAL=  83.3,  54.2, ROT=  66.7, -54.2

2025-08-22T16:14:24.309Z,1755879264.309 [DAT](INFO): got valid direction response:
 16:14:24.8830 LVL= 23728, 12401, 26002, 27283, AGC= 41, IDX= 502, 0.13,-2.302, 2.662, 2.609,-1.647, PHS=-0.553,-1.929,-2.071, RAW=  85.1,  47.9, CAL=  83.3,  54.2, ROT=  66.7, -54.2

2025-08-22T16:14:24.309Z,1755879264.309 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:14:24.310Z,1755879264.310 [DAT](INFO): direction in FSK: [0.231377,0.537252,0.811064]
2025-08-22T16:14:24.310Z,1755879264.310 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:24.315Z,1755879264.315 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.618217
2025-08-22T16:14:24.492Z,1755879264.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.498348 s,
      deltaX: 0.200000 m,
      approachRate: 0.401326 m/s,
      rangeRepo size: 4

2025-08-22T16:14:24.510Z,1755879264.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689632 m,
      bearing: 80.044757 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.498348 s,
      deltaX: 0.198780 m,
      approachRate: 0.398878 m/s,
      posRepo size: 4

2025-08-22T16:14:24.556Z,1755879264.556 [DAT](INFO): DAT read: Rx Time:16:14:25.3829 

2025-08-22T16:14:24.558Z,1755879264.558 [DAT](INFO): Rx dataTimestamp_ set to:1755879264.556734
2025-08-22T16:14:24.561Z,1755879264.561 [DAT](INFO): DAT read: Bearing 241.8,  36.0 (Local)

2025-08-22T16:14:24.562Z,1755879264.562 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.8,  36.0 (Local)

2025-08-22T16:14:24.564Z,1755879264.564 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.866856
2025-08-22T16:14:24.810Z,1755879264.810 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:24.838Z,1755879264.838 [DAT](INFO): DAT read: 16:14:25.3829 LVL= 21216, 12081, 23202, 24211, AGC= 40, IDX= 501, 0.24,-2.669, 2.190, 2.222,-2.022, PHS=-0.545,-2.027,-2.083, RAW=  88.1,  47.5, CAL=  86.7,  53.6, ROT=  63.3, -53.6

2025-08-22T16:14:24.839Z,1755879264.839 [DAT](INFO): got valid direction response:
 16:14:25.3829 LVL= 21216, 12081, 23202, 24211, AGC= 40, IDX= 501, 0.24,-2.669, 2.190, 2.222,-2.022, PHS=-0.545,-2.027,-2.083, RAW=  88.1,  47.5, CAL=  86.7,  53.6, ROT=  63.3, -53.6

2025-08-22T16:14:24.840Z,1755879264.840 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:14:24.841Z,1755879264.841 [DAT](INFO): direction in FSK: [0.266634,0.530143,0.804894]
2025-08-22T16:14:24.841Z,1755879264.841 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:24.845Z,1755879264.845 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.147923
2025-08-22T16:14:24.985Z,1755879264.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504231 s,
      deltaX: -0.200000 m,
      approachRate: -0.396644 m/s,
      rangeRepo size: 4

2025-08-22T16:14:24.991Z,1755879264.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490855 m,
      bearing: 75.930117 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504231 s,
      deltaX: -0.198777 m,
      approachRate: -0.394218 m/s,
      posRepo size: 4

2025-08-22T16:14:25.058Z,1755879265.058 [DAT](INFO): DAT read: Rx Time:16:14:25.8830 

2025-08-22T16:14:25.060Z,1755879265.060 [DAT](INFO): Rx dataTimestamp_ set to:1755879265.058716
2025-08-22T16:14:25.063Z,1755879265.063 [DAT](INFO): DAT read: Bearing 241.9,  36.0 (Local)

2025-08-22T16:14:25.064Z,1755879265.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.9,  36.0 (Local)

2025-08-22T16:14:25.066Z,1755879265.066 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.369156
2025-08-22T16:14:25.308Z,1755879265.308 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:25.313Z,1755879265.313 [DAT](INFO): DAT read: 16:14:25.8830 LVL= 20944, 12193, 23106, 24387, AGC= 40, IDX= 502, 0.40,-2.121, 2.754, 2.778,-1.467, PHS=-0.552,-2.016,-2.082, RAW=  87.8,  47.6, CAL=  86.3,  53.8, ROT=  63.7, -53.8

2025-08-22T16:14:25.318Z,1755879265.318 [DAT](INFO): got valid direction response:
 16:14:25.8830 LVL= 20944, 12193, 23106, 24387, AGC= 40, IDX= 502, 0.40,-2.121, 2.754, 2.778,-1.467, PHS=-0.552,-2.016,-2.082, RAW=  87.8,  47.6, CAL=  86.3,  53.8, ROT=  63.7, -53.8

2025-08-22T16:14:25.318Z,1755879265.318 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:14:25.319Z,1755879265.319 [DAT](INFO): direction in FSK: [0.261680,0.529470,0.806960]
2025-08-22T16:14:25.319Z,1755879265.319 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:25.323Z,1755879265.323 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.626335
2025-08-22T16:14:25.562Z,1755879265.562 [DAT](INFO): DAT read: Rx Time:16:14:26.3829 

2025-08-22T16:14:25.563Z,1755879265.563 [DAT](INFO): Rx dataTimestamp_ set to:1755879265.562065
2025-08-22T16:14:25.566Z,1755879265.566 [DAT](INFO): DAT read: Bearing 247.0,  36.8 (Local)

2025-08-22T16:14:25.567Z,1755879265.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0,  36.8 (Local)

2025-08-22T16:14:25.569Z,1755879265.569 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.871731
2025-08-22T16:14:25.715Z,1755879265.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502531 s,
      deltaX: 0.200000 m,
      approachRate: 0.397985 m/s,
      rangeRepo size: 4

2025-08-22T16:14:25.717Z,1755879265.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689636 m,
      bearing: 75.831442 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.502531 s,
      deltaX: 0.198781 m,
      approachRate: 0.395559 m/s,
      posRepo size: 4

2025-08-22T16:14:25.820Z,1755879265.820 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:25.840Z,1755879265.840 [DAT](INFO): DAT read: 16:14:26.3829 LVL= 23568, 10833, 25714, 27379, AGC= 42, IDX= 502,-0.38, 1.696, 0.494, 0.338, 2.371, PHS=-0.572,-1.831,-2.077, RAW=  81.3,  48.6, CAL=  79.0,  54.7, ROT=  71.0, -54.7

2025-08-22T16:14:25.858Z,1755879265.858 [DAT](INFO): got valid direction response:
 16:14:26.3829 LVL= 23568, 10833, 25714, 27379, AGC= 42, IDX= 502,-0.38, 1.696, 0.494, 0.338, 2.371, PHS=-0.572,-1.831,-2.077, RAW=  81.3,  48.6, CAL=  79.0,  54.7, ROT=  71.0, -54.7

2025-08-22T16:14:25.859Z,1755879265.859 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T16:14:25.860Z,1755879265.860 [DAT](INFO): direction in FSK: [0.188132,0.546375,0.816138]
2025-08-22T16:14:25.860Z,1755879265.860 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:25.869Z,1755879265.869 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.172295
2025-08-22T16:14:26.066Z,1755879266.066 [DAT](INFO): DAT read: Rx Time:16:14:26.8830 

2025-08-22T16:14:26.068Z,1755879266.068 [DAT](INFO): Rx dataTimestamp_ set to:1755879266.066720
2025-08-22T16:14:26.079Z,1755879266.079 [DAT](INFO): DAT read: Bearing 244.0,  36.2 (Local)

2025-08-22T16:14:26.080Z,1755879266.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.0,  36.2 (Local)

2025-08-22T16:14:26.098Z,1755879266.098 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:26.101Z,1755879266.101 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-08-22T16:14:26.142Z,1755879266.142 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.445637
2025-08-22T16:14:26.253Z,1755879266.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.760646 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:26.259Z,1755879266.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689642 m,
      bearing: 83.764606 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.760646 s,
      deltaX: 0.000006 m,
      approachRate: 0.000008 m/s,
      posRepo size: 4

2025-08-22T16:14:26.319Z,1755879266.319 [DAT](INFO): DAT read: 16:14:26.8830 LVL= 20976, 10657, 23026, 24515, AGC= 41, IDX= 503,-0.24, 2.259, 0.964, 0.897, 2.930, PHS=-0.569,-1.921,-2.077, RAW=  84.6,  48.3, CAL=  82.7,  54.5, ROT=  67.3, -54.5

2025-08-22T16:14:26.320Z,1755879266.320 [DAT](INFO): got valid direction response:
 16:14:26.8830 LVL= 20976, 10657, 23026, 24515, AGC= 41, IDX= 503,-0.24, 2.259, 0.964, 0.897, 2.930, PHS=-0.569,-1.921,-2.077, RAW=  84.6,  48.3, CAL=  82.7,  54.5, ROT=  67.3, -54.5

2025-08-22T16:14:26.321Z,1755879266.321 [DAT](INFO): #Rx 78: Read direction message, but no range.
2025-08-22T16:14:26.322Z,1755879266.322 [DAT](INFO): direction in FSK: [0.224097,0.535721,0.814116]
2025-08-22T16:14:26.325Z,1755879266.325 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.628380
2025-08-22T16:14:26.537Z,1755879266.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:26.570Z,1755879266.570 [DAT](INFO): DAT read: Rx Time:16:14:27.3830 

2025-08-22T16:14:26.572Z,1755879266.572 [DAT](INFO): Rx dataTimestamp_ set to:1755879266.571092
2025-08-22T16:14:26.576Z,1755879266.576 [DAT](INFO): DAT read: Bearing 247.7,  36.9 (Local)

2025-08-22T16:14:26.578Z,1755879266.578 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.7,  36.9 (Local)

2025-08-22T16:14:26.587Z,1755879266.587 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:26.595Z,1755879266.595 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-08-22T16:14:26.610Z,1755879266.610 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.913166
2025-08-22T16:14:26.855Z,1755879266.855 [DAT](INFO): DAT read: 16:14:27.3830 LVL= 23536, 10801, 25922, 27507, AGC= 42, IDX= 502,-0.12, 1.205, 0.061,-0.142, 1.891, PHS=-0.584,-1.785,-2.077, RAW=  79.4,  48.9, CAL=  76.8,  54.9, ROT=  73.2, -54.9

2025-08-22T16:14:26.856Z,1755879266.856 [DAT](INFO): got valid direction response:
 16:14:27.3830 LVL= 23536, 10801, 25922, 27507, AGC= 42, IDX= 502,-0.12, 1.205, 0.061,-0.142, 1.891, PHS=-0.584,-1.785,-2.077, RAW=  79.4,  48.9, CAL=  76.8,  54.9, ROT=  73.2, -54.9

2025-08-22T16:14:26.856Z,1755879266.856 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-08-22T16:14:26.858Z,1755879266.858 [DAT](INFO): direction in FSK: [0.166195,0.550464,0.818150]
2025-08-22T16:14:26.862Z,1755879266.862 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.164658
2025-08-22T16:14:26.988Z,1755879266.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504372 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:27.010Z,1755879267.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689648 m,
      bearing: 85.918835 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.504372 s,
      deltaX: 0.000007 m,
      approachRate: 0.000013 m/s,
      posRepo size: 4

2025-08-22T16:14:27.077Z,1755879267.077 [DAT](INFO): DAT read: Rx Time:16:14:27.8830 

2025-08-22T16:14:27.079Z,1755879267.079 [DAT](INFO): Rx dataTimestamp_ set to:1755879267.077927
2025-08-22T16:14:27.083Z,1755879267.083 [DAT](INFO): DAT read: Bearing 246.5,  36.7 (Local)

2025-08-22T16:14:27.085Z,1755879267.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  36.7 (Local)

2025-08-22T16:14:27.091Z,1755879267.091 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:27.094Z,1755879267.094 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-08-22T16:14:27.114Z,1755879267.114 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.400654
2025-08-22T16:14:27.326Z,1755879267.326 [DAT](INFO): DAT read: 16:14:27.8830 LVL= 23856, 10577, 25666, 27043, AGC= 42, IDX= 502,-0.02, 2.052, 0.878, 0.699, 2.733, PHS=-0.579,-1.810,-2.078, RAW=  80.4,  48.8, CAL=  77.9,  54.8, ROT=  72.1, -54.8

2025-08-22T16:14:27.327Z,1755879267.327 [DAT](INFO): got valid direction response:
 16:14:27.8830 LVL= 23856, 10577, 25666, 27043, AGC= 42, IDX= 502,-0.02, 2.052, 0.878, 0.699, 2.733, PHS=-0.579,-1.810,-2.078, RAW=  80.4,  48.8, CAL=  77.9,  54.8, ROT=  72.1, -54.8

2025-08-22T16:14:27.327Z,1755879267.327 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-08-22T16:14:27.328Z,1755879267.328 [DAT](INFO): direction in FSK: [0.177170,0.548530,0.817145]
2025-08-22T16:14:27.332Z,1755879267.332 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.635159
2025-08-22T16:14:27.363Z,1755879267.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.506835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:27.365Z,1755879267.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689648 m,
      bearing: 83.884056 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.506835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:27.579Z,1755879267.579 [DAT](INFO): DAT read: Rx Time:16:14:28.3829 

2025-08-22T16:14:27.581Z,1755879267.581 [DAT](INFO): Rx dataTimestamp_ set to:1755879267.579908
2025-08-22T16:14:27.582Z,1755879267.582 [DAT](INFO): DAT read: Bearing 245.5,  36.5 (Local)

2025-08-22T16:14:27.583Z,1755879267.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.5,  36.5 (Local)

2025-08-22T16:14:27.584Z,1755879267.584 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:27.585Z,1755879267.585 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-22T16:14:27.586Z,1755879267.586 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.889694
2025-08-22T16:14:27.763Z,1755879267.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501981 s,
      deltaX: -0.200000 m,
      approachRate: -0.398422 m/s,
      rangeRepo size: 4

2025-08-22T16:14:27.840Z,1755879267.840 [DAT](INFO): DAT read: 16:14:28.3829 LVL= 23760, 10993, 25778, 27235, AGC= 42, IDX=, 0.319, 2.356, PHS=-0.579,-1.831,-2.082, RAW=  81.0,  48.7, CAL=  78.7,  54.8, ROT=  71.3, -54.8

2025-08-22T16:14:27.844Z,1755879267.844 [DAT](INFO): unknown deviceResponse_: 16:14:28.3829 LVL= 23760, 10993, 25778, 27235, AGC= 42, IDX=, 0.319, 2.356, PHS=-0.579,-1.831,-2.082, RAW=  81.0,  48.7, CAL=  78.7,  54.8, ROT=  71.3, -54.8

2025-08-22T16:14:27.848Z,1755879267.848 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.148479
2025-08-22T16:14:28.083Z,1755879268.083 [DAT](INFO): DAT read: Rx Time:16:14:28.8830 

2025-08-22T16:14:28.085Z,1755879268.085 [DAT](INFO): Rx dataTimestamp_ set to:1755879268.083492
2025-08-22T16:14:28.089Z,1755879268.089 [DAT](INFO): DAT read: Bearing 245.3,  36.6 (Local)

2025-08-22T16:14:28.090Z,1755879268.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.3,  36.6 (Local)

2025-08-22T16:14:28.097Z,1755879268.097 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:28.100Z,1755879268.100 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-22T16:14:28.104Z,1755879268.104 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.406914
2025-08-22T16:14:28.242Z,1755879268.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503584 s,
      deltaX: 0.200000 m,
      approachRate: 0.397153 m/s,
      rangeRepo size: 4

2025-08-22T16:14:28.335Z,1755879268.335 [DAT](INFO): DAT read: 16:14:28.8830 LVL= 23968, 10513, 25554, 27187, AGC= 42, IDX= 502, 0.19, 2.994, 1.804, 1.635,-2.612, PHS=-0.575,-1.821,-2.080, RAW=  80.8,  48.6, CAL=  78.4,  54.8, ROT=  71.6, -54.8

2025-08-22T16:14:28.336Z,1755879268.336 [DAT](INFO): got valid direction response:
 16:14:28.8830 LVL= 23968, 10513, 25554, 27187, AGC= 42, IDX= 502, 0.19, 2.994, 1.804, 1.635,-2.612, PHS=-0.575,-1.821,-2.080, RAW=  80.8,  48.6, CAL=  78.4,  54.8, ROT=  71.6, -54.8

2025-08-22T16:14:28.337Z,1755879268.337 [DAT](INFO): #Rx 85: Read direction message, but no range.
2025-08-22T16:14:28.338Z,1755879268.338 [DAT](INFO): direction in FSK: [0.181950,0.546963,0.817145]
2025-08-22T16:14:28.341Z,1755879268.341 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.644077
2025-08-22T16:14:28.588Z,1755879268.588 [DAT](INFO): DAT read: Rx Time:16:14:29.3829 

2025-08-22T16:14:28.589Z,1755879268.589 [DAT](INFO): Rx dataTimestamp_ set to:1755879268.588263
2025-08-22T16:14:28.593Z,1755879268.593 [DAT](INFO): DAT read: Bearing 244.8,  36.5 (Local)

2025-08-22T16:14:28.594Z,1755879268.594 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.8,  36.5 (Local)

2025-08-22T16:14:28.601Z,1755879268.601 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:28.603Z,1755879268.603 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-22T16:14:28.608Z,1755879268.608 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.910316
2025-08-22T16:14:28.646Z,1755879268.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504771 s,
      deltaX: -0.200000 m,
      approachRate: -0.396219 m/s,
      rangeRepo size: 4

2025-08-22T16:14:28.648Z,1755879268.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490869 m,
      bearing: 82.215194 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 1.510336 s,
      deltaX: -0.198780 m,
      approachRate: -0.131613 m/s,
      posRepo size: 4

2025-08-22T16:14:28.852Z,1755879268.852 [DAT](INFO): DAT read: 16:14:29.3829 LVL= 23776, 10657, 25794, 27091, AGC= 42, IDX= 501, 0.33, 1.930, 0.739, 0.569, 2.606, PHS=-0.575,-1.822,-2.082, RAW=  80.7,  48.6, CAL=  78.4,  54.7, ROT=  71.6, -54.7

2025-08-22T16:14:28.856Z,1755879268.856 [DAT](INFO): got valid direction response:
 16:14:29.3829 LVL= 23776, 10657, 25794, 27091, AGC= 42, IDX= 501, 0.33, 1.930, 0.739, 0.569, 2.606, PHS=-0.575,-1.822,-2.082, RAW=  80.7,  48.6, CAL=  78.4,  54.7, ROT=  71.6, -54.7

2025-08-22T16:14:28.857Z,1755879268.857 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-08-22T16:14:28.866Z,1755879268.866 [DAT](INFO): direction in FSK: [0.182400,0.548315,0.816138]
2025-08-22T16:14:28.899Z,1755879268.899 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.202164
2025-08-22T16:14:28.995Z,1755879268.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:29.091Z,1755879269.091 [DAT](INFO): DAT read: Rx Time:16:14:29.8830 

2025-08-22T16:14:29.093Z,1755879269.093 [DAT](INFO): Rx dataTimestamp_ set to:1755879269.091996
2025-08-22T16:14:29.098Z,1755879269.098 [DAT](INFO): DAT read: Bearing 245.3,  36.6 (Local)

2025-08-22T16:14:29.099Z,1755879269.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.3,  36.6 (Local)

2025-08-22T16:14:29.111Z,1755879269.111 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:29.136Z,1755879269.136 [DAT](INFO): DAT read: 16:14:29.8830 LVL= 23744, 10705, 25698, 27363, AGC= 42, IDX= 503,-0.46, 1.826, 0.670, 0.475, 2.508, PHS=-0.580,-1.793,-2.077, RAW=  79.7,  48.8, CAL=  77.2,  54.8, ROT=  72.8, -54.8

2025-08-22T16:14:29.144Z,1755879269.144 [DAT](INFO): got valid direction response:
 16:14:29.8830 LVL= 23744, 10705, 25698, 27363, AGC= 42, IDX= 503,-0.46, 1.826, 0.670, 0.475, 2.508, PHS=-0.580,-1.793,-2.077, RAW=  79.7,  48.8, CAL=  77.2,  54.8, ROT=  72.8, -54.8

2025-08-22T16:14:29.150Z,1755879269.150 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T16:14:29.151Z,1755879269.151 [DAT](INFO): direction in FSK: [0.170456,0.550653,0.817145]
2025-08-22T16:14:29.151Z,1755879269.151 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:29.161Z,1755879269.161 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.464363
2025-08-22T16:14:29.339Z,1755879269.339 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.641884
2025-08-22T16:14:29.400Z,1755879269.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503733 s,
      deltaX: 0.200000 m,
      approachRate: 0.397036 m/s,
      rangeRepo size: 4

2025-08-22T16:14:29.406Z,1755879269.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689647 m,
      bearing: 82.900854 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.503733 s,
      deltaX: 0.198778 m,
      approachRate: 0.394610 m/s,
      posRepo size: 4

2025-08-22T16:14:29.596Z,1755879269.596 [DAT](INFO): DAT read: Rx Time:16:14:30.3829 

2025-08-22T16:14:29.598Z,1755879269.598 [DAT](INFO): Rx dataTimestamp_ set to:1755879269.596589
2025-08-22T16:14:29.602Z,1755879269.602 [DAT](INFO): DAT read: Bearing 245.0,  36.5 (Local)

2025-08-22T16:14:29.602Z,1755879269.602 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.0,  36.5 (Local)

2025-08-22T16:14:29.612Z,1755879269.612 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:29.618Z,1755879269.618 [DAT](INFO): DAT read: 16:14:30.3829 LVL= 23760, 10737, 26098, 27171, AGC= 42, IDX= 502,-0.28, 0.034,-1.114,-1.309, 0.716, PHS=-0.580,-1.785,-2.069, RAW=  79.6,  48.9, CAL=  77.1,  54.9, ROT=  72.9, -54.9

2025-08-22T16:14:29.620Z,1755879269.620 [DAT](INFO): got valid direction response:
 16:14:30.3829 LVL= 23760, 10737, 26098, 27171, AGC= 42, IDX= 502,-0.28, 0.034,-1.114,-1.309, 0.716, PHS=-0.580,-1.785,-2.069, RAW=  79.6,  48.9, CAL=  77.1,  54.9, ROT=  72.9, -54.9

2025-08-22T16:14:29.620Z,1755879269.620 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T16:14:29.622Z,1755879269.622 [DAT](INFO): direction in FSK: [0.169075,0.549586,0.818150]
2025-08-22T16:14:29.622Z,1755879269.622 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:29.626Z,1755879269.626 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.929222
2025-08-22T16:14:29.806Z,1755879269.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504593 s,
      deltaX: -0.200000 m,
      approachRate: -0.396359 m/s,
      rangeRepo size: 4

2025-08-22T16:14:29.808Z,1755879269.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490865 m,
      bearing: 82.777368 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504593 s,
      deltaX: -0.198782 m,
      approachRate: -0.393945 m/s,
      posRepo size: 4

2025-08-22T16:14:29.844Z,1755879269.844 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.147331
2025-08-22T16:14:30.099Z,1755879270.099 [DAT](INFO): DAT read: Rx Time:16:14:30.8830 

2025-08-22T16:14:30.101Z,1755879270.101 [DAT](INFO): Rx dataTimestamp_ set to:1755879270.099817
2025-08-22T16:14:30.105Z,1755879270.105 [DAT](INFO): DAT read: Bearing 239.5,  35.4 (Local)

2025-08-22T16:14:30.106Z,1755879270.106 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.5,  35.4 (Local)

2025-08-22T16:14:30.111Z,1755879270.111 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:30.115Z,1755879270.115 [DAT](INFO): DAT read: 16:14:30.8830 LVL= 21168, 12161, 22946, 24499, AGC= 41, IDX= 503,-0.15, 1.375, 0.024, 0.004, 2.041, PHS=-0.564,-1.973,-2.081, RAW=  86.3,  48.1, CAL=  84.7,  54.2, ROT=  65.3, -54.2

2025-08-22T16:14:30.116Z,1755879270.116 [DAT](INFO): got valid direction response:
 16:14:30.8830 LVL= 21168, 12161, 22946, 24499, AGC= 41, IDX= 503,-0.15, 1.375, 0.024, 0.004, 2.041, PHS=-0.564,-1.973,-2.081, RAW=  86.3,  48.1, CAL=  84.7,  54.2, ROT=  65.3, -54.2

2025-08-22T16:14:30.117Z,1755879270.117 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T16:14:30.118Z,1755879270.118 [DAT](INFO): direction in FSK: [0.244435,0.531439,0.811064]
2025-08-22T16:14:30.118Z,1755879270.118 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:30.162Z,1755879270.162 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.465340
2025-08-22T16:14:30.251Z,1755879270.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503228 s,
      deltaX: 0.200000 m,
      approachRate: 0.397434 m/s,
      rangeRepo size: 4

2025-08-22T16:14:30.258Z,1755879270.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689643 m,
      bearing: 74.163858 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503228 s,
      deltaX: 0.198778 m,
      approachRate: 0.395006 m/s,
      posRepo size: 4

2025-08-22T16:14:30.347Z,1755879270.347 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.649963
2025-08-22T16:14:30.603Z,1755879270.603 [DAT](INFO): DAT read: Rx Time:16:14:31.3830 

2025-08-22T16:14:30.605Z,1755879270.605 [DAT](INFO): Rx dataTimestamp_ set to:1755879270.603677
2025-08-22T16:14:30.608Z,1755879270.608 [DAT](INFO): DAT read: Bearing 238.9,  35.3 (Local)

2025-08-22T16:14:30.609Z,1755879270.609 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.9,  35.3 (Local)

2025-08-22T16:14:30.611Z,1755879270.611 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:30.623Z,1755879270.623 [DAT](INFO): DAT read: 16:14:31.3830 LVL= 21024, 11985, 22962, 24787, AGC= 41, IDX= 502,-0.04, 0.338,-1.028,-1.033, 1.000, PHS=-0.560,-1.983,-2.077, RAW=  86.8,  48.0, CAL=  85.2,  54.1, ROT=  64.8, -54.1

2025-08-22T16:14:30.624Z,1755879270.624 [DAT](INFO): got valid direction response:
 16:14:31.3830 LVL= 21024, 11985, 22962, 24787, AGC= 41, IDX= 502,-0.04, 0.338,-1.028,-1.033, 1.000, PHS=-0.560,-1.983,-2.077, RAW=  86.8,  48.0, CAL=  85.2,  54.1, ROT=  64.8, -54.1

2025-08-22T16:14:30.625Z,1755879270.625 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-22T16:14:30.635Z,1755879270.635 [DAT](INFO): direction in FSK: [0.249665,0.530566,0.810042]
2025-08-22T16:14:30.635Z,1755879270.635 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:30.655Z,1755879270.655 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.958359
2025-08-22T16:14:30.708Z,1755879270.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503860 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:30.719Z,1755879270.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689643 m,
      bearing: 73.451745 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503860 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-22T16:14:30.854Z,1755879270.854 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.156185
2025-08-22T16:14:31.015Z,1755879271.015 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:31.108Z,1755879271.108 [DAT](INFO): DAT read: Rx Time:16:14:31.8830 

2025-08-22T16:14:31.108Z,1755879271.108 [DAT](INFO): Rx dataTimestamp_ set to:1755879271.108152
2025-08-22T16:14:31.110Z,1755879271.110 [DAT](INFO): DAT read: Bearing 237.9,  35.3 (Local)

2025-08-22T16:14:31.110Z,1755879271.110 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.9,  35.3 (Local)

2025-08-22T16:14:31.112Z,1755879271.112 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:31.117Z,1755879271.117 [DAT](INFO): DAT read: 16:14:31.8830 LVL= 21264, 12209, 23026, 24371, AGC= 40, IDX= 502, 0.06, 1.930, 0.516, 0.539, 2.578, PHS=-0.546,-2.017,-2.083, RAW=  87.8,  47.5, CAL=  86.3,  53.7, ROT=  63.7, -53.7

2025-08-22T16:14:31.118Z,1755879271.118 [DAT](INFO): got valid direction response:
 16:14:31.8830 LVL= 21264, 12209, 23026, 24371, AGC= 40, IDX= 502, 0.06, 1.930, 0.516, 0.539, 2.578, PHS=-0.546,-2.017,-2.083, RAW=  87.8,  47.5, CAL=  86.3,  53.7, ROT=  63.7, -53.7

2025-08-22T16:14:31.119Z,1755879271.119 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T16:14:31.120Z,1755879271.120 [DAT](INFO): direction in FSK: [0.262304,0.530732,0.805928]
2025-08-22T16:14:31.120Z,1755879271.120 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:31.124Z,1755879271.124 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.427029
2025-08-22T16:14:31.355Z,1755879271.355 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.657814
2025-08-22T16:14:31.405Z,1755879271.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504475 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:31.407Z,1755879271.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689640 m,
      bearing: 72.136969 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.504475 s,
      deltaX: -0.000003 m,
      approachRate: -0.000005 m/s,
      posRepo size: 4

2025-08-22T16:14:31.610Z,1755879271.610 [DAT](INFO): DAT read: Rx Time:16:14:32.3829 

2025-08-22T16:14:31.610Z,1755879271.610 [DAT](INFO): Rx dataTimestamp_ set to:1755879271.609824
2025-08-22T16:14:31.612Z,1755879271.612 [DAT](INFO): DAT read: Bearing 241.3,  35.9 (Local)

2025-08-22T16:14:31.612Z,1755879271.612 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.3,  35.9 (Local)

2025-08-22T16:14:31.614Z,1755879271.614 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:31.619Z,1755879271.619 [DAT](INFO): DAT read: 16:14:32.3829 LVL= 23792, 11137, 25826, 27619, AGC= 42, IDX= 501, 0.17, 0.867,-0.408,-0.503, 1.524, PHS=-0.555,-1.887,-2.071, RAW=  83.6,  48.1, CAL=  81.6,  54.3, ROT=  68.4, -54.3

2025-08-22T16:14:31.620Z,1755879271.620 [DAT](INFO): got valid direction response:
 16:14:32.3829 LVL= 23792, 11137, 25826, 27619, AGC= 42, IDX= 501, 0.17, 0.867,-0.408,-0.503, 1.524, PHS=-0.555,-1.887,-2.071, RAW=  83.6,  48.1, CAL=  81.6,  54.3, ROT=  68.4, -54.3

2025-08-22T16:14:31.620Z,1755879271.620 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T16:14:31.621Z,1755879271.621 [DAT](INFO): direction in FSK: [0.214816,0.542563,0.812084]
2025-08-22T16:14:31.622Z,1755879271.622 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:31.626Z,1755879271.626 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.929062
2025-08-22T16:14:31.802Z,1755879271.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.501672 s,
      deltaX: -0.200000 m,
      approachRate: -0.398667 m/s,
      rangeRepo size: 4

2025-08-22T16:14:31.804Z,1755879271.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490859 m,
      bearing: 77.448435 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.501672 s,
      deltaX: -0.198781 m,
      approachRate: -0.396237 m/s,
      posRepo size: 4

2025-08-22T16:14:31.859Z,1755879271.859 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.162083
2025-08-22T16:14:32.111Z,1755879272.111 [DAT](INFO): DAT read: Rx Time:16:14:32.8830 

2025-08-22T16:14:32.112Z,1755879272.112 [DAT](INFO): Rx dataTimestamp_ set to:1755879272.111291
2025-08-22T16:14:32.113Z,1755879272.113 [DAT](INFO): DAT read: Bearing 237.9,  35.3 (Local)

2025-08-22T16:14:32.113Z,1755879272.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.9,  35.3 (Local)

2025-08-22T16:14:32.115Z,1755879272.115 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:32.120Z,1755879272.120 [DAT](INFO): DAT read: 16:14:32.8830 LVL= 21552, 12465, 23298, 24099, AGC= 40, IDX= 502, 0.31, 1.522, 0.113, 0.140, 2.166, PHS=-0.542,-2.009,-2.070, RAW=  88.0,  47.5, CAL=  86.5,  53.7, ROT=  63.5, -53.7

2025-08-22T16:14:32.121Z,1755879272.121 [DAT](INFO): got valid direction response:
 16:14:32.8830 LVL= 21552, 12465, 23298, 24099, AGC= 40, IDX= 502, 0.31, 1.522, 0.113, 0.140, 2.166, PHS=-0.542,-2.009,-2.070, RAW=  88.0,  47.5, CAL=  86.5,  53.7, ROT=  63.5, -53.7

2025-08-22T16:14:32.121Z,1755879272.121 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T16:14:32.122Z,1755879272.122 [DAT](INFO): direction in FSK: [0.264155,0.529813,0.805928]
2025-08-22T16:14:32.122Z,1755879272.122 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:32.126Z,1755879272.126 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.429417
2025-08-22T16:14:32.335Z,1755879272.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.501467 s,
      deltaX: 0.200000 m,
      approachRate: 0.398830 m/s,
      rangeRepo size: 4

2025-08-22T16:14:32.337Z,1755879272.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689643 m,
      bearing: 72.212583 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.501467 s,
      deltaX: 0.198784 m,
      approachRate: 0.396406 m/s,
      posRepo size: 4

2025-08-22T16:14:32.363Z,1755879272.363 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.665920
2025-08-22T16:14:32.615Z,1755879272.615 [DAT](INFO): DAT read: Rx Time:16:14:33.3829 

2025-08-22T16:14:32.616Z,1755879272.616 [DAT](INFO): Rx dataTimestamp_ set to:1755879272.615321
2025-08-22T16:14:32.617Z,1755879272.617 [DAT](INFO): DAT read: Bearing 245.7,  36.7 (Local)

2025-08-22T16:14:32.617Z,1755879272.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.7,  36.7 (Local)

2025-08-22T16:14:32.619Z,1755879272.619 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:32.624Z,1755879272.624 [DAT](INFO): DAT read: 16:14:33.3829 LVL= 26688, 11329, 28642, 29859, AGC= 42, IDX= 502,-0.49,-0.983,-2.100,-2.317,-0.317, PHS=-0.564,-1.738,-2.044, RAW=  78.7,  48.6, CAL=  76.0,  54.6, ROT=  74.0, -54.6

2025-08-22T16:14:32.625Z,1755879272.625 [DAT](INFO): got valid direction response:
 16:14:33.3829 LVL= 26688, 11329, 28642, 29859, AGC= 42, IDX= 502,-0.49,-0.983,-2.100,-2.317,-0.317, PHS=-0.564,-1.738,-2.044, RAW=  78.7,  48.6, CAL=  76.0,  54.6, ROT=  74.0, -54.6

2025-08-22T16:14:32.625Z,1755879272.625 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T16:14:32.626Z,1755879272.626 [DAT](INFO): direction in FSK: [0.159672,0.556841,0.815128]
2025-08-22T16:14:32.626Z,1755879272.626 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:32.634Z,1755879272.634 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.937408
2025-08-22T16:14:32.695Z,1755879272.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504030 s,
      deltaX: -0.200000 m,
      approachRate: -0.396802 m/s,
      rangeRepo size: 4

2025-08-22T16:14:32.697Z,1755879272.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490862 m,
      bearing: 84.036469 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.504030 s,
      deltaX: -0.198782 m,
      approachRate: -0.394384 m/s,
      posRepo size: 4

2025-08-22T16:14:32.870Z,1755879272.870 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.172733
2025-08-22T16:14:33.115Z,1755879273.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:33.119Z,1755879273.119 [DAT](INFO): DAT read: Rx Time:16:14:33.8830 

2025-08-22T16:14:33.120Z,1755879273.120 [DAT](INFO): Rx dataTimestamp_ set to:1755879273.119423
2025-08-22T16:14:33.121Z,1755879273.121 [DAT](INFO): DAT read: Bearing 237.8,  35.1 (Local)

2025-08-22T16:14:33.122Z,1755879273.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.8,  35.1 (Local)

2025-08-22T16:14:33.124Z,1755879273.124 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:33.129Z,1755879273.129 [DAT](INFO): DAT read: 16:14:33.8830 LVL= 21552, 12449, 22930, 24179, AGC= 41, IDX= 503,-0.29,-0.267,-1.691,-1.633, 0.376, PHS=-0.542,-2.023,-2.053, RAW=  89.0,  47.5, CAL=  87.6,  53.6, ROT=  62.4, -53.6

2025-08-22T16:14:33.130Z,1755879273.130 [DAT](INFO): got valid direction response:
 16:14:33.8830 LVL= 21552, 12449, 22930, 24179, AGC= 41, IDX= 503,-0.29,-0.267,-1.691,-1.633, 0.376, PHS=-0.542,-2.023,-2.053, RAW=  89.0,  47.5, CAL=  87.6,  53.6, ROT=  62.4, -53.6

2025-08-22T16:14:33.130Z,1755879273.130 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T16:14:33.131Z,1755879273.131 [DAT](INFO): direction in FSK: [0.274929,0.525890,0.804894]
2025-08-22T16:14:33.132Z,1755879273.132 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:33.135Z,1755879273.135 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.438614
2025-08-22T16:14:33.371Z,1755879273.371 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.673920
2025-08-22T16:14:33.450Z,1755879273.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504102 s,
      deltaX: 0.200000 m,
      approachRate: 0.396745 m/s,
      rangeRepo size: 4

2025-08-22T16:14:33.452Z,1755879273.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689636 m,
      bearing: 71.969213 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.504102 s,
      deltaX: 0.198774 m,
      approachRate: 0.394313 m/s,
      posRepo size: 4

2025-08-22T16:14:33.624Z,1755879273.624 [DAT](INFO): DAT read: Rx Time:16:14:34.3829 

2025-08-22T16:14:33.625Z,1755879273.625 [DAT](INFO): Rx dataTimestamp_ set to:1755879273.624263
2025-08-22T16:14:33.627Z,1755879273.627 [DAT](INFO): DAT read: Bearing 243.2,  36.2 (Local)

2025-08-22T16:14:33.627Z,1755879273.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.2,  36.2 (Local)

2025-08-22T16:14:33.629Z,1755879273.629 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:33.633Z,1755879273.633 [DAT](INFO): DAT read: 16:14:34.3829 LVL= 23984, 11249, 25586, 27315, AGC= 42, IDX= 502,-0.16,-1.262,-2.498,-2.610,-0.614, PHS=-0.547,-1.840,-2.040, RAW=  82.9,  48.1, CAL=  80.8,  54.4, ROT=  69.2, -54.4

2025-08-22T16:14:33.634Z,1755879273.634 [DAT](INFO): got valid direction response:
 16:14:34.3829 LVL= 23984, 11249, 25586, 27315, AGC= 42, IDX= 502,-0.16,-1.262,-2.498,-2.610,-0.614, PHS=-0.547,-1.840,-2.040, RAW=  82.9,  48.1, CAL=  80.8,  54.4, ROT=  69.2, -54.4

2025-08-22T16:14:33.635Z,1755879273.635 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T16:14:33.636Z,1755879273.636 [DAT](INFO): direction in FSK: [0.206716,0.544183,0.813101]
2025-08-22T16:14:33.636Z,1755879273.636 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:33.666Z,1755879273.666 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.948761
2025-08-22T16:14:33.871Z,1755879273.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504840 s,
      deltaX: -0.200000 m,
      approachRate: -0.396165 m/s,
      rangeRepo size: 4

2025-08-22T16:14:33.873Z,1755879273.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490855 m,
      bearing: 79.519115 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 0.504840 s,
      deltaX: -0.198781 m,
      approachRate: -0.393750 m/s,
      posRepo size: 4

2025-08-22T16:14:33.875Z,1755879273.875 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.178036
2025-08-22T16:14:34.127Z,1755879274.127 [DAT](INFO): DAT read: Rx Time:16:14:34.8831 

2025-08-22T16:14:34.128Z,1755879274.128 [DAT](INFO): Rx dataTimestamp_ set to:1755879274.127277
2025-08-22T16:14:34.129Z,1755879274.129 [DAT](INFO): DAT read: Bearing 237.4,  35.0 (Local)

2025-08-22T16:14:34.129Z,1755879274.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.4,  35.0 (Local)

2025-08-22T16:14:34.131Z,1755879274.131 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:34.136Z,1755879274.136 [DAT](INFO): DAT read: 16:14:34.8831 LVL= 21552, 12657, 22562, 24547, AGC= 40, IDX= 503,-0.05, 0.047,-1.438,-1.325, 0.683, PHS=-0.534,-2.076,-2.052, RAW=  90.8,  47.1, CAL=  89.6,  53.3, ROT=  60.4, -53.3

2025-08-22T16:14:34.137Z,1755879274.137 [DAT](INFO): got valid direction response:
 16:14:34.8831 LVL= 21552, 12657, 22562, 24547, AGC= 40, IDX= 503,-0.05, 0.047,-1.438,-1.325, 0.683, PHS=-0.534,-2.076,-2.052, RAW=  90.8,  47.1, CAL=  89.6,  53.3, ROT=  60.4, -53.3

2025-08-22T16:14:34.137Z,1755879274.137 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T16:14:34.138Z,1755879274.138 [DAT](INFO): direction in FSK: [0.295192,0.519632,0.801776]
2025-08-22T16:14:34.138Z,1755879274.138 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:34.146Z,1755879274.146 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.449783
2025-08-22T16:14:34.364Z,1755879274.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.503014 s,
      deltaX: 0.300000 m,
      approachRate: 0.596405 m/s,
      rangeRepo size: 4

2025-08-22T16:14:34.371Z,1755879274.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789023 m,
      bearing: 70.631536 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.503014 s,
      deltaX: 0.298168 m,
      approachRate: 0.592763 m/s,
      posRepo size: 4

2025-08-22T16:14:34.379Z,1755879274.379 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.682388
2025-08-22T16:14:34.631Z,1755879274.631 [DAT](INFO): DAT read: Rx Time:16:14:35.3830 

2025-08-22T16:14:34.631Z,1755879274.631 [DAT](INFO): Rx dataTimestamp_ set to:1755879274.630879
2025-08-22T16:14:34.632Z,1755879274.632 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:34.633Z,1755879274.633 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-22T16:14:34.634Z,1755879274.634 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.937225
2025-08-22T16:14:34.797Z,1755879274.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503602 s,
      deltaX: -0.100000 m,
      approachRate: -0.198569 m/s,
      rangeRepo size: 4

2025-08-22T16:14:34.883Z,1755879274.883 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.185860
2025-08-22T16:14:35.135Z,1755879275.135 [DAT](INFO): DAT read: Rx Time:16:14:35.8830 

2025-08-22T16:14:35.135Z,1755879275.135 [DAT](INFO): Rx dataTimestamp_ set to:1755879275.134843
2025-08-22T16:14:35.136Z,1755879275.136 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:35.137Z,1755879275.137 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-22T16:14:35.139Z,1755879275.139 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.441891
2025-08-22T16:14:35.260Z,1755879275.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:35.267Z,1755879275.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503964 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:35.387Z,1755879275.387 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.689926
2025-08-22T16:14:35.640Z,1755879275.640 [DAT](INFO): DAT read: Rx Time:16:14:36.3829 

2025-08-22T16:14:35.643Z,1755879275.643 [DAT](INFO): Rx dataTimestamp_ set to:1755879275.641529
2025-08-22T16:14:35.646Z,1755879275.646 [DAT](INFO): DAT read: Bearing 242.1,  36.1 (Local)

2025-08-22T16:14:35.646Z,1755879275.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.1,  36.1 (Local)

2025-08-22T16:14:35.648Z,1755879275.648 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:35.652Z,1755879275.652 [DAT](INFO): DAT read: 16:14:36.3829 LVL= 23936, 11361, 25938, 27059, AGC= 40, IDX= 501, 0.29,-0.452,-1.824,-1.824, 0.184, PHS=-0.534,-1.963,-2.052, RAW=  87.0,  47.5, CAL=  85.4,  53.7, ROT=  64.6, -53.7

2025-08-22T16:14:35.698Z,1755879275.698 [DAT](INFO): got valid direction response:
 16:14:36.3829 LVL= 23936, 11361, 25938, 27059, AGC= 40, IDX= 501, 0.29,-0.452,-1.824,-1.824, 0.184, PHS=-0.534,-1.963,-2.052, RAW=  87.0,  47.5, CAL=  85.4,  53.7, ROT=  64.6, -53.7

2025-08-22T16:14:35.698Z,1755879275.698 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T16:14:35.699Z,1755879275.699 [DAT](INFO): direction in FSK: [0.253935,0.534786,0.805928]
2025-08-22T16:14:35.699Z,1755879275.699 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:35.748Z,1755879275.748 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.051205
2025-08-22T16:14:35.803Z,1755879275.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.506686 s,
      deltaX: -0.200000 m,
      approachRate: -0.394722 m/s,
      rangeRepo size: 4

2025-08-22T16:14:35.805Z,1755879275.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490848 m,
      bearing: 77.169018 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 1.514252 s,
      deltaX: -0.298175 m,
      approachRate: -0.196913 m/s,
      posRepo size: 4

2025-08-22T16:14:35.891Z,1755879275.891 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.194027
2025-08-22T16:14:36.144Z,1755879276.144 [DAT](INFO): DAT read: Rx Time:16:14:36.8830 

2025-08-22T16:14:36.145Z,1755879276.145 [DAT](INFO): Rx dataTimestamp_ set to:1755879276.143962
2025-08-22T16:14:36.146Z,1755879276.146 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:36.147Z,1755879276.147 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-08-22T16:14:36.148Z,1755879276.148 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.451195
2025-08-22T16:14:36.270Z,1755879276.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.502433 s,
      deltaX: 0.200000 m,
      approachRate: 0.398063 m/s,
      rangeRepo size: 4

2025-08-22T16:14:36.394Z,1755879276.394 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.697807
2025-08-22T16:14:36.647Z,1755879276.647 [DAT](INFO): DAT read: Rx Time:16:14:37.3829 

2025-08-22T16:14:36.648Z,1755879276.648 [DAT](INFO): Rx dataTimestamp_ set to:1755879276.647830
2025-08-22T16:14:36.650Z,1755879276.650 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:36.651Z,1755879276.651 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-22T16:14:36.652Z,1755879276.652 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.955532
2025-08-22T16:14:36.899Z,1755879276.899 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.201897
2025-08-22T16:14:37.077Z,1755879277.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503868 s,
      deltaX: -0.200000 m,
      approachRate: -0.396929 m/s,
      rangeRepo size: 4

2025-08-22T16:14:37.151Z,1755879277.151 [DAT](INFO): DAT read: Rx Time:16:14:37.8830 

2025-08-22T16:14:37.151Z,1755879277.151 [DAT](INFO): Rx dataTimestamp_ set to:1755879277.150850
2025-08-22T16:14:37.152Z,1755879277.152 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:37.153Z,1755879277.153 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-08-22T16:14:37.154Z,1755879277.154 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.457184
2025-08-22T16:14:37.403Z,1755879277.403 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.706024
2025-08-22T16:14:37.421Z,1755879277.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:37.424Z,1755879277.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503020 s,
      deltaX: 0.200000 m,
      approachRate: 0.397599 m/s,
      rangeRepo size: 4

2025-08-22T16:14:37.655Z,1755879277.655 [DAT](INFO): DAT read: Rx Time:16:14:38.3830 

2025-08-22T16:14:37.655Z,1755879277.655 [DAT](INFO): Rx dataTimestamp_ set to:1755879277.654863
2025-08-22T16:14:37.656Z,1755879277.656 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:37.657Z,1755879277.657 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-22T16:14:37.658Z,1755879277.658 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.961189
2025-08-22T16:14:37.868Z,1755879277.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504013 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:37.907Z,1755879277.907 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.209904
2025-08-22T16:14:38.160Z,1755879278.160 [DAT](INFO): DAT read: Rx Time:16:14:38.8830 

2025-08-22T16:14:38.160Z,1755879278.160 [DAT](INFO): Rx dataTimestamp_ set to:1755879278.159900
2025-08-22T16:14:38.162Z,1755879278.162 [DAT](INFO): DAT read: Bearing 245.2,  36.4 (Local)

2025-08-22T16:14:38.163Z,1755879278.163 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.2,  36.4 (Local)

2025-08-22T16:14:38.165Z,1755879278.165 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:38.172Z,1755879278.172 [DAT](INFO): DAT read: 16:14:38.8830 LVL= 24240, 12017, 25874, 27235, AGC= 40, IDX= 502, 0.02,-0.850,-2.179,-2.218,-0.187, PHS=-0.561,-1.947,-2.074, RAW=  85.6,  48.1, CAL=  83.9,  54.3, ROT=  66.1, -54.3

2025-08-22T16:14:38.173Z,1755879278.173 [DAT](INFO): got valid direction response:
 16:14:38.8830 LVL= 24240, 12017, 25874, 27235, AGC= 40, IDX= 502, 0.02,-0.850,-2.179,-2.218,-0.187, PHS=-0.561,-1.947,-2.074, RAW=  85.6,  48.1, CAL=  83.9,  54.3, ROT=  66.1, -54.3

2025-08-22T16:14:38.174Z,1755879278.174 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T16:14:38.175Z,1755879278.175 [DAT](INFO): direction in FSK: [0.236417,0.533505,0.812084]
2025-08-22T16:14:38.176Z,1755879278.176 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:38.181Z,1755879278.181 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.484222
2025-08-22T16:14:38.329Z,1755879278.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.505037 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:38.335Z,1755879278.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689641 m,
      bearing: 80.282000 deg,
      lat: 36.779428 deg,
      lon: -121.859660 deg,
      deltaT: 2.518371 s,
      deltaX: 0.198793 m,
      approachRate: 0.078937 m/s,
      posRepo size: 4

2025-08-22T16:14:38.411Z,1755879278.411 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.714077
2025-08-22T16:14:38.663Z,1755879278.663 [DAT](INFO): DAT read: Rx Time:16:14:39.3829 

2025-08-22T16:14:38.664Z,1755879278.664 [DAT](INFO): Rx dataTimestamp_ set to:1755879278.663609
2025-08-22T16:14:38.665Z,1755879278.665 [DAT](INFO): DAT read: Bearing 247.5,  36.7 (Local)

2025-08-22T16:14:38.666Z,1755879278.666 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.5,  36.7 (Local)

2025-08-22T16:14:38.667Z,1755879278.667 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:38.673Z,1755879278.673 [DAT](INFO): DAT read: 16:14:39.3829 LVL= 23984, 10593, 25970, 26899, AGC= 42, IDX= 501, 0.12,-1.212,-2.461,-2.577,-0.542, PHS=-0.568,-1.874,-2.079, RAW=  82.8,  48.4, CAL=  80.7,  54.6, ROT=  69.3, -54.6

2025-08-22T16:14:38.674Z,1755879278.674 [DAT](INFO): got valid direction response:
 16:14:39.3829 LVL= 23984, 10593, 25970, 26899, AGC= 42, IDX= 501, 0.12,-1.212,-2.461,-2.577,-0.542, PHS=-0.568,-1.874,-2.079, RAW=  82.8,  48.4, CAL=  80.7,  54.6, ROT=  69.3, -54.6

2025-08-22T16:14:38.675Z,1755879278.675 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:14:38.676Z,1755879278.676 [DAT](INFO): direction in FSK: [0.204761,0.541885,0.815128]
2025-08-22T16:14:38.677Z,1755879278.677 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:38.697Z,1755879278.697 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.000439
2025-08-22T16:14:38.915Z,1755879278.915 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.217831
2025-08-22T16:14:39.134Z,1755879279.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503709 s,
      deltaX: -0.200000 m,
      approachRate: -0.397055 m/s,
      rangeRepo size: 4

2025-08-22T16:14:39.136Z,1755879279.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490859 m,
      bearing: 83.620469 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.503709 s,
      deltaX: -0.198782 m,
      approachRate: -0.394637 m/s,
      posRepo size: 4

2025-08-22T16:14:39.168Z,1755879279.168 [DAT](INFO): DAT read: Rx Time:16:14:39.8830 

2025-08-22T16:14:39.169Z,1755879279.169 [DAT](INFO): Rx dataTimestamp_ set to:1755879279.168285
2025-08-22T16:14:39.171Z,1755879279.171 [DAT](INFO): DAT read: Bearing 247.9,  36.7 (Local)

2025-08-22T16:14:39.171Z,1755879279.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  36.7 (Local)

2025-08-22T16:14:39.174Z,1755879279.174 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:39.181Z,1755879279.181 [DAT](INFO): DAT read: 16:14:39.8830 LVL= 23984, 10353, 25842, 26931, AGC= 42, IDX= 502, 0.25, 0.110,-1.117,-1.255, 0.791, PHS=-0.579,-1.864,-2.090, RAW=  82.0,  48.6, CAL=  79.8,  54.8, ROT=  70.2, -54.8

2025-08-22T16:14:39.183Z,1755879279.183 [DAT](INFO): got valid direction response:
 16:14:39.8830 LVL= 23984, 10353, 25842, 26931, AGC= 42, IDX= 502, 0.25, 0.110,-1.117,-1.255, 0.791, PHS=-0.579,-1.864,-2.090, RAW=  82.0,  48.6, CAL=  79.8,  54.8, ROT=  70.2, -54.8

2025-08-22T16:14:39.183Z,1755879279.183 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:14:39.185Z,1755879279.185 [DAT](INFO): direction in FSK: [0.195260,0.542354,0.817145]
2025-08-22T16:14:39.185Z,1755879279.185 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:39.226Z,1755879279.226 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.529396
2025-08-22T16:14:39.418Z,1755879279.418 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.721714
2025-08-22T16:14:39.464Z,1755879279.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504676 s,
      deltaX: 0.200000 m,
      approachRate: 0.396294 m/s,
      rangeRepo size: 4

2025-08-22T16:14:39.467Z,1755879279.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689640 m,
      bearing: 84.404468 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504676 s,
      deltaX: 0.198781 m,
      approachRate: 0.393879 m/s,
      posRepo size: 4

2025-08-22T16:14:39.671Z,1755879279.671 [DAT](INFO): DAT read: Rx Time:16:14:40.3829 

2025-08-22T16:14:39.672Z,1755879279.672 [DAT](INFO): Rx dataTimestamp_ set to:1755879279.671248
2025-08-22T16:14:39.673Z,1755879279.673 [DAT](INFO): DAT read: Bearing 249.7,  36.9 (Local)

2025-08-22T16:14:39.673Z,1755879279.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,  36.9 (Local)

2025-08-22T16:14:39.676Z,1755879279.676 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:39.684Z,1755879279.684 [DAT](INFO): DAT read: 16:14:40.3829 LVL= 24016, 10321, 26178, 26739, AGC= 42, IDX= 501, 0.40,-1.615,-2.762,-2.962,-0.920, PHS=-0.593,-1.797,-2.086, RAW=  79.5,  49.1, CAL=  76.9,  55.1, ROT=  73.1, -55.1

2025-08-22T16:14:39.685Z,1755879279.685 [DAT](INFO): got valid direction response:
 16:14:40.3829 LVL= 24016, 10321, 26178, 26739, AGC= 42, IDX= 501, 0.40,-1.615,-2.762,-2.962,-0.920, PHS=-0.593,-1.797,-2.086, RAW=  79.5,  49.1, CAL=  76.9,  55.1, ROT=  73.1, -55.1

2025-08-22T16:14:39.685Z,1755879279.685 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-22T16:14:39.697Z,1755879279.697 [DAT](INFO): direction in FSK: [0.166324,0.547437,0.820152]
2025-08-22T16:14:39.697Z,1755879279.697 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:39.701Z,1755879279.701 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.003979
2025-08-22T16:14:39.867Z,1755879279.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.502963 s,
      deltaX: -0.200000 m,
      approachRate: -0.397644 m/s,
      rangeRepo size: 4

2025-08-22T16:14:39.869Z,1755879279.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490859 m,
      bearing: 87.703485 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.502963 s,
      deltaX: -0.198781 m,
      approachRate: -0.395220 m/s,
      posRepo size: 4

2025-08-22T16:14:39.923Z,1755879279.923 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.226086
2025-08-22T16:14:40.176Z,1755879280.176 [DAT](INFO): DAT read: Rx Time:16:14:40.8830 

2025-08-22T16:14:40.177Z,1755879280.177 [DAT](INFO): Rx dataTimestamp_ set to:1755879280.176217
2025-08-22T16:14:40.178Z,1755879280.178 [DAT](INFO): DAT read: Bearing 252.2,  37.4 (Local)

2025-08-22T16:14:40.179Z,1755879280.179 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.2,  37.4 (Local)

2025-08-22T16:14:40.182Z,1755879280.182 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:40.188Z,1755879280.188 [DAT](INFO): DAT read: 16:14:40.8830 LVL= 24048, 10289, 25730, 26867, AGC= 42, IDX= 503,-0.37,-2.369, 2.874, 2.584,-1.662, PHS=-0.605,-1.702,-2.081, RAW=  75.7,  49.4, CAL=  72.6,  55.2, ROT=  77.4, -55.2

2025-08-22T16:14:40.189Z,1755879280.189 [DAT](INFO): got valid direction response:
 16:14:40.8830 LVL= 24048, 10289, 25730, 26867, AGC= 42, IDX= 503,-0.37,-2.369, 2.874, 2.584,-1.662, PHS=-0.605,-1.702,-2.081, RAW=  75.7,  49.4, CAL=  72.6,  55.2, ROT=  77.4, -55.2

2025-08-22T16:14:40.190Z,1755879280.190 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-22T16:14:40.191Z,1755879280.191 [DAT](INFO): direction in FSK: [0.124497,0.556969,0.821149]
2025-08-22T16:14:40.192Z,1755879280.192 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:40.198Z,1755879280.198 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.501656
2025-08-22T16:14:40.357Z,1755879280.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504969 s,
      deltaX: 0.200000 m,
      approachRate: 0.396064 m/s,
      rangeRepo size: 4

2025-08-22T16:14:40.363Z,1755879280.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689640 m,
      bearing: 92.524534 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.504969 s,
      deltaX: 0.198781 m,
      approachRate: 0.393649 m/s,
      posRepo size: 4

2025-08-22T16:14:40.427Z,1755879280.427 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.729984
2025-08-22T16:14:40.662Z,1755879280.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:40.679Z,1755879280.679 [DAT](INFO): DAT read: Rx Time:16:14:41.3829 

2025-08-22T16:14:40.680Z,1755879280.680 [DAT](INFO): Rx dataTimestamp_ set to:1755879280.679495
2025-08-22T16:14:40.681Z,1755879280.681 [DAT](INFO): DAT read: Bearing 252.2,  37.3 (Local)

2025-08-22T16:14:40.682Z,1755879280.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.2,  37.3 (Local)

2025-08-22T16:14:40.684Z,1755879280.684 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:40.688Z,1755879280.688 [DAT](INFO): DAT read: 16:14:41.3829 LVL= 24016, 10145, 25554, 26675, AGC= 42, IDX= 502,-0.23, 2.832, 1.810, 1.504,-2.737, PHS=-0.612,-1.691,-2.086, RAW=  75.0,  49.6, CAL=  71.8,  55.2, ROT=  78.2, -55.2

2025-08-22T16:14:40.689Z,1755879280.689 [DAT](INFO): got valid direction response:
 16:14:41.3829 LVL= 24016, 10145, 25554, 26675, AGC= 42, IDX= 502,-0.23, 2.832, 1.810, 1.504,-2.737, PHS=-0.612,-1.691,-2.086, RAW=  75.0,  49.6, CAL=  71.8,  55.2, ROT=  78.2, -55.2

2025-08-22T16:14:40.690Z,1755879280.690 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-22T16:14:40.691Z,1755879280.691 [DAT](INFO): direction in FSK: [0.116709,0.558653,0.821149]
2025-08-22T16:14:40.691Z,1755879280.691 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:40.695Z,1755879280.695 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.997883
2025-08-22T16:14:40.931Z,1755879280.931 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.233864
2025-08-22T16:14:41.147Z,1755879281.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503278 s,
      deltaX: -0.200000 m,
      approachRate: -0.397395 m/s,
      rangeRepo size: 4

2025-08-22T16:14:41.150Z,1755879281.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490862 m,
      bearing: 91.348422 deg,
      lat: 36.779427 deg,
      lon: -121.859657 deg,
      deltaT: 0.503278 s,
      deltaX: -0.198778 m,
      approachRate: -0.394966 m/s,
      posRepo size: 4

2025-08-22T16:14:41.184Z,1755879281.184 [DAT](INFO): DAT read: Rx Time:16:14:41.8831 

2025-08-22T16:14:41.184Z,1755879281.184 [DAT](INFO): Rx dataTimestamp_ set to:1755879281.183960
2025-08-22T16:14:41.186Z,1755879281.186 [DAT](INFO): DAT read: Bearing 248.8,  36.7 (Local)

2025-08-22T16:14:41.187Z,1755879281.187 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.8,  36.7 (Local)

2025-08-22T16:14:41.190Z,1755879281.190 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:41.196Z,1755879281.196 [DAT](INFO): DAT read: 16:14:41.8831 LVL= 23856, 10865, 24994, 26339, AGC= 41, IDX= 503,-0.10,-2.118, 3.055, 2.829,-1.410, PHS=-0.606,-1.773,-2.088, RAW=  78.3,  49.4, CAL=  75.7,  55.3, ROT=  74.3, -55.3

2025-08-22T16:14:41.198Z,1755879281.198 [DAT](INFO): got valid direction response:
 16:14:41.8831 LVL= 23856, 10865, 24994, 26339, AGC= 41, IDX= 503,-0.10,-2.118, 3.055, 2.829,-1.410, PHS=-0.606,-1.773,-2.088, RAW=  78.3,  49.4, CAL=  75.7,  55.3, ROT=  74.3, -55.3

2025-08-22T16:14:41.199Z,1755879281.199 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-22T16:14:41.200Z,1755879281.200 [DAT](INFO): direction in FSK: [0.154047,0.548041,0.822144]
2025-08-22T16:14:41.200Z,1755879281.200 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:41.203Z,1755879281.203 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.506622
2025-08-22T16:14:41.435Z,1755879281.435 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.737995
2025-08-22T16:14:41.470Z,1755879281.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 0.504465 s,
      deltaX: 0.300000 m,
      approachRate: 0.594689 m/s,
      rangeRepo size: 4

2025-08-22T16:14:41.472Z,1755879281.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.789034 m,
      bearing: 86.365677 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.504465 s,
      deltaX: 0.298172 m,
      approachRate: 0.591066 m/s,
      posRepo size: 4

2025-08-22T16:14:41.688Z,1755879281.688 [DAT](INFO): DAT read: Rx Time:16:14:42.3830 

2025-08-22T16:14:41.688Z,1755879281.688 [DAT](INFO): Rx dataTimestamp_ set to:1755879281.687908
2025-08-22T16:14:41.690Z,1755879281.690 [DAT](INFO): DAT read: Bearing 248.3,  36.7 (Local)

2025-08-22T16:14:41.691Z,1755879281.691 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.3,  36.7 (Local)

2025-08-22T16:14:41.694Z,1755879281.694 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:41.698Z,1755879281.698 [DAT](INFO): DAT read: 16:14:42.3830 LVL= 23936, 11105, 25634, 26835, AGC= 41, IDX= 502,-0.00,-2.418, 2.760, 2.525,-1.710, PHS=-0.606,-1.769,-2.092, RAW=  78.1,  49.4, CAL=  75.3,  55.3, ROT=  74.7, -55.3

2025-08-22T16:14:41.699Z,1755879281.699 [DAT](INFO): got valid direction response:
 16:14:42.3830 LVL= 23936, 11105, 25634, 26835, AGC= 41, IDX= 502,-0.00,-2.418, 2.760, 2.525,-1.710, PHS=-0.606,-1.769,-2.092, RAW=  78.1,  49.4, CAL=  75.3,  55.3, ROT=  74.7, -55.3

2025-08-22T16:14:41.700Z,1755879281.700 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T16:14:41.701Z,1755879281.701 [DAT](INFO): direction in FSK: [0.150218,0.549103,0.822144]
2025-08-22T16:14:41.701Z,1755879281.701 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:41.725Z,1755879281.725 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.028461
2025-08-22T16:14:41.886Z,1755879281.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503948 s,
      deltaX: -0.100000 m,
      approachRate: -0.198433 m/s,
      rangeRepo size: 4

2025-08-22T16:14:41.888Z,1755879281.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689644 m,
      bearing: 86.140383 deg,
      lat: 36.779427 deg,
      lon: -121.859656 deg,
      deltaT: 0.503948 s,
      deltaX: -0.099391 m,
      approachRate: -0.197224 m/s,
      posRepo size: 4

2025-08-22T16:14:41.939Z,1755879281.939 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.242378
2025-08-22T16:14:42.191Z,1755879282.191 [DAT](INFO): DAT read: Rx Time:16:14:42.8830 

2025-08-22T16:14:42.192Z,1755879282.192 [DAT](INFO): Rx dataTimestamp_ set to:1755879282.191874
2025-08-22T16:14:42.193Z,1755879282.193 [DAT](INFO): DAT read: Bearing 248.4,  36.8 (Local)

2025-08-22T16:14:42.194Z,1755879282.194 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.4,  36.8 (Local)

2025-08-22T16:14:42.195Z,1755879282.195 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:42.196Z,1755879282.196 [DAT](INFO): DAT read: 16:12

2025-08-22T16:14:42.197Z,1755879282.197 [DAT](INFO): unknown deviceResponse_: 16:12

2025-08-22T16:14:42.198Z,1755879282.198 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-22T16:14:42.199Z,1755879282.199 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.502090
2025-08-22T16:14:42.323Z,1755879282.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503966 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:42.443Z,1755879282.443 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.745888
2025-08-22T16:14:42.664Z,1755879282.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:42.696Z,1755879282.696 [DAT](INFO): DAT read: Rx Time:16:14:43.3829 

2025-08-22T16:14:42.696Z,1755879282.696 [DAT](INFO): Rx dataTimestamp_ set to:1755879282.695740
2025-08-22T16:14:42.698Z,1755879282.698 [DAT](INFO): DAT read: Bearing 247.4,  36.7 (Local)

2025-08-22T16:14:42.699Z,1755879282.699 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.4,  36.7 (Local)

2025-08-22T16:14:42.701Z,1755879282.701 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:42.707Z,1755879282.707 [DAT](INFO): DAT read: 16:14:43.3829 LVL= 23664, 10609, 25186, 27187, AGC= 42, IDX= 501, 0.22,-2.555, 2.643, 2.389,-1.849, PHS=-0.604,-1.746,-2.089, RAW=  77.3,  49.4, CAL=  74.4,  55.2, ROT=  75.6, -55.2

2025-08-22T16:14:42.708Z,1755879282.708 [DAT](INFO): got valid direction response:
 16:14:43.3829 LVL= 23664, 10609, 25186, 27187, AGC= 42, IDX= 501, 0.22,-2.555, 2.643, 2.389,-1.849, PHS=-0.604,-1.746,-2.089, RAW=  77.3,  49.4, CAL=  74.4,  55.2, ROT=  75.6, -55.2

2025-08-22T16:14:42.708Z,1755879282.708 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-22T16:14:42.714Z,1755879282.714 [DAT](INFO): direction in FSK: [0.141931,0.552784,0.821149]
2025-08-22T16:14:42.714Z,1755879282.714 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:42.722Z,1755879282.722 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.020550
2025-08-22T16:14:42.947Z,1755879282.947 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.249832
2025-08-22T16:14:43.178Z,1755879283.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503866 s,
      deltaX: -0.200000 m,
      approachRate: -0.396931 m/s,
      rangeRepo size: 4

2025-08-22T16:14:43.181Z,1755879283.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490854 m,
      bearing: 85.214609 deg,
      lat: 36.779428 deg,
      lon: -121.859656 deg,
      deltaT: 1.007832 s,
      deltaX: -0.198790 m,
      approachRate: -0.197245 m/s,
      posRepo size: 4

2025-08-22T16:14:43.200Z,1755879283.200 [DAT](INFO): DAT read: Rx Time:16:14:43.8830 

2025-08-22T16:14:43.200Z,1755879283.200 [DAT](INFO): Rx dataTimestamp_ set to:1755879283.199714
2025-08-22T16:14:43.201Z,1755879283.201 [DAT](INFO): DAT read: Bearing 246.5,  36.6 (Local)

2025-08-22T16:14:43.202Z,1755879283.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.5,  36.6 (Local)

2025-08-22T16:14:43.204Z,1755879283.204 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:43.208Z,1755879283.208 [DAT](INFO): DAT read: 16:14:43.8830 LVL= 23984,  9873, 25362, 27283, AGC= 42, IDX= 502, 0.38,-1.894,-2.983, 3.050,-1.193, PHS=-0.599,-1.745,-2.084, RAW=  77.4,  49.3, CAL=  74.6,  55.1, ROT=  75.4, -55.1

2025-08-22T16:14:43.209Z,1755879283.209 [DAT](INFO): got valid direction response:
 16:14:43.8830 LVL= 23984,  9873, 25362, 27283, AGC= 42, IDX= 502, 0.38,-1.894,-2.983, 3.050,-1.193, PHS=-0.599,-1.745,-2.084, RAW=  77.4,  49.3, CAL=  74.6,  55.1, ROT=  75.4, -55.1

2025-08-22T16:14:43.210Z,1755879283.210 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:14:43.211Z,1755879283.211 [DAT](INFO): direction in FSK: [0.144220,0.553671,0.820152]
2025-08-22T16:14:43.211Z,1755879283.211 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:43.219Z,1755879283.219 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.522346
2025-08-22T16:14:43.394Z,1755879283.394 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:14:43.451Z,1755879283.451 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.754200
2025-08-22T16:14:43.497Z,1755879283.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503974 s,
      deltaX: 0.200000 m,
      approachRate: 0.396846 m/s,
      rangeRepo size: 4

2025-08-22T16:14:43.499Z,1755879283.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689634 m,
      bearing: 84.503920 deg,
      lat: 36.779428 deg,
      lon: -121.859656 deg,
      deltaT: 0.503974 s,
      deltaX: 0.198781 m,
      approachRate: 0.394426 m/s,
      posRepo size: 4

2025-08-22T16:14:43.703Z,1755879283.703 [DAT](INFO): DAT read: Rx Time:16:14:44.3829 

2025-08-22T16:14:43.704Z,1755879283.704 [DAT](INFO): Rx dataTimestamp_ set to:1755879283.703618
2025-08-22T16:14:43.705Z,1755879283.705 [DAT](INFO): DAT read: Bearing 246.3,  36.6 (Local)

2025-08-22T16:14:43.706Z,1755879283.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.3,  36.6 (Local)

2025-08-22T16:14:43.708Z,1755879283.708 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:43.712Z,1755879283.712 [DAT](INFO): DAT read: 16:14:44.3829 LVL= 23904, 10593, 25906, 27283, AGC= 42, IDX= 502,-0.39, 2.035, 0.957, 0.695, 2.733, PHS=-0.596,-1.731,-2.082, RAW=  76.9,  49.2, CAL=  74.0,  55.0, ROT=  76.0, -55.0

2025-08-22T16:14:43.713Z,1755879283.713 [DAT](INFO): got valid direction response:
 16:14:44.3829 LVL= 23904, 10593, 25906, 27283, AGC= 42, IDX= 502,-0.39, 2.035, 0.957, 0.695, 2.733, PHS=-0.596,-1.731,-2.082, RAW=  76.9,  49.2, CAL=  74.0,  55.0, ROT=  76.0, -55.0

2025-08-22T16:14:43.731Z,1755879283.731 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-22T16:14:43.732Z,1755879283.732 [DAT](INFO): direction in FSK: [0.138761,0.556539,0.819152]
2025-08-22T16:14:43.733Z,1755879283.733 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:43.736Z,1755879283.736 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.039539
2025-08-22T16:14:43.910Z,1755879283.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503904 s,
      deltaX: -0.200000 m,
      approachRate: -0.396901 m/s,
      rangeRepo size: 4

2025-08-22T16:14:43.912Z,1755879283.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490854 m,
      bearing: 84.720511 deg,
      lat: 36.779428 deg,
      lon: -121.859656 deg,
      deltaT: 0.503904 s,
      deltaX: -0.198781 m,
      approachRate: -0.394481 m/s,
      posRepo size: 4

2025-08-22T16:14:43.955Z,1755879283.955 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.258003
2025-08-22T16:14:44.161Z,1755879284.161 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:14:44.161Z,1755879284.161 [DockingStepper] No Fault, FailCount= 2
2025-08-22T16:14:44.207Z,1755879284.207 [DAT](INFO): DAT read: Rx Time:16:14:44.8830 

2025-08-22T16:14:44.208Z,1755879284.208 [DAT](INFO): Rx dataTimestamp_ set to:1755879284.207245
2025-08-22T16:14:44.209Z,1755879284.209 [DAT](INFO): DAT read: Bearing 245.4,  36.6 (Local)

2025-08-22T16:14:44.209Z,1755879284.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.4,  36.6 (Local)

2025-08-22T16:14:44.211Z,1755879284.211 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:44.216Z,1755879284.216 [DAT](INFO): DAT read: 16:14:44.8830 LVL= 24208, 10401, 25938, 27123, AGC= 42, IDX= 503,-0.22, 2.661, 1.575, 1.324,-2.933, PHS=-0.587,-1.730,-2.071, RAW=  77.3,  49.1, CAL=  74.5,  54.9, ROT=  75.5, -54.9

2025-08-22T16:14:44.217Z,1755879284.217 [DAT](INFO): got valid direction response:
 16:14:44.8830 LVL= 24208, 10401, 25938, 27123, AGC= 42, IDX= 503,-0.22, 2.661, 1.575, 1.324,-2.933, PHS=-0.587,-1.730,-2.071, RAW=  77.3,  49.1, CAL=  74.5,  54.9, ROT=  75.5, -54.9

2025-08-22T16:14:44.217Z,1755879284.217 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-22T16:14:44.218Z,1755879284.218 [DAT](INFO): direction in FSK: [0.143970,0.556690,0.818150]
2025-08-22T16:14:44.218Z,1755879284.218 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:44.222Z,1755879284.222 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.525085
2025-08-22T16:14:44.398Z,1755879284.398 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:14:44.408Z,1755879284.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503627 s,
      deltaX: 0.200000 m,
      approachRate: 0.397119 m/s,
      rangeRepo size: 4

2025-08-22T16:14:44.415Z,1755879284.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689620 m,
      bearing: 83.800961 deg,
      lat: 36.779428 deg,
      lon: -121.859657 deg,
      deltaT: 0.503627 s,
      deltaX: 0.198766 m,
      approachRate: 0.394669 m/s,
      posRepo size: 4

2025-08-22T16:14:44.441Z,1755879284.441 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:14:44.459Z,1755879284.459 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.762012
2025-08-22T16:14:44.562Z,1755879284.562 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:14:44.711Z,1755879284.711 [DAT](INFO): DAT read: Rx Time:16:14:45.3829 

2025-08-22T16:14:44.711Z,1755879284.711 [DAT](INFO): Rx dataTimestamp_ set to:1755879284.711214
2025-08-22T16:14:44.713Z,1755879284.713 [DAT](INFO): DAT read: Bearing 243.8,  36.3 (Local)

2025-08-22T16:14:44.713Z,1755879284.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.8,  36.3 (Local)

2025-08-22T16:14:44.715Z,1755879284.715 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:44.720Z,1755879284.720 [DAT](INFO): DAT read: 16:14:45.3829 LVL= 23408, 10625, 25586, 27667, AGC= 42, IDX= 502,-0.11, 1.687, 0.558, 0.343, 2.368, PHS=-0.580,-1.765,-2.070, RAW=  78.9,  48.9, CAL=  76.2,  54.8, ROT=  73.8, -54.8

2025-08-22T16:14:44.721Z,1755879284.721 [DAT](INFO): got valid direction response:
 16:14:45.3829 LVL= 23408, 10625, 25586, 27667, AGC= 42, IDX= 502,-0.11, 1.687, 0.558, 0.343, 2.368, PHS=-0.580,-1.765,-2.070, RAW=  78.9,  48.9, CAL=  76.2,  54.8, ROT=  73.8, -54.8

2025-08-22T16:14:44.721Z,1755879284.721 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T16:14:44.722Z,1755879284.722 [DAT](INFO): direction in FSK: [0.160819,0.553544,0.817145]
2025-08-22T16:14:44.723Z,1755879284.723 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:44.726Z,1755879284.726 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.029694
2025-08-22T16:14:44.866Z,1755879284.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503969 s,
      deltaX: -0.200000 m,
      approachRate: -0.396850 m/s,
      rangeRepo size: 4

2025-08-22T16:14:44.868Z,1755879284.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490841 m,
      bearing: 81.723234 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.503969 s,
      deltaX: -0.198779 m,
      approachRate: -0.394427 m/s,
      posRepo size: 4

2025-08-22T16:14:44.963Z,1755879284.963 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.265919
2025-08-22T16:14:45.215Z,1755879285.215 [DAT](INFO): DAT read: Rx Time:16:14:45.8830 

2025-08-22T16:14:45.216Z,1755879285.216 [DAT](INFO): Rx dataTimestamp_ set to:1755879285.215327
2025-08-22T16:14:45.217Z,1755879285.217 [DAT](INFO): DAT read: Bearing 237.3,  35.3 (Local)

2025-08-22T16:14:45.217Z,1755879285.217 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.3,  35.3 (Local)

2025-08-22T16:14:45.234Z,1755879285.234 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:45.267Z,1755879285.267 [DAT](INFO): DAT read: 16:14:45.8830 LVL= 21168, 12353, 22994, 24243, AGC= 40, IDX= 503, 0.01,-2.495, 2.425, 2.416,-1.844, PHS=-0.549,-1.970,-2.068, RAW=  86.7,  47.8, CAL=  85.1,  54.0, ROT=  64.9, -54.0

2025-08-22T16:14:45.268Z,1755879285.268 [DAT](INFO): got valid direction response:
 16:14:45.8830 LVL= 21168, 12353, 22994, 24243, AGC= 40, IDX= 503, 0.01,-2.495, 2.425, 2.416,-1.844, PHS=-0.549,-1.970,-2.068, RAW=  86.7,  47.8, CAL=  85.1,  54.0, ROT=  64.9, -54.0

2025-08-22T16:14:45.268Z,1755879285.268 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T16:14:45.269Z,1755879285.269 [DAT](INFO): direction in FSK: [0.249338,0.532280,0.809017]
2025-08-22T16:14:45.274Z,1755879285.274 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:45.294Z,1755879285.294 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:14:45.294Z,1755879285.294 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:14:45.294Z,1755879285.294 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:45.393Z,1755879285.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.504113 s,
      deltaX: 0.200000 m,
      approachRate: 0.396737 m/s,
      rangeRepo size: 4

2025-08-22T16:14:45.396Z,1755879285.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689617 m,
      bearing: 71.848059 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504113 s,
      deltaX: 0.198776 m,
      approachRate: 0.394309 m/s,
      posRepo size: 4

2025-08-22T16:14:45.466Z,1755879285.466 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:45.467Z,1755879285.467 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:45.467Z,1755879285.467 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:45.669Z,1755879285.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:45.720Z,1755879285.720 [DAT](INFO): DAT read: Rx Time:16:14:46.3829 

2025-08-22T16:14:45.720Z,1755879285.720 [DAT](INFO): Rx dataTimestamp_ set to:1755879285.720190
2025-08-22T16:14:45.722Z,1755879285.722 [DAT](INFO): DAT read: Bearing 236.2,  35.3 (Local)

2025-08-22T16:14:45.723Z,1755879285.723 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.2,  35.3 (Local)

2025-08-22T16:14:45.726Z,1755879285.726 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:45.732Z,1755879285.732 [DAT](INFO): DAT read: 16:14:46.3829 LVL= 21376, 12257, 22898, 24115, AGC= 41, IDX= 502, 0.12,-2.766, 2.104, 2.130,-2.130, PHS=-0.534,-2.004,-2.067, RAW=  87.9,  47.3, CAL=  86.4,  53.5, ROT=  63.6, -53.5

2025-08-22T16:14:45.733Z,1755879285.733 [DAT](INFO): got valid direction response:
 16:14:46.3829 LVL= 21376, 12257, 22898, 24115, AGC= 41, IDX= 502, 0.12,-2.766, 2.104, 2.130,-2.130, PHS=-0.534,-2.004,-2.067, RAW=  87.9,  47.3, CAL=  86.4,  53.5, ROT=  63.6, -53.5

2025-08-22T16:14:45.733Z,1755879285.733 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:45.734Z,1755879285.734 [DAT](INFO): direction in FSK: [0.264479,0.532790,0.803857]
2025-08-22T16:14:45.734Z,1755879285.734 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:45.746Z,1755879285.746 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:45.748Z,1755879285.748 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:45.970Z,1755879285.970 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:45.970Z,1755879285.970 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:45.971Z,1755879285.971 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:46.177Z,1755879286.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504863 s,
      deltaX: -0.200000 m,
      approachRate: -0.396147 m/s,
      rangeRepo size: 4

2025-08-22T16:14:46.184Z,1755879286.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490841 m,
      bearing: 70.706482 deg,
      lat: 36.779428 deg,
      lon: -121.859658 deg,
      deltaT: 0.504863 s,
      deltaX: -0.198776 m,
      approachRate: -0.393723 m/s,
      posRepo size: 4

2025-08-22T16:14:46.223Z,1755879286.223 [DAT](INFO): DAT read: Rx Time:16:14:46.8830 

2025-08-22T16:14:46.224Z,1755879286.224 [DAT](INFO): Rx dataTimestamp_ set to:1755879286.223406
2025-08-22T16:14:46.225Z,1755879286.225 [DAT](INFO): DAT read: Bearing 238.2,  35.6 (Local)

2025-08-22T16:14:46.225Z,1755879286.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.2,  35.6 (Local)

2025-08-22T16:14:46.227Z,1755879286.227 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:46.232Z,1755879286.232 [DAT](INFO): DAT read: 16:14:46.8830 LVL= 23920, 12513, 25522, 27059, AGC= 41, IDX= 503, 0.25,-2.083, 2.875, 2.839,-1.444, PHS=-0.537,-1.919,-2.045, RAW=  85.7,  47.7, CAL=  83.9,  53.9, ROT=  66.1, -53.9

2025-08-22T16:14:46.233Z,1755879286.233 [DAT](INFO): got valid direction response:
 16:14:46.8830 LVL= 23920, 12513, 25522, 27059, AGC= 41, IDX= 503, 0.25,-2.083, 2.875, 2.839,-1.444, PHS=-0.537,-1.919,-2.045, RAW=  85.7,  47.7, CAL=  83.9,  53.9, ROT=  66.1, -53.9

2025-08-22T16:14:46.234Z,1755879286.234 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:46.235Z,1755879286.235 [DAT](INFO): direction in FSK: [0.238708,0.538675,0.807990]
2025-08-22T16:14:46.235Z,1755879286.235 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:46.238Z,1755879286.238 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:46.239Z,1755879286.239 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:46.474Z,1755879286.474 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:46.475Z,1755879286.475 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:46.475Z,1755879286.475 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:46.521Z,1755879286.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503216 s,
      deltaX: 0.200000 m,
      approachRate: 0.397444 m/s,
      rangeRepo size: 4

2025-08-22T16:14:46.523Z,1755879286.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.689620 m,
      bearing: 73.479954 deg,
      lat: 36.779428 deg,
      lon: -121.859659 deg,
      deltaT: 0.503216 s,
      deltaX: 0.198779 m,
      approachRate: 0.395017 m/s,
      posRepo size: 4

2025-08-22T16:14:46.727Z,1755879286.727 [DAT](INFO): DAT read: Rx Time:16:14:47.3829 

2025-08-22T16:14:46.728Z,1755879286.728 [DAT](INFO): Rx dataTimestamp_ set to:1755879286.727435
2025-08-22T16:14:46.729Z,1755879286.729 [DAT](INFO): DAT read: Bearing 235.3,  35.2 (Local)

2025-08-22T16:14:46.729Z,1755879286.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.3,  35.2 (Local)

2025-08-22T16:14:46.732Z,1755879286.732 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:46.738Z,1755879286.738 [DAT](INFO): DAT read: 16:14:47.3829 LVL= 21328, 11297, 22770, 24051, AGC= 41, IDX= 502, 0.43,-3.047, 1.782, 1.854,-2.424, PHS=-0.521,-2.032,-2.050, RAW=  89.4,  47.0, CAL=  88.1,  53.2, ROT=  61.9, -53.2

2025-08-22T16:14:46.739Z,1755879286.739 [DAT](INFO): got valid direction response:
 16:14:47.3829 LVL= 21328, 11297, 22770, 24051, AGC= 41, IDX= 502, 0.43,-3.047, 1.782, 1.854,-2.424, PHS=-0.521,-2.032,-2.050, RAW=  89.4,  47.0, CAL=  88.1,  53.2, ROT=  61.9, -53.2

2025-08-22T16:14:46.739Z,1755879286.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:46.740Z,1755879286.740 [DAT](INFO): direction in FSK: [0.282147,0.528415,0.800731]
2025-08-22T16:14:46.740Z,1755879286.740 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:46.750Z,1755879286.750 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:46.750Z,1755879286.750 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:46.905Z,1755879286.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.504029 s,
      deltaX: -0.200000 m,
      approachRate: -0.396803 m/s,
      rangeRepo size: 4

2025-08-22T16:14:46.911Z,1755879286.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490841 m,
      bearing: 69.132407 deg,
      lat: 36.779429 deg,
      lon: -121.859659 deg,
      deltaT: 0.504029 s,
      deltaX: -0.198779 m,
      approachRate: -0.394380 m/s,
      posRepo size: 4

2025-08-22T16:14:46.978Z,1755879286.978 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:46.979Z,1755879286.979 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:46.979Z,1755879286.979 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:47.231Z,1755879287.231 [DAT](INFO): DAT read: Rx Time:16:14:47.8829 

2025-08-22T16:14:47.232Z,1755879287.232 [DAT](INFO): Rx dataTimestamp_ set to:1755879287.231239
2025-08-22T16:14:47.233Z,1755879287.233 [DAT](INFO): DAT read: Bearing 235.6,  35.0 (Local)

2025-08-22T16:14:47.233Z,1755879287.233 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.6,  35.0 (Local)

2025-08-22T16:14:47.235Z,1755879287.235 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:47.244Z,1755879287.244 [DAT](INFO): DAT read: 16:14:47.8829 LVL= 21440, 11489, 22514, 23699, AGC= 41, IDX= 503,-0.34, 1.309,-0.146,-0.062, 1.938, PHS=-0.527,-2.039,-2.044, RAW=  89.8,  47.1, CAL=  88.6,  53.3, ROT=  61.4, -53.3

2025-08-22T16:14:47.245Z,1755879287.245 [DAT](INFO): got valid direction response:
 16:14:47.8829 LVL= 21440, 11489, 22514, 23699, AGC= 41, IDX= 503,-0.34, 1.309,-0.146,-0.062, 1.938, PHS=-0.527,-2.039,-2.044, RAW=  89.8,  47.1, CAL=  88.6,  53.3, ROT=  61.4, -53.3

2025-08-22T16:14:47.245Z,1755879287.245 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:47.269Z,1755879287.269 [DAT](INFO): direction in FSK: [0.286078,0.524705,0.801776]
2025-08-22T16:14:47.270Z,1755879287.270 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:47.273Z,1755879287.273 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:47.301Z,1755879287.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:47.399Z,1755879287.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503804 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-22T16:14:47.410Z,1755879287.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.490842 m,
      bearing: 69.501732 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.503804 s,
      deltaX: 0.000001 m,
      approachRate: 0.000003 m/s,
      posRepo size: 4

2025-08-22T16:14:47.482Z,1755879287.482 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:47.483Z,1755879287.483 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:47.483Z,1755879287.483 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:47.681Z,1755879287.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:47.735Z,1755879287.735 [DAT](INFO): DAT read: Rx Time:16:14:48.3828 

2025-08-22T16:14:47.736Z,1755879287.736 [DAT](INFO): Rx dataTimestamp_ set to:1755879287.735317
2025-08-22T16:14:47.737Z,1755879287.737 [DAT](INFO): DAT read: Bearing 235.9,  34.9 (Local)

2025-08-22T16:14:47.737Z,1755879287.737 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.9,  34.9 (Local)

2025-08-22T16:14:47.739Z,1755879287.739 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-22T16:14:47.744Z,1755879287.744 [DAT](INFO): DAT read: 16:14:48.3828 LVL= 21456, 11457, 22386, 24051, AGC= 40, IDX= 502,-0.20, 0.269,-1.194,-1.094, 0.899, PHS=-0.528,-2.048,-2.037, RAW=  90.4,  47.1, CAL=  89.2,  53.3, ROT=  60.8, -53.3

2025-08-22T16:14:47.745Z,1755879287.745 [DAT](INFO): got valid direction response:
 16:14:48.3828 LVL= 21456, 11457, 22386, 24051, AGC= 40, IDX= 502,-0.20, 0.269,-1.194,-1.094, 0.899, PHS=-0.528,-2.048,-2.037, RAW=  90.4,  47.1, CAL=  89.2,  53.3, ROT=  60.8, -53.3

2025-08-22T16:14:47.745Z,1755879287.745 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:47.746Z,1755879287.746 [DAT](INFO): direction in FSK: [0.291557,0.521680,0.801776]
2025-08-22T16:14:47.746Z,1755879287.746 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:47.762Z,1755879287.762 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:47.762Z,1755879287.762 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:47.986Z,1755879287.986 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:47.986Z,1755879287.986 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:47.987Z,1755879287.987 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:48.207Z,1755879288.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504078 s,
      deltaX: -0.100000 m,
      approachRate: -0.198382 m/s,
      rangeRepo size: 4

2025-08-22T16:14:48.209Z,1755879288.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.391453 m,
      bearing: 69.388507 deg,
      lat: 36.779429 deg,
      lon: -121.859660 deg,
      deltaT: 0.504078 s,
      deltaX: -0.099389 m,
      approachRate: -0.197171 m/s,
      posRepo size: 4

2025-08-22T16:14:48.210Z,1755879288.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.40 m. Lat: 36.779429 Lon: -121.859660 Reached intercept timeout.
2025-08-22T16:14:48.210Z,1755879288.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-22T16:14:48.211Z,1755879288.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T16:14:48.211Z,1755879288.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-22T16:14:48.222Z,1755879288.222 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:14:48.240Z,1755879288.240 [DAT](INFO): DAT read: Rx Time:16:14:48.8830 

2025-08-22T16:14:48.241Z,1755879288.241 [DAT](INFO): Rx dataTimestamp_ set to:1755879288.240827
2025-08-22T16:14:48.243Z,1755879288.243 [DAT](INFO): DAT read: Bearing 235.7,  34.9 (Local)

2025-08-22T16:14:48.243Z,1755879288.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.7,  34.9 (Local)

2025-08-22T16:14:48.246Z,1755879288.246 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:48.252Z,1755879288.252 [DAT](INFO): DAT read: 16:14:48.8830 LVL= 21600, 12273, 22706, 23731, AGC= 39, IDX= 503,-0.09, 1.663, 0.160, 0.293, 2.285, PHS=-0.520,-2.080,-2.036, RAW=  91.4,  46.8, CAL=  90.3,  53.0, ROT=  59.7, -53.0

2025-08-22T16:14:48.253Z,1755879288.253 [DAT](INFO): got valid direction response:
 16:14:48.8830 LVL= 21600, 12273, 22706, 23731, AGC= 39, IDX= 503,-0.09, 1.663, 0.160, 0.293, 2.285, PHS=-0.520,-2.080,-2.036, RAW=  91.4,  46.8, CAL=  90.3,  53.0, ROT=  59.7, -53.0

2025-08-22T16:14:48.254Z,1755879288.254 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:14:48.255Z,1755879288.255 [DAT](INFO): direction in FSK: [0.303632,0.519604,0.798636]
2025-08-22T16:14:48.256Z,1755879288.256 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:48.261Z,1755879288.261 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:48.265Z,1755879288.265 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:48.490Z,1755879288.490 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:48.490Z,1755879288.490 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:48.491Z,1755879288.491 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:48.586Z,1755879288.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-22T16:14:48.586Z,1755879288.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-22T16:14:48.587Z,1755879288.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-22T16:14:48.743Z,1755879288.743 [DAT](INFO): DAT read: Rx Time:16:14:49.3829 

2025-08-22T16:14:48.743Z,1755879288.743 [DAT](INFO): Rx dataTimestamp_ set to:1755879288.742864
2025-08-22T16:14:48.744Z,1755879288.744 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:14:48.745Z,1755879288.745 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:14:48.746Z,1755879288.746 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:48.747Z,1755879288.747 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:48.936Z,1755879288.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-22T16:14:48.937Z,1755879288.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:14:48.937Z,1755879288.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-22T16:14:48.937Z,1755879288.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-22T16:14:48.937Z,1755879288.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-22T16:14:48.938Z,1755879288.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:14:48.995Z,1755879288.995 [DAT](INFO): Reached modem response timeout
2025-08-22T16:14:48.995Z,1755879288.995 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:14:48.996Z,1755879288.996 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-22T16:14:49.246Z,1755879289.246 [DAT](INFO): DAT read: user:102>

2025-08-22T16:14:49.247Z,1755879289.247 [DAT](INFO): DAT read: Command 'sbl' not found

2025-08-22T16:14:49.248Z,1755879289.248 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found

2025-08-22T16:14:49.248Z,1755879289.248 [DAT](INFO): DAT read: Error

2025-08-22T16:14:49.248Z,1755879289.248 [DAT](INFO): unknown deviceResponse_: Error

2025-08-22T16:14:49.249Z,1755879289.249 [DAT](INFO): DAT read: user:103>

2025-08-22T16:14:49.249Z,1755879289.249 [DAT](INFO): DAT read: Tx time:16:14:50.4012

2025-08-22T16:14:49.250Z,1755879289.250 [DAT](INFO): Ping request sent.
2025-08-22T16:14:49.250Z,1755879289.250 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:14:49.250Z,1755879289.250 [DAT](INFO): publishing transmit ping time
2025-08-22T16:14:49.251Z,1755879289.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T16:14:49.410Z,1755879289.410 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T16:14:49.411Z,1755879289.411 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-22T16:14:49.411Z,1755879289.411 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T16:14:49.411Z,1755879289.411 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-22T16:14:49.412Z,1755879289.412 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-22T16:14:49.412Z,1755879289.412 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-22T16:14:49.412Z,1755879289.412 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-22T16:14:49.412Z,1755879289.412 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-22T16:14:49.412Z,1755879289.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-22T16:14:49.413Z,1755879289.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-22T16:14:49.413Z,1755879289.413 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-22T16:14:49.413Z,1755879289.413 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-22T16:14:49.499Z,1755879289.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248742
2025-08-22T16:14:49.730Z,1755879289.730 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-22T16:14:49.730Z,1755879289.730 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-22T16:14:49.731Z,1755879289.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:49.751Z,1755879289.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500705
2025-08-22T16:14:50.003Z,1755879290.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752664
2025-08-22T16:14:50.145Z,1755879290.145 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T16:14:50.146Z,1755879290.146 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T16:14:50.146Z,1755879290.146 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-22T16:14:50.255Z,1755879290.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004866
2025-08-22T16:14:50.507Z,1755879290.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256753
2025-08-22T16:14:50.759Z,1755879290.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509336
2025-08-22T16:14:51.011Z,1755879291.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760960
2025-08-22T16:14:51.263Z,1755879291.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012758
2025-08-22T16:14:51.515Z,1755879291.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264665
2025-08-22T16:14:51.744Z,1755879291.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:51.767Z,1755879291.767 [DAT](INFO): DAT read: Rx Time:16:14:52.5329 

2025-08-22T16:14:51.767Z,1755879291.767 [DAT](INFO): Rx dataTimestamp_ set to:1755879291.766944
2025-08-22T16:14:51.768Z,1755879291.768 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:51.769Z,1755879291.769 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:14:51.770Z,1755879291.770 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.520097
2025-08-22T16:14:52.020Z,1755879292.020 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769662
2025-08-22T16:14:52.271Z,1755879292.271 [DAT](INFO): DAT read: Rx Time:16:14:53.0329 

2025-08-22T16:14:52.271Z,1755879292.271 [DAT](INFO): Rx dataTimestamp_ set to:1755879292.270878
2025-08-22T16:14:52.272Z,1755879292.272 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:52.273Z,1755879292.273 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T16:14:52.274Z,1755879292.274 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.024020
2025-08-22T16:14:52.531Z,1755879292.531 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.281025
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-22T16:04:52.2Z
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:14:52.591Z,1755879292.591 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-22T16:14:52.783Z,1755879292.783 [DAT](INFO): DAT read: Rx Time:16:14:53.5328 

2025-08-22T16:14:52.783Z,1755879292.783 [DAT](INFO): Rx dataTimestamp_ set to:1755879292.782868
2025-08-22T16:14:52.784Z,1755879292.784 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:52.785Z,1755879292.785 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-22T16:14:52.786Z,1755879292.786 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.535989
2025-08-22T16:14:52.960Z,1755879292.960 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-22T16:14:52.960Z,1755879292.960 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-22T16:14:52.960Z,1755879292.960 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T16:14:52.960Z,1755879292.960 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-22T16:14:52.978Z,1755879292.978 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:14:52.979Z,1755879292.979 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:14:52.979Z,1755879292.979 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:14:52.979Z,1755879292.979 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:14:52.979Z,1755879292.979 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:14:53.036Z,1755879293.036 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.785815
2025-08-22T16:14:53.287Z,1755879293.287 [DAT](INFO): DAT read: Rx Time:16:14:54.0329 

2025-08-22T16:14:53.287Z,1755879293.287 [DAT](INFO): Rx dataTimestamp_ set to:1755879293.286740
2025-08-22T16:14:53.288Z,1755879293.288 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:53.289Z,1755879293.289 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-22T16:14:53.290Z,1755879293.290 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.039874
2025-08-22T16:14:53.415Z,1755879293.415 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-22T16:14:53.415Z,1755879293.415 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-22T16:14:53.417Z,1755879293.417 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-22T16:14:53.417Z,1755879293.417 [lineCaptureHoming:LineCapture] Stopped
2025-08-22T16:14:53.417Z,1755879293.417 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-22T16:14:53.417Z,1755879293.417 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-22T16:14:53.418Z,1755879293.418 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-22T16:14:53.419Z,1755879293.419 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-22T16:14:53.419Z,1755879293.419 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-22T16:14:53.419Z,1755879293.419 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-22T16:14:53.419Z,1755879293.419 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-22T16:14:53.540Z,1755879293.540 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.289588
2025-08-22T16:14:53.791Z,1755879293.791 [DAT](INFO): DAT read: Rx Time:16:14:54.5328 

2025-08-22T16:14:53.791Z,1755879293.791 [DAT](INFO): Rx dataTimestamp_ set to:1755879293.790860
2025-08-22T16:14:53.792Z,1755879293.792 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:53.793Z,1755879293.793 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-22T16:14:53.794Z,1755879293.794 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.543994
2025-08-22T16:14:53.801Z,1755879293.801 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-22T16:14:53.822Z,1755879293.822 [lineCaptureHoming:Lap:B] Stopped
2025-08-22T16:14:53.822Z,1755879293.822 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-22T16:14:53.822Z,1755879293.822 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-22T16:14:53.822Z,1755879293.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-22T16:14:54.043Z,1755879294.043 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.793147
2025-08-22T16:14:54.295Z,1755879294.295 [DAT](INFO): DAT read: Rx Time:16:14:55.0329 

2025-08-22T16:14:54.295Z,1755879294.295 [DAT](INFO): Rx dataTimestamp_ set to:1755879294.294947
2025-08-22T16:14:54.296Z,1755879294.296 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:54.297Z,1755879294.297 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-22T16:14:54.298Z,1755879294.298 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.048373
2025-08-22T16:14:54.301Z,1755879294.301 [lineCaptureHoming:Lap:C] Stopped
2025-08-22T16:14:54.301Z,1755879294.301 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-22T16:14:54.547Z,1755879294.547 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.296700
2025-08-22T16:14:54.602Z,1755879294.602 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.81,  85.58,  84.56,  80.49
2025-08-22T16:14:54.627Z,1755879294.627 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-22T16:14:54.627Z,1755879294.627 [lineCaptureHoming:Lap:D] Stopped
2025-08-22T16:14:54.628Z,1755879294.628 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-22T16:14:54.628Z,1755879294.628 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-22T16:14:54.799Z,1755879294.799 [DAT](INFO): DAT read: Rx Time:16:14:55.5328 

2025-08-22T16:14:54.799Z,1755879294.799 [DAT](INFO): Rx dataTimestamp_ set to:1755879294.798801
2025-08-22T16:14:54.800Z,1755879294.800 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:54.801Z,1755879294.801 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-22T16:14:54.802Z,1755879294.802 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.552105
2025-08-22T16:14:55.051Z,1755879295.051 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.800794
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-22T16:14:55.059Z,1755879295.059 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-22T16:14:55.303Z,1755879295.303 [DAT](INFO): DAT read: Rx Time:16:14:56.0329 

2025-08-22T16:14:55.303Z,1755879295.303 [DAT](INFO): Rx dataTimestamp_ set to:1755879295.302809
2025-08-22T16:14:55.304Z,1755879295.304 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:55.305Z,1755879295.305 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-22T16:14:55.306Z,1755879295.306 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.055968
2025-08-22T16:14:55.443Z,1755879295.443 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T16:14:55.443Z,1755879295.443 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-22T16:14:55.443Z,1755879295.443 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-22T16:14:55.443Z,1755879295.443 [lineCaptureHoming:restartDHCP] Stopped
2025-08-22T16:14:55.443Z,1755879295.443 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-22T16:14:55.518Z,1755879295.518 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-22T16:14:55.555Z,1755879295.555 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.305492
2025-08-22T16:14:55.807Z,1755879295.807 [DAT](INFO): DAT read: Rx Time:16:14:56.5328 

2025-08-22T16:14:55.808Z,1755879295.808 [DAT](INFO): Rx dataTimestamp_ set to:1755879295.807264
2025-08-22T16:14:55.809Z,1755879295.809 [DAT](INFO): DAT read: Bearing 240.6,  36.1 (Local)

2025-08-22T16:14:55.809Z,1755879295.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.6,  36.1 (Local)

2025-08-22T16:14:55.811Z,1755879295.811 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:55.816Z,1755879295.816 [DAT](INFO): DAT read: 16:14:56.5328 LVL= 24096, 11473, 25586, 26851, AGC= 40, IDX= 501, 0.09,-1.725,-3.071,-3.089,-1.090, PHS=-0.533,-1.936,-2.043, RAW=  86.4,  47.6, CAL=  84.7,  53.8, ROT=  65.3, -53.8

2025-08-22T16:14:55.817Z,1755879295.817 [DAT](INFO): got valid direction response:
 16:14:56.5328 LVL= 24096, 11473, 25586, 26851, AGC= 40, IDX= 501, 0.09,-1.725,-3.071,-3.089,-1.090, PHS=-0.533,-1.936,-2.043, RAW=  86.4,  47.6, CAL=  84.7,  53.8, ROT=  65.3, -53.8

2025-08-22T16:14:55.817Z,1755879295.817 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-22T16:14:55.818Z,1755879295.818 [DAT](INFO): direction in FSK: [0.246795,0.536570,0.806960]
2025-08-22T16:14:55.819Z,1755879295.819 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:55.824Z,1755879295.824 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.573967
2025-08-22T16:14:55.929Z,1755879295.929 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-22T16:14:55.929Z,1755879295.929 [lineCaptureHoming:Lap:E] Stopped
2025-08-22T16:14:55.929Z,1755879295.929 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-22T16:14:55.942Z,1755879295.942 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-22T16:14:55.942Z,1755879295.942 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-22T16:14:55.942Z,1755879295.942 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-22T16:14:56.059Z,1755879296.059 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809075
2025-08-22T16:14:56.123Z,1755879296.123 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-22UTC161456_sh
  
2025-08-22T16:14:56.311Z,1755879296.311 [DAT](INFO): DAT read: Rx Time:16:14:57.0329 

2025-08-22T16:14:56.312Z,1755879296.312 [DAT](INFO): Rx dataTimestamp_ set to:1755879296.311305
2025-08-22T16:14:56.313Z,1755879296.313 [DAT](INFO): DAT read: Bearing 236.7,  35.3 (Local)

2025-08-22T16:14:56.313Z,1755879296.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 236.7,  35.3 (Local)

2025-08-22T16:14:56.315Z,1755879296.315 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:56.320Z,1755879296.320 [DAT](INFO): DAT read: 16:14:57.0329 LVL= 21824, 12273, 23394, 24931, AGC= 40, IDX= 502, 0.21,-0.308,-1.780,-1.689, 0.320, PHS=-0.526,-2.054,-2.052, RAW=  90.1,  47.0, CAL=  88.8,  53.2, ROT=  61.2, -53.2

2025-08-22T16:14:56.321Z,1755879296.321 [DAT](INFO): got valid direction response:
 16:14:57.0329 LVL= 21824, 12273, 23394, 24931, AGC= 40, IDX= 502, 0.21,-0.308,-1.780,-1.689, 0.320, PHS=-0.526,-2.054,-2.052, RAW=  90.1,  47.0, CAL=  88.8,  53.2, ROT=  61.2, -53.2

2025-08-22T16:14:56.321Z,1755879296.321 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:14:56.322Z,1755879296.322 [DAT](INFO): direction in FSK: [0.288582,0.524928,0.800731]
2025-08-22T16:14:56.323Z,1755879296.323 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:56.327Z,1755879296.327 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.076909
2025-08-22T16:14:56.479Z,1755879296.479 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-22T16:14:56.479Z,1755879296.479 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-22T16:14:56.479Z,1755879296.479 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-22T16:14:56.564Z,1755879296.564 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.314515
2025-08-22T16:14:56.758Z,1755879296.758 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-22T16:14:56.758Z,1755879296.758 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-22T16:14:56.817Z,1755879296.817 [DAT](INFO): DAT read: Rx Time:16:14:57.5328 

2025-08-22T16:14:56.818Z,1755879296.818 [DAT](INFO): Rx dataTimestamp_ set to:1755879296.817135
2025-08-22T16:14:56.819Z,1755879296.819 [DAT](INFO): DAT read: Bearing 238.1,  35.7 (Local)

2025-08-22T16:14:56.820Z,1755879296.820 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.1,  35.7 (Local)

2025-08-22T16:14:56.822Z,1755879296.822 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:56.826Z,1755879296.826 [DAT](INFO): DAT read: 16:14:57.5328 LVL= 23840, 12465, 26514, 27635, AGC= 41, IDX= 501, 0.36,-1.326,-2.693,-2.687,-0.690, PHS=-0.534,-1.959,-2.041, RAW=  87.2,  47.5, CAL=  85.6,  53.7, ROT=  64.4, -53.7

2025-08-22T16:14:56.827Z,1755879296.827 [DAT](INFO): got valid direction response:
 16:14:57.5328 LVL= 23840, 12465, 26514, 27635, AGC= 41, IDX= 501, 0.36,-1.326,-2.693,-2.687,-0.690, PHS=-0.534,-1.959,-2.041, RAW=  87.2,  47.5, CAL=  85.6,  53.7, ROT=  64.4, -53.7

2025-08-22T16:14:56.828Z,1755879296.828 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:14:56.830Z,1755879296.830 [DAT](INFO): direction in FSK: [0.255800,0.533897,0.805928]
2025-08-22T16:14:56.830Z,1755879296.830 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:56.854Z,1755879296.854 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.591435
2025-08-22T16:14:57.067Z,1755879297.067 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.816735
2025-08-22T16:14:57.102Z,1755879297.102 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-22T16:14:57.102Z,1755879297.102 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-22T16:14:57.102Z,1755879297.102 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-22T16:14:57.103Z,1755879297.103 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T16:14:57.319Z,1755879297.319 [DAT](INFO): DAT read: Rx Time:16:14:58.0329 

2025-08-22T16:14:57.320Z,1755879297.320 [DAT](INFO): Rx dataTimestamp_ set to:1755879297.319348
2025-08-22T16:14:57.321Z,1755879297.321 [DAT](INFO): DAT read: Bearing 237.2,  35.4 (Local)

2025-08-22T16:14:57.321Z,1755879297.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 237.2,  35.4 (Local)

2025-08-22T16:14:57.323Z,1755879297.323 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:57.328Z,1755879297.328 [DAT](INFO): DAT read: 16:14:58.0329 LVL= 21792, 12561, 22706, 23955, AGC= 41, IDX= 503,-0.42,-2.138, 2.786, 2.794,-1.497, PHS=-0.540,-1.955,-2.037, RAW=  87.2,  47.7, CAL=  85.7,  53.9, ROT=  64.3, -53.9

2025-08-22T16:14:57.329Z,1755879297.329 [DAT](INFO): got valid direction response:
 16:14:58.0329 LVL= 21792, 12561, 22706, 23955, AGC= 41, IDX= 503,-0.42,-2.138, 2.786, 2.794,-1.497, PHS=-0.540,-1.955,-2.037, RAW=  87.2,  47.7, CAL=  85.7,  53.9, ROT=  64.3, -53.9

2025-08-22T16:14:57.329Z,1755879297.329 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:14:57.330Z,1755879297.330 [DAT](INFO): direction in FSK: [0.255510,0.530911,0.807990]
2025-08-22T16:14:57.331Z,1755879297.331 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:57.359Z,1755879297.359 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.109229
2025-08-22T16:14:57.485Z,1755879297.485 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-22T16:14:57.486Z,1755879297.486 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-22T16:14:57.571Z,1755879297.571 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.320751
2025-08-22T16:14:57.823Z,1755879297.823 [DAT](INFO): DAT read: Rx Time:16:14:58.5328 

2025-08-22T16:14:57.824Z,1755879297.824 [DAT](INFO): Rx dataTimestamp_ set to:1755879297.823253
2025-08-22T16:14:57.825Z,1755879297.825 [DAT](INFO): DAT read: Bearing 241.6,  36.3 (Local)

2025-08-22T16:14:57.825Z,1755879297.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.6,  36.3 (Local)

2025-08-22T16:14:57.833Z,1755879297.833 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:57.846Z,1755879297.846 [DAT](INFO): DAT read: 16:14:58.5328 LVL= 23536, 10945, 25586, 26963, AGC= 40, IDX= 502,-0.24, 2.474, 1.316, 1.151, 3.132, PHS=-0.557,-1.771,-2.025, RAW=  80.7,  48.5, CAL=  78.3,  54.7, ROT=  71.7, -54.7

2025-08-22T16:14:57.847Z,1755879297.847 [DAT](INFO): got valid direction response:
 16:14:58.5328 LVL= 23536, 10945, 25586, 26963, AGC= 40, IDX= 502,-0.24, 2.474, 1.316, 1.151, 3.132, PHS=-0.557,-1.771,-2.025, RAW=  80.7,  48.5, CAL=  78.3,  54.7, ROT=  71.7, -54.7

2025-08-22T16:14:57.848Z,1755879297.848 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-22T16:14:57.849Z,1755879297.849 [DAT](INFO): direction in FSK: [0.181443,0.548633,0.816138]
2025-08-22T16:14:57.849Z,1755879297.849 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:57.852Z,1755879297.852 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.602640
2025-08-22T16:14:58.046Z,1755879298.046 [DockingStepper](FAULT): Timed out moving from: 7407 to: 14700 response: ÿ
2025-08-22T16:14:58.046Z,1755879298.046 [DockingStepper] Hardware Fault, FailCount= 3
2025-08-22T16:14:58.046Z,1755879298.046 [DockingStepper](ERROR): Hardware Fault
2025-08-22T16:14:58.058Z,1755879298.058 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-22T16:14:58.075Z,1755879298.075 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.824875
2025-08-22T16:14:58.075Z,1755879298.075 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T16:14:58.331Z,1755879298.331 [DAT](INFO): DAT read: Rx Time:16:14:59.0330 

2025-08-22T16:14:58.333Z,1755879298.333 [DAT](INFO): Rx dataTimestamp_ set to:1755879298.332172
2025-08-22T16:14:58.336Z,1755879298.336 [DAT](INFO): DAT read: Bearing 240.6,  36.0 (Local)

2025-08-22T16:14:58.336Z,1755879298.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.6,  36.0 (Local)

2025-08-22T16:14:58.338Z,1755879298.338 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:14:58.343Z,1755879298.343 [DAT](INFO): DAT read: 16:14:59.0330 LVL= 23392, 10769, 25154, 26611, AGC= 41, IDX= 503,-0.11,-2.414, 2.703, 2.547,-1.757, PHS=-0.555,-1.778,-2.023, RAW=  81.1,  48.5, CAL=  78.7,  54.7, ROT=  71.3, -54.7

2025-08-22T16:14:58.344Z,1755879298.344 [DAT](INFO): got valid direction response:
 16:14:59.0330 LVL= 23392, 10769, 25154, 26611, AGC= 41, IDX= 503,-0.11,-2.414, 2.703, 2.547,-1.757, PHS=-0.555,-1.778,-2.023, RAW=  81.1,  48.5, CAL=  78.7,  54.7, ROT=  71.3, -54.7

2025-08-22T16:14:58.344Z,1755879298.344 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-22T16:14:58.345Z,1755879298.345 [DAT](INFO): direction in FSK: [0.185269,0.547353,0.816138]
2025-08-22T16:14:58.345Z,1755879298.345 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:58.352Z,1755879298.352 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.102128
2025-08-22T16:14:58.352Z,1755879298.352 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T16:14:58.414Z,1755879298.414 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:14:58.414Z,1755879298.414 [DockingStepper](INFO): Powering down
2025-08-22T16:14:58.579Z,1755879298.579 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.329034
2025-08-22T16:14:58.579Z,1755879298.579 [DAT](INFO): Requesting device enable set for address 50.
2025-08-22T16:14:58.831Z,1755879298.831 [DAT](INFO): DAT read: Rx Time:16:14:59.5329 

2025-08-22T16:14:58.832Z,1755879298.832 [DAT](INFO): Rx dataTimestamp_ set to:1755879298.831258
2025-08-22T16:14:58.833Z,1755879298.833 [DAT](INFO): DAT read: Bearing 238.5,  35.6 (Local)

2025-08-22T16:14:58.833Z,1755879298.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.5,  35.6 (Local)

2025-08-22T16:14:58.835Z,1755879298.835 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:58.840Z,1755879298.840 [DAT](INFO): DAT read: 16:14:59.5329 LVL= 23088, 10577, 24370, 26803, AGC= 42, IDX= 502,-0.00,-2.756, 2.299, 2.192,-2.106, PHS=-0.548,-1.833,-2.029, RAW=  83.0,  48.2, CAL=  80.9,  54.5, ROT=  69.1, -54.5

2025-08-22T16:14:58.841Z,1755879298.841 [DAT](INFO): got valid direction response:
 16:14:59.5329 LVL= 23088, 10577, 24370, 26803, AGC= 42, IDX= 502,-0.00,-2.756, 2.299, 2.192,-2.106, PHS=-0.548,-1.833,-2.029, RAW=  83.0,  48.2, CAL=  80.9,  54.5, ROT=  69.1, -54.5

2025-08-22T16:14:58.841Z,1755879298.841 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-22T16:14:58.842Z,1755879298.842 [DAT](INFO): direction in FSK: [0.207159,0.542495,0.814116]
2025-08-22T16:14:58.842Z,1755879298.842 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:58.849Z,1755879298.849 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.599134
2025-08-22T16:14:59.082Z,1755879299.082 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.832553
2025-08-22T16:14:59.337Z,1755879299.337 [DAT](INFO): DAT read: Rx Time:16:15:00.0329 

2025-08-22T16:14:59.338Z,1755879299.338 [DAT](INFO): Rx dataTimestamp_ set to:1755879299.337327
2025-08-22T16:14:59.339Z,1755879299.339 [DAT](INFO): DAT read: Bearing 233.4,  34.6 (Local)

2025-08-22T16:14:59.339Z,1755879299.339 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.4,  34.6 (Local)

2025-08-22T16:14:59.341Z,1755879299.341 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:14:59.346Z,1755879299.346 [DAT](INFO): DAT read: 16:15:00.0329 LVL= 21280, 10737, 22066, 23731, AGC= 41, IDX= 502, 0.10,-1.862, 3.002, 3.060,-1.229, PHS=-0.531,-2.007,-2.038, RAW=  89.0,  47.3, CAL=  87.6,  53.5, ROT=  62.4, -53.5

2025-08-22T16:14:59.347Z,1755879299.347 [DAT](INFO): got valid direction response:
 16:15:00.0329 LVL= 21280, 10737, 22066, 23731, AGC= 41, IDX= 502, 0.10,-1.862, 3.002, 3.060,-1.229, PHS=-0.531,-2.007,-2.038, RAW=  89.0,  47.3, CAL=  87.6,  53.5, ROT=  62.4, -53.5

2025-08-22T16:14:59.348Z,1755879299.348 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-22T16:14:59.349Z,1755879299.349 [DAT](INFO): direction in FSK: [0.275579,0.527134,0.803857]
2025-08-22T16:14:59.349Z,1755879299.349 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:59.353Z,1755879299.353 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.102866
2025-08-22T16:14:59.591Z,1755879299.591 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.340823
2025-08-22T16:14:59.843Z,1755879299.843 [DAT](INFO): DAT read: Rx Time:16:15:00.5328 

2025-08-22T16:14:59.843Z,1755879299.843 [DAT](INFO): Rx dataTimestamp_ set to:1755879299.843183
2025-08-22T16:14:59.845Z,1755879299.845 [DAT](INFO): DAT read: Bearing 235.2,  35.0 (Local)

2025-08-22T16:14:59.845Z,1755879299.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.2,  35.0 (Local)

2025-08-22T16:14:59.847Z,1755879299.847 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:14:59.851Z,1755879299.851 [DAT](INFO): DAT read: 16:15:00.5328 LVL= 23408, 10769, 24466, 26451, AGC= 41, IDX= 501, 0.22,-2.898, 2.048, 2.035,-2.262, PHS=-0.533,-1.928,-2.030, RAW=  86.5,  47.6, CAL=  84.9,  53.8, ROT=  65.1, -53.8

2025-08-22T16:14:59.853Z,1755879299.852 [DAT](INFO): got valid direction response:
 16:15:00.5328 LVL= 23408, 10769, 24466, 26451, AGC= 41, IDX= 501, 0.22,-2.898, 2.048, 2.035,-2.262, PHS=-0.533,-1.928,-2.030, RAW=  86.5,  47.6, CAL=  84.9,  53.8, ROT=  65.1, -53.8

2025-08-22T16:14:59.853Z,1755879299.853 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-22T16:14:59.854Z,1755879299.854 [DAT](INFO): direction in FSK: [0.248666,0.535705,0.806960]
2025-08-22T16:14:59.854Z,1755879299.854 [DAT](INFO): publishing direction and range info
2025-08-22T16:14:59.858Z,1755879299.858 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.608349
2025-08-22T16:15:00.095Z,1755879300.095 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.845096
2025-08-22T16:15:00.351Z,1755879300.351 [DAT](INFO): DAT read: Rx Time:16:15:01.0329 

2025-08-22T16:15:00.352Z,1755879300.352 [DAT](INFO): Rx dataTimestamp_ set to:1755879300.351295
2025-08-22T16:15:00.356Z,1755879300.356 [DAT](INFO): DAT read: Bearing 233.6,  34.6 (Local)

2025-08-22T16:15:00.358Z,1755879300.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 233.6,  34.6 (Local)

2025-08-22T16:15:00.378Z,1755879300.378 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:00.391Z,1755879300.391 [DAT](INFO): DAT read: 16:15:01.0329 LVL= 21344, 10737, 22210, 23507, AGC= 41, IDX= 502, 0.38,-2.220, 2.660, 2.706,-1.587, PHS=-0.530,-1.991,-2.034, RAW=  88.5,  47.4, CAL=  87.1,  53.5, ROT=  62.9, -53.5

2025-08-22T16:15:00.392Z,1755879300.392 [DAT](INFO): got valid direction response:
 16:15:01.0329 LVL= 21344, 10737, 22210, 23507, AGC= 41, IDX= 502, 0.38,-2.220, 2.660, 2.706,-1.587, PHS=-0.530,-1.991,-2.034, RAW=  88.5,  47.4, CAL=  87.1,  53.5, ROT=  62.9, -53.5

2025-08-22T16:15:00.392Z,1755879300.392 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-22T16:15:00.399Z,1755879300.399 [DAT](INFO): direction in FSK: [0.270968,0.529519,0.803857]
2025-08-22T16:15:00.400Z,1755879300.400 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:00.414Z,1755879300.414 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.159489
2025-08-22T16:15:00.599Z,1755879300.599 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.348677
2025-08-22T16:15:00.851Z,1755879300.851 [DAT](INFO): DAT read: Rx Time:16:15:01.5328 

2025-08-22T16:15:00.852Z,1755879300.852 [DAT](INFO): Rx dataTimestamp_ set to:1755879300.851401
2025-08-22T16:15:00.853Z,1755879300.853 [DAT](INFO): DAT read: Bearing 239.2,  35.5 (Local)

2025-08-22T16:15:00.853Z,1755879300.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.2,  35.5 (Local)

2025-08-22T16:15:00.855Z,1755879300.855 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:00.860Z,1755879300.860 [DAT](INFO): DAT read: 16:15:01.5328 LVL= 23744, 10673, 24946, 26995, AGC= 41, IDX= 502,-0.41, 1.676, 0.478, 0.343, 2.331, PHS=-0.553,-1.808,-2.032, RAW=  81.9,  48.4, CAL=  79.7,  54.6, ROT=  70.3, -54.6

2025-08-22T16:15:00.861Z,1755879300.861 [DAT](INFO): got valid direction response:
 16:15:01.5328 LVL= 23744, 10673, 24946, 26995, AGC= 41, IDX= 502,-0.41, 1.676, 0.478, 0.343, 2.331, PHS=-0.553,-1.808,-2.032, RAW=  81.9,  48.4, CAL=  79.7,  54.6, ROT=  70.3, -54.6

2025-08-22T16:15:00.861Z,1755879300.861 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-22T16:15:00.862Z,1755879300.862 [DAT](INFO): direction in FSK: [0.195273,0.545376,0.815128]
2025-08-22T16:15:00.863Z,1755879300.863 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:00.872Z,1755879300.872 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.622424
2025-08-22T16:15:01.103Z,1755879301.103 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.852730
2025-08-22T16:15:01.359Z,1755879301.359 [DAT](INFO): DAT read: Rx Time:16:15:02.0329 

2025-08-22T16:15:01.361Z,1755879301.361 [DAT](INFO): Rx dataTimestamp_ set to:1755879301.359709
2025-08-22T16:15:01.365Z,1755879301.365 [DAT](INFO): DAT read: Bearing 238.2,  35.1 (Local)

2025-08-22T16:15:01.365Z,1755879301.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.2,  35.1 (Local)

2025-08-22T16:15:01.367Z,1755879301.367 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:01.380Z,1755879301.380 [DAT](INFO): DAT read: 16:15:02.0329 LVL= 21216, 10737, 22434, 24403, AGC= 41, IDX= 503,-0.24, 2.244, 0.990, 0.903, 2.901, PHS=-0.556,-1.866,-2.042, RAW=  83.8,  48.3, CAL=  81.8,  54.5, ROT=  68.2, -54.5

2025-08-22T16:15:01.385Z,1755879301.385 [DAT](INFO): got valid direction response:
 16:15:02.0329 LVL= 21216, 10737, 22434, 24403, AGC= 41, IDX= 503,-0.24, 2.244, 0.990, 0.903, 2.901, PHS=-0.556,-1.866,-2.042, RAW=  83.8,  48.3, CAL=  81.8,  54.5, ROT=  68.2, -54.5

2025-08-22T16:15:01.386Z,1755879301.386 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-22T16:15:01.387Z,1755879301.387 [DAT](INFO): direction in FSK: [0.215654,0.539174,0.814116]
2025-08-22T16:15:01.387Z,1755879301.387 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:01.395Z,1755879301.395 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.145338
2025-08-22T16:15:01.607Z,1755879301.607 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356785
2025-08-22T16:15:01.859Z,1755879301.859 [DAT](INFO): DAT read: Rx Time:16:15:02.5329 

2025-08-22T16:15:01.860Z,1755879301.860 [DAT](INFO): Rx dataTimestamp_ set to:1755879301.859283
2025-08-22T16:15:01.861Z,1755879301.861 [DAT](INFO): DAT read: Bearing 242.7,  36.0 (Local)

2025-08-22T16:15:01.861Z,1755879301.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.7,  36.0 (Local)

2025-08-22T16:15:01.863Z,1755879301.863 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:01.868Z,1755879301.868 [DAT](INFO): DAT read: 16:15:02.5329 LVL= 23472, 10993, 25298, 27539, AGC= 42, IDX= 502,-0.14, 1.910, 0.799, 0.582, 2.585, PHS=-0.573,-1.741,-2.047, RAW=  78.7,  48.9, CAL=  76.0,  54.8, ROT=  74.0, -54.8

2025-08-22T16:15:01.869Z,1755879301.869 [DAT](INFO): got valid direction response:
 16:15:02.5329 LVL= 23472, 10993, 25298, 27539, AGC= 42, IDX= 502,-0.14, 1.910, 0.799, 0.582, 2.585, PHS=-0.573,-1.741,-2.047, RAW=  78.7,  48.9, CAL=  76.0,  54.8, ROT=  74.0, -54.8

2025-08-22T16:15:01.869Z,1755879301.869 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-22T16:15:01.870Z,1755879301.870 [DAT](INFO): direction in FSK: [0.158886,0.554102,0.817145]
2025-08-22T16:15:01.870Z,1755879301.870 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:01.874Z,1755879301.874 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.624634
2025-08-22T16:15:02.111Z,1755879302.111 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.860719
2025-08-22T16:15:02.368Z,1755879302.368 [DAT](INFO): DAT read: Rx Time:16:15:03.0329 

2025-08-22T16:15:02.369Z,1755879302.369 [DAT](INFO): Rx dataTimestamp_ set to:1755879302.368330
2025-08-22T16:15:02.377Z,1755879302.377 [DAT](INFO): DAT read: Bearing 241.0,  35.3 (Local)

2025-08-22T16:15:02.380Z,1755879302.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 241.0,  35.3 (Local)

2025-08-22T16:15:02.403Z,1755879302.403 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:02.408Z,1755879302.408 [DAT](INFO): DAT read: 16:15:03.0329 LVL= 21040, 11137, 22514, 24371, AGC= 41, IDX= 502,-0.04, 2.054, 0.853, 0.712, 2.730, PHS=-0.574,-1.832,-2.062, RAW=  81.7,  48.7, CAL=  79.5,  54.9, ROT=  70.5, -54.9

2025-08-22T16:15:02.409Z,1755879302.409 [DAT](INFO): got valid direction response:
 16:15:03.0329 LVL= 21040, 11137, 22514, 24371, AGC= 41, IDX= 502,-0.04, 2.054, 0.853, 0.712, 2.730, PHS=-0.574,-1.832,-2.062, RAW=  81.7,  48.7, CAL=  79.5,  54.9, ROT=  70.5, -54.9

2025-08-22T16:15:02.409Z,1755879302.409 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-22T16:15:02.410Z,1755879302.410 [DAT](INFO): direction in FSK: [0.191941,0.542024,0.818150]
2025-08-22T16:15:02.410Z,1755879302.410 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:02.427Z,1755879302.427 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.176925
2025-08-22T16:15:02.615Z,1755879302.615 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.364678
2025-08-22T16:15:02.868Z,1755879302.868 [DAT](INFO): DAT read: Rx Time:16:15:03.5328 

2025-08-22T16:15:02.870Z,1755879302.870 [DAT](INFO): Rx dataTimestamp_ set to:1755879302.868507
2025-08-22T16:15:02.874Z,1755879302.874 [DAT](INFO): DAT read: Bearing 244.3,  36.0 (Local)

2025-08-22T16:15:02.874Z,1755879302.874 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.3,  36.0 (Local)

2025-08-22T16:15:02.876Z,1755879302.876 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:02.880Z,1755879302.880 [DAT](INFO): DAT read: 16:15:03.5328 LVL= 23456, 10193, 25554, 28131, AGC= 42, IDX= 501, 0.06, 2.442, 1.333, 1.105, 3.132, PHS=-0.588,-1.754,-2.071, RAW=  78.3,  49.1, CAL=  75.6,  55.0, ROT=  74.4, -55.0

2025-08-22T16:15:02.887Z,1755879302.887 [DAT](INFO): got valid direction response:
 16:15:03.5328 LVL= 23456, 10193, 25554, 28131, AGC= 42, IDX= 501, 0.06, 2.442, 1.333, 1.105, 3.132, PHS=-0.588,-1.754,-2.071, RAW=  78.3,  49.1, CAL=  75.6,  55.0, ROT=  74.4, -55.0

2025-08-22T16:15:02.888Z,1755879302.888 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-22T16:15:02.894Z,1755879302.894 [DAT](INFO): direction in FSK: [0.154246,0.552447,0.819152]
2025-08-22T16:15:02.894Z,1755879302.894 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:02.903Z,1755879302.903 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.652325
2025-08-22T16:15:03.118Z,1755879303.118 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.868515
2025-08-22T16:15:03.375Z,1755879303.375 [DAT](INFO): DAT read: Rx Time:16:15:04.0329 

2025-08-22T16:15:03.377Z,1755879303.377 [DAT](INFO): Rx dataTimestamp_ set to:1755879303.375889
2025-08-22T16:15:03.383Z,1755879303.383 [DAT](INFO): DAT read: Bearing 246.6,  36.3 (Local)

2025-08-22T16:15:03.384Z,1755879303.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.6,  36.3 (Local)

2025-08-22T16:15:03.390Z,1755879303.390 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:03.398Z,1755879303.398 [DAT](INFO): DAT read: 16:15:04.0329 LVL= 23536, 10097, 25138, 27603, AGC= 41, IDX= 502, 0.14,-2.667, 2.563, 2.291,-1.966, PHS=-0.599,-1.709,-2.070, RAW=  76.4,  49.4, CAL=  73.4,  55.1, ROT=  76.6, -55.1

2025-08-22T16:15:03.399Z,1755879303.399 [DAT](INFO): got valid direction response:
 16:15:04.0329 LVL= 23536, 10097, 25138, 27603, AGC= 41, IDX= 502, 0.14,-2.667, 2.563, 2.291,-1.966, PHS=-0.599,-1.709,-2.070, RAW=  76.4,  49.4, CAL=  73.4,  55.1, ROT=  76.6, -55.1

2025-08-22T16:15:03.399Z,1755879303.399 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-22T16:15:03.400Z,1755879303.400 [DAT](INFO): direction in FSK: [0.132594,0.556570,0.820152]
2025-08-22T16:15:03.400Z,1755879303.400 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:03.404Z,1755879303.404 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.154100
2025-08-22T16:15:03.623Z,1755879303.623 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.372721
2025-08-22T16:15:03.875Z,1755879303.875 [DAT](INFO): DAT read: Rx Time:16:15:04.5328 

2025-08-22T16:15:03.876Z,1755879303.876 [DAT](INFO): Rx dataTimestamp_ set to:1755879303.875233
2025-08-22T16:15:03.877Z,1755879303.877 [DAT](INFO): DAT read: Bearing 248.1,  36.4 (Local)

2025-08-22T16:15:03.877Z,1755879303.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.1,  36.4 (Local)

2025-08-22T16:15:03.879Z,1755879303.879 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:03.884Z,1755879303.884 [DAT](INFO): DAT read: 16:15:04.5328 LVL= 23024, 10049, 24898, 27859, AGC= 42, IDX= 501, 0.27, 2.488, 1.459, 1.163,-3.084, PHS=-0.610,-1.695,-2.081, RAW=  75.4,  49.6, CAL=  72.3,  55.2, ROT=  77.7, -55.2

2025-08-22T16:15:03.885Z,1755879303.885 [DAT](INFO): got valid direction response:
 16:15:04.5328 LVL= 23024, 10049, 24898, 27859, AGC= 42, IDX= 501, 0.27, 2.488, 1.459, 1.163,-3.084, PHS=-0.610,-1.695,-2.081, RAW=  75.4,  49.6, CAL=  72.3,  55.2, ROT=  77.7, -55.2

2025-08-22T16:15:03.885Z,1755879303.885 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-22T16:15:03.914Z,1755879303.914 [DAT](INFO): direction in FSK: [0.121579,0.557613,0.821149]
2025-08-22T16:15:03.914Z,1755879303.914 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:03.942Z,1755879303.942 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.691923
2025-08-22T16:15:04.127Z,1755879304.127 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.877195
2025-08-22T16:15:04.384Z,1755879304.384 [DAT](INFO): DAT read: Rx Time:16:15:05.0329 

2025-08-22T16:15:04.386Z,1755879304.386 [DAT](INFO): Rx dataTimestamp_ set to:1755879304.385003
2025-08-22T16:15:04.390Z,1755879304.390 [DAT](INFO): DAT read: Bearing 250.3,  36.7 (Local)

2025-08-22T16:15:04.391Z,1755879304.391 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.3,  36.7 (Local)

2025-08-22T16:15:04.401Z,1755879304.401 [DAT](INFO): DAT read: Range 11 t   1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:04.430Z,1755879304.430 [DAT](INFO): unknown deviceResponse_: Range 11 t   1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:04.446Z,1755879304.446 [DAT](INFO): DAT read: 16:15:05.0329 LVL= 23216,  9425, 25010, 28355, AGC= 42, IDX= 502, 0.44, 3.068, 2.097, 1.757,-2.491, PHS=-0.622,-1.650,-2.079, RAW=  73.3,  49.9, CAL=  70.0,  55.4, ROT=  80.0, -55.4

2025-08-22T16:15:04.447Z,1755879304.447 [DAT](INFO): got valid direction response:
 16:15:05.0329 LVL= 23216,  9425, 25010, 28355, AGC= 42, IDX= 502, 0.44, 3.068, 2.097, 1.757,-2.491, PHS=-0.622,-1.650,-2.079, RAW=  73.3,  49.9, CAL=  70.0,  55.4, ROT=  80.0, -55.4

2025-08-22T16:15:04.448Z,1755879304.448 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-22T16:15:04.448Z,1755879304.448 [DAT](INFO): direction in FSK: [0.098605,0.559217,0.823136]
2025-08-22T16:15:04.479Z,1755879304.479 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.229169
2025-08-22T16:15:04.635Z,1755879304.635 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.385513
2025-08-22T16:15:04.887Z,1755879304.887 [DAT](INFO): DAT read: Rx Time:16:15:05.5328 

2025-08-22T16:15:04.888Z,1755879304.888 [DAT](INFO): Rx dataTimestamp_ set to:1755879304.887302
2025-08-22T16:15:04.889Z,1755879304.889 [DAT](INFO): DAT read: Bearing 252.0,  36.8 (Local)

2025-08-22T16:15:04.889Z,1755879304.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.0,  36.8 (Local)

2025-08-22T16:15:04.892Z,1755879304.892 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:04.896Z,1755879304.896 [DAT](INFO): DAT read: 16:15:05.5328 LVL= 23408,  9537, 25298, 27923, AGC= 42, IDX= 502,-0.34, 0.618,-0.308,-0.681, 1.354, PHS=-0.634,-1.618,-2.079, RAW=  71.8,  50.2, CAL=  68.4,  55.5, ROT=  81.6, -55.5

2025-08-22T16:15:04.898Z,1755879304.898 [DAT](INFO): got valid direction response:
 16:15:05.5328 LVL= 23408,  9537, 25298, 27923, AGC= 42, IDX= 502,-0.34, 0.618,-0.308,-0.681, 1.354, PHS=-0.634,-1.618,-2.079, RAW=  71.8,  50.2, CAL=  68.4,  55.5, ROT=  81.6, -55.5

2025-08-22T16:15:04.898Z,1755879304.898 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-22T16:15:04.899Z,1755879304.899 [DAT](INFO): direction in FSK: [0.082742,0.560330,0.824126]
2025-08-22T16:15:04.899Z,1755879304.899 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:04.903Z,1755879304.903 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.652927
2025-08-22T16:15:05.139Z,1755879305.139 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.888770
2025-08-22T16:15:05.395Z,1755879305.395 [DAT](INFO): DAT read: Rx Time:16:15:06.0330 

2025-08-22T16:15:05.397Z,1755879305.397 [DAT](INFO): Rx dataTimestamp_ set to:1755879305.395569
2025-08-22T16:15:05.401Z,1755879305.401 [DAT](INFO): DAT read: Bearing 252.9,  36.9 (Local)

2025-08-22T16:15:05.434Z,1755879305.434 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.9,  36.9 (Local)

2025-08-22T16:15:05.436Z,1755879305.436 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.0

2025-08-22T16:15:05.441Z,1755879305.441 [DAT](INFO): DAT read: 16:15:06.0330 LVL= 23856,  9425, 24738, 28099, AGC= 42, IDX= 503,-0.20, 1.979, 1.066, 0.682, 2.719, PHS=-0.638,-1.608,-2.081, RAW=  71.3,  50.2, CAL=  67.9,  55.5, ROT=  82.1, -55.5

2025-08-22T16:15:05.466Z,1755879305.466 [DAT](INFO): got valid direction response:
 16:15:06.0330 LVL= 23856,  9425, 24738, 28099, AGC= 42, IDX= 503,-0.20, 1.979, 1.066, 0.682, 2.719, PHS=-0.638,-1.608,-2.081, RAW=  71.3,  50.2, CAL=  67.9,  55.5, ROT=  82.1, -55.5

2025-08-22T16:15:05.467Z,1755879305.467 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-22T16:15:05.468Z,1755879305.468 [DAT](INFO): direction in FSK: [0.077849,0.561031,0.824126]
2025-08-22T16:15:05.468Z,1755879305.468 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:05.480Z,1755879305.480 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.229712
2025-08-22T16:15:05.643Z,1755879305.643 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.392843
2025-08-22T16:15:05.895Z,1755879305.895 [DAT](INFO): DAT read: Rx Time:16:15:06.5328 

2025-08-22T16:15:05.896Z,1755879305.896 [DAT](INFO): Rx dataTimestamp_ set to:1755879305.895238
2025-08-22T16:15:05.897Z,1755879305.897 [DAT](INFO): DAT read: Bearing 251.0,  36.7 (Local)

2025-08-22T16:15:05.897Z,1755879305.897 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.0,  36.7 (Local)

2025-08-22T16:15:05.899Z,1755879305.899 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:05.904Z,1755879305.904 [DAT](INFO): DAT read: 16:15:06.5328 LVL= 23344, 10689, 25058, 27539, AGC= 43, IDX= 502,-0.08, 1.039, 0.038,-0.281, 1.769, PHS=-0.629,-1.686,-2.094, RAW=  74.3,  50.0, CAL=  71.1,  55.5, ROT=  78.9, -55.5

2025-08-22T16:15:05.905Z,1755879305.905 [DAT](INFO): got valid direction response:
 16:15:06.5328 LVL= 23344, 10689, 25058, 27539, AGC= 43, IDX= 502,-0.08, 1.039, 0.038,-0.281, 1.769, PHS=-0.629,-1.686,-2.094, RAW=  74.3,  50.0, CAL=  71.1,  55.5, ROT=  78.9, -55.5

2025-08-22T16:15:05.905Z,1755879305.905 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-22T16:15:05.906Z,1755879305.906 [DAT](INFO): direction in FSK: [0.109046,0.555810,0.824126]
2025-08-22T16:15:05.906Z,1755879305.906 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:05.910Z,1755879305.910 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.660097
2025-08-22T16:15:06.148Z,1755879306.148 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.897589
2025-08-22T16:15:06.403Z,1755879306.403 [DAT](INFO): DAT read: Rx Time:16:15:07.0328 

2025-08-22T16:15:06.405Z,1755879306.405 [DAT](INFO): Rx dataTimestamp_ set to:1755879306.404345
2025-08-22T16:15:06.410Z,1755879306.410 [DAT](INFO): DAT read: Bearing 251.8,  37.0 (Local)

2025-08-22T16:15:06.411Z,1755879306.411 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.8,  37.0 (Local)

2025-08-22T16:15:06.417Z,1755879306.417 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:06.468Z,1755879306.468 [DAT](INFO): DAT read: 16:15:07.0328 LVL= 23920,  9457, 25202, 27411, AGC= 42, IDX= 502, 0.02, 2.022, 1.038, 0.702, 2.749, PHS=-0.625,-1.666,-2.091, RAW=  73.6,  49.8, CAL=  70.3,  55.4, ROT=  79.7, -55.4

2025-08-22T16:15:06.474Z,1755879306.474 [DAT](INFO): got valid direction response:
 16:15:07.0328 LVL= 23920,  9457, 25202, 27411, AGC= 42, IDX= 502, 0.02, 2.022, 1.038, 0.702, 2.749, PHS=-0.625,-1.666,-2.091, RAW=  73.6,  49.8, CAL=  70.3,  55.4, ROT=  79.7, -55.4

2025-08-22T16:15:06.475Z,1755879306.475 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-22T16:15:06.482Z,1755879306.482 [DAT](INFO): direction in FSK: [0.101532,0.558693,0.823136]
2025-08-22T16:15:06.482Z,1755879306.482 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:06.490Z,1755879306.490 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.235552
2025-08-22T16:15:06.650Z,1755879306.650 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.400606
2025-08-22T16:15:06.903Z,1755879306.903 [DAT](INFO): DAT read: Rx Time:16:15:07.5327 

2025-08-22T16:15:06.904Z,1755879306.904 [DAT](INFO): Rx dataTimestamp_ set to:1755879306.903250
2025-08-22T16:15:06.905Z,1755879306.905 [DAT](INFO): DAT read: Bearing 248.4,  36.6 (Local)

2025-08-22T16:15:06.905Z,1755879306.905 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.4,  36.6 (Local)

2025-08-22T16:15:06.907Z,1755879306.907 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:06.912Z,1755879306.912 [DAT](INFO): DAT read: 16:15:07.5327 LVL= 24048, 10913, 25570, 27971, AGC= 43, IDX= 501, 0.12, 1.703, 0.589, 0.352, 2.410, PHS=-0.605,-1.776,-2.102, RAW=  78.0,  49.3, CAL=  75.3,  55.2, ROT=  74.7, -55.2

2025-08-22T16:15:06.913Z,1755879306.913 [DAT](INFO): got valid direction response:
 16:15:07.5327 LVL= 24048, 10913, 25570, 27971, AGC= 43, IDX= 501, 0.12, 1.703, 0.589, 0.352, 2.410, PHS=-0.605,-1.776,-2.102, RAW=  78.0,  49.3, CAL=  75.3,  55.2, ROT=  74.7, -55.2

2025-08-22T16:15:06.913Z,1755879306.913 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-22T16:15:06.914Z,1755879306.914 [DAT](INFO): direction in FSK: [0.150596,0.550486,0.821149]
2025-08-22T16:15:06.914Z,1755879306.914 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:06.918Z,1755879306.918 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.668152
2025-08-22T16:15:07.155Z,1755879307.155 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.904898
2025-08-22T16:15:07.410Z,1755879307.410 [DAT](INFO): DAT read: Rx Time:16:15:08.0328 

2025-08-22T16:15:07.412Z,1755879307.412 [DAT](INFO): Rx dataTimestamp_ set to:1755879307.411130
2025-08-22T16:15:07.416Z,1755879307.416 [DAT](INFO): DAT read: Bearing 249.5,  37.1 (Local)

2025-08-22T16:15:07.417Z,1755879307.417 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.5,  37.1 (Local)

2025-08-22T16:15:07.455Z,1755879307.455 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:07.460Z,1755879307.460 [DAT](INFO): DAT read: 16:15:08.0328 LVL= 23840, 10097, 26098, 27427, AGC= 42, IDX= 502, 0.23, 3.034, 1.959, 1.690,-2.547, PHS=-0.600,-1.732,-2.090, RAW=  76.7,  49.3, CAL=  73.8,  55.0, ROT=  76.2, -55.0

2025-08-22T16:15:07.461Z,1755879307.461 [DAT](INFO): got valid direction response:
 16:15:08.0328 LVL= 23840, 10097, 26098, 27427, AGC= 42, IDX= 502, 0.23, 3.034, 1.959, 1.690,-2.547, PHS=-0.600,-1.732,-2.090, RAW=  76.7,  49.3, CAL=  73.8,  55.0, ROT=  76.2, -55.0

2025-08-22T16:15:07.461Z,1755879307.461 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-22T16:15:07.462Z,1755879307.462 [DAT](INFO): direction in FSK: [0.136817,0.557020,0.819152]
2025-08-22T16:15:07.463Z,1755879307.463 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:07.471Z,1755879307.471 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.221083
2025-08-22T16:15:07.660Z,1755879307.660 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.409821
2025-08-22T16:15:07.911Z,1755879307.911 [DAT](INFO): DAT read: Rx Time:16:15:08.5327 

2025-08-22T16:15:07.912Z,1755879307.912 [DAT](INFO): Rx dataTimestamp_ set to:1755879307.911276
2025-08-22T16:15:07.913Z,1755879307.913 [DAT](INFO): DAT read: Bearing 248.9,  37.1 (Local)

2025-08-22T16:15:07.913Z,1755879307.913 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.9,  37.1 (Local)

2025-08-22T16:15:07.915Z,1755879307.915 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:07.920Z,1755879307.920 [DAT](INFO): DAT read: 16:15:08.5327 LVL= 24288, 10033, 25906, 27347, AGC= 42, IDX= 501, 0.40, 1.352, 0.255, 0.004, 2.051, PHS=-0.597,-1.751,-2.092, RAW=  77.4,  49.2, CAL=  74.6,  55.0, ROT=  75.4, -55.0

2025-08-22T16:15:07.921Z,1755879307.921 [DAT](INFO): got valid direction response:
 16:15:08.5327 LVL= 24288, 10033, 25906, 27347, AGC= 42, IDX= 501, 0.40, 1.352, 0.255, 0.004, 2.051, PHS=-0.597,-1.751,-2.092, RAW=  77.4,  49.2, CAL=  74.6,  55.0, ROT=  75.4, -55.0

2025-08-22T16:15:07.921Z,1755879307.921 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-22T16:15:07.923Z,1755879307.923 [DAT](INFO): direction in FSK: [0.144581,0.555055,0.819152]
2025-08-22T16:15:07.923Z,1755879307.923 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:07.927Z,1755879307.927 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.676800
2025-08-22T16:15:08.164Z,1755879308.164 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.913429
2025-08-22T16:15:08.415Z,1755879308.415 [DAT](INFO): DAT read: Rx Time:16:15:09.0328 

2025-08-22T16:15:08.416Z,1755879308.416 [DAT](INFO): Rx dataTimestamp_ set to:1755879308.415256
2025-08-22T16:15:08.418Z,1755879308.418 [DAT](INFO): DAT read: Bearing 249.7,  37.3 (Local)

2025-08-22T16:15:08.419Z,1755879308.419 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,  37.3 (Local)

2025-08-22T16:15:08.438Z,1755879308.438 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:08.488Z,1755879308.488 [DAT](INFO): DAT read: 16:15:09.0328 LVL= 24336,  9873, 25890, 27187, AGC= 42, IDX= 503,-0.37, 0.597,-0.458,-0.741, 1.298, PHS=-0.598,-1.710,-2.082, RAW=  76.1,  49.3, CAL=  73.0,  55.0, ROT=  77.0, -55.0

2025-08-22T16:15:08.495Z,1755879308.495 [DAT](INFO): got valid direction response:
 16:15:09.0328 LVL= 24336,  9873, 25890, 27187, AGC= 42, IDX= 503,-0.37, 0.597,-0.458,-0.741, 1.298, PHS=-0.598,-1.710,-2.082, RAW=  76.1,  49.3, CAL=  73.0,  55.0, ROT=  77.0, -55.0

2025-08-22T16:15:08.496Z,1755879308.496 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-22T16:15:08.497Z,1755879308.497 [DAT](INFO): direction in FSK: [0.129027,0.558876,0.819152]
2025-08-22T16:15:08.502Z,1755879308.502 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:08.528Z,1755879308.528 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.278158
2025-08-22T16:15:08.667Z,1755879308.667 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.416729
2025-08-22T16:15:08.919Z,1755879308.919 [DAT](INFO): DAT read: Rx Time:16:15:09.5327 

2025-08-22T16:15:08.920Z,1755879308.920 [DAT](INFO): Rx dataTimestamp_ set to:1755879308.919664
2025-08-22T16:15:08.921Z,1755879308.921 [DAT](INFO): DAT read: Bearing 250.0,  37.4 (Local)

2025-08-22T16:15:08.922Z,1755879308.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.0,  37.4 (Local)

2025-08-22T16:15:08.924Z,1755879308.924 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:08.928Z,1755879308.928 [DAT](INFO): DAT read: 16:15:09.5327 LVL= 24016,  9905, 25634, 27795, AGC= 42, IDX= 502,-0.23,-0.465,-1.497,-1.796, 0.239, PHS=-0.602,-1.691,-2.079, RAW=  75.3,  49.4, CAL=  72.2,  55.1, ROT=  77.8, -55.1

2025-08-22T16:15:08.929Z,1755879308.929 [DAT](INFO): got valid direction response:
 16:15:09.5327 LVL= 24016,  9905, 25634, 27795, AGC= 42, IDX= 502,-0.23,-0.465,-1.497,-1.796, 0.239, PHS=-0.602,-1.691,-2.079, RAW=  75.3,  49.4, CAL=  72.2,  55.1, ROT=  77.8, -55.1

2025-08-22T16:15:08.929Z,1755879308.929 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-22T16:15:08.930Z,1755879308.930 [DAT](INFO): direction in FSK: [0.120909,0.559224,0.820152]
2025-08-22T16:15:08.931Z,1755879308.931 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:08.934Z,1755879308.934 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.684622
2025-08-22T16:15:09.171Z,1755879309.171 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.921461
2025-08-22T16:15:09.428Z,1755879309.428 [DAT](INFO): DAT read: Rx Time:16:15:10.0329 

2025-08-22T16:15:09.429Z,1755879309.429 [DAT](INFO): Rx dataTimestamp_ set to:1755879309.428140
2025-08-22T16:15:09.433Z,1755879309.433 [DAT](INFO): DAT read: Bearing 250.0,  37.3 (Local)

2025-08-22T16:15:09.435Z,1755879309.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.0,  37.3 (Local)

2025-08-22T16:15:09.445Z,1755879309.445 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:09.492Z,1755879309.492 [DAT](INFO): DAT read: 16:15:10.0329 LVL= 24208,  9713, 25522, 27635, AGC= 42, IDX= 503,-0.12, 0.808,-0.208,-0.521, 1.519, PHS=-0.610,-1.682,-2.084, RAW=  74.7,  49.5, CAL=  71.5,  55.2, ROT=  78.5, -55.2

2025-08-22T16:15:09.499Z,1755879309.499 [DAT](INFO): got valid direction response:
 16:15:10.0329 LVL= 24208,  9713, 25522, 27635, AGC= 42, IDX= 503,-0.12, 0.808,-0.208,-0.521, 1.519, PHS=-0.610,-1.682,-2.084, RAW=  74.7,  49.5, CAL=  71.5,  55.2, ROT=  78.5, -55.2

2025-08-22T16:15:09.500Z,1755879309.500 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-22T16:15:09.514Z,1755879309.514 [DAT](INFO): direction in FSK: [0.113782,0.559256,0.821149]
2025-08-22T16:15:09.515Z,1755879309.515 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:09.530Z,1755879309.530 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.280466
2025-08-22T16:15:09.676Z,1755879309.676 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.425444
2025-08-22T16:15:09.927Z,1755879309.927 [DAT](INFO): DAT read: Rx Time:16:15:10.5328 

2025-08-22T16:15:09.928Z,1755879309.928 [DAT](INFO): Rx dataTimestamp_ set to:1755879309.927251
2025-08-22T16:15:09.929Z,1755879309.929 [DAT](INFO): DAT read: Bearing 249.5,  37.2 (Local)

2025-08-22T16:15:09.929Z,1755879309.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.5,  37.2 (Local)

2025-08-22T16:15:09.931Z,1755879309.931 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:09.936Z,1755879309.936 [DAT](INFO): DAT read: 16:15:10.5328 LVL= 24192,  9569, 25538, 27379, AGC= 42, IDX= 502,-0.01, 0.477,-0.535,-0.851, 1.194, PHS=-0.615,-1.684,-2.089, RAW=  74.6,  49.6, CAL=  71.3,  55.2, ROT=  78.7, -55.2

2025-08-22T16:15:09.937Z,1755879309.937 [DAT](INFO): got valid direction response:
 16:15:10.5328 LVL= 24192,  9569, 25538, 27379, AGC= 42, IDX= 502,-0.01, 0.477,-0.535,-0.851, 1.194, PHS=-0.615,-1.684,-2.089, RAW=  74.6,  49.6, CAL=  71.3,  55.2, ROT=  78.7, -55.2

2025-08-22T16:15:09.937Z,1755879309.937 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-22T16:15:09.938Z,1755879309.938 [DAT](INFO): direction in FSK: [0.111829,0.559650,0.821149]
2025-08-22T16:15:09.938Z,1755879309.938 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:09.942Z,1755879309.942 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.692074
2025-08-22T16:15:10.179Z,1755879310.179 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.929127
2025-08-22T16:15:10.444Z,1755879310.444 [DAT](INFO): DAT read: Rx Time:16:15:11.0328 

2025-08-22T16:15:10.444Z,1755879310.444 [DAT](INFO): Rx dataTimestamp_ set to:1755879310.443977
2025-08-22T16:15:10.446Z,1755879310.446 [DAT](INFO): DAT read: Bearing 249.0,  37.1 (Local)

2025-08-22T16:15:10.446Z,1755879310.446 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.0,  37.1 (Local)

2025-08-22T16:15:10.451Z,1755879310.451 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:10.507Z,1755879310.507 [DAT](INFO): DAT read: 16:15:11.0328 LVL= 24048,  9777, 25490, 27043, AGC= 42, IDX= 502, 0.10, 1.406, 0.396, 0.076, 2.128, PHS=-0.621,-1.687,-2.097, RAW=  74.4,  49.7, CAL=  71.2,  55.3, ROT=  78.8, -55.3

2025-08-22T16:15:10.515Z,1755879310.515 [DAT](INFO): got valid direction response:
 16:15:11.0328 LVL= 24048,  9777, 25490, 27043, AGC= 42, IDX= 502, 0.10, 1.406, 0.396, 0.076, 2.128, PHS=-0.621,-1.687,-2.097, RAW=  74.4,  49.7, CAL=  71.2,  55.3, ROT=  78.8, -55.3

2025-08-22T16:15:10.515Z,1755879310.515 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-22T16:15:10.516Z,1755879310.516 [DAT](INFO): direction in FSK: [0.110574,0.558438,0.822144]
2025-08-22T16:15:10.517Z,1755879310.517 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:10.525Z,1755879310.525 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.274925
2025-08-22T16:15:10.695Z,1755879310.695 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.444670
2025-08-22T16:15:10.947Z,1755879310.947 [DAT](INFO): DAT read: Rx Time:16:15:11.5327 

2025-08-22T16:15:10.948Z,1755879310.948 [DAT](INFO): Rx dataTimestamp_ set to:1755879310.947295
2025-08-22T16:15:10.949Z,1755879310.949 [DAT](INFO): DAT read: Bearing 248.3,  36.8 (Local)

2025-08-22T16:15:10.949Z,1755879310.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.3,  36.8 (Local)

2025-08-22T16:15:10.951Z,1755879310.951 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:10.956Z,1755879310.956 [DAT](INFO): DAT read: 16:15:11.5327 LVL= 23680,  9569, 25586, 27635, AGC= 42, IDX= 501, 0.23, 0.415,-0.588,-0.910, 1.144, PHS=-0.627,-1.687,-2.098, RAW=  74.3,  49.9, CAL=  71.1,  55.4, ROT=  78.9, -55.4

2025-08-22T16:15:10.957Z,1755879310.957 [DAT](INFO): got valid direction response:
 16:15:11.5327 LVL= 23680,  9569, 25586, 27635, AGC= 42, IDX= 501, 0.23, 0.415,-0.588,-0.910, 1.144, PHS=-0.627,-1.687,-2.098, RAW=  74.3,  49.9, CAL=  71.1,  55.4, ROT=  78.9, -55.4

2025-08-22T16:15:10.957Z,1755879310.957 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-22T16:15:10.963Z,1755879310.963 [DAT](INFO): direction in FSK: [0.109322,0.557221,0.823136]
2025-08-22T16:15:10.963Z,1755879310.963 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:10.987Z,1755879310.987 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.736437
2025-08-22T16:15:11.201Z,1755879311.201 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.950798
2025-08-22T16:15:11.455Z,1755879311.455 [DAT](INFO): DAT read: Rx Time:16:15:12.0328 

2025-08-22T16:15:11.456Z,1755879311.456 [DAT](INFO): Rx dataTimestamp_ set to:1755879311.455225
2025-08-22T16:15:11.460Z,1755879311.460 [DAT](INFO): DAT read: Bearing 248.5,  36.9 (Local)

2025-08-22T16:15:11.464Z,1755879311.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.5,  36.9 (Local)

2025-08-22T16:15:11.471Z,1755879311.471 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:11.487Z,1755879311.487 [DAT](INFO): DAT read: 16:15:12.0328 LVL= 24176,  9249, 25266, 27747, AGC= 42, IDX= 502, 0.38, 1.024, 0.059,-0.294, 1.758, PHS=-0.632,-1.654,-2.097, RAW=  72.9,  50.0, CAL=  69.5,  55.5, ROT=  80.5, -55.5

2025-08-22T16:15:11.492Z,1755879311.492 [DAT](INFO): got valid direction response:
 16:15:12.0328 LVL= 24176,  9249, 25266, 27747, AGC= 42, IDX= 502, 0.38, 1.024, 0.059,-0.294, 1.758, PHS=-0.632,-1.654,-2.097, RAW=  72.9,  50.0, CAL=  69.5,  55.5, ROT=  80.5, -55.5

2025-08-22T16:15:11.533Z,1755879311.533 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-22T16:15:11.534Z,1755879311.534 [DAT](INFO): direction in FSK: [0.093484,0.558638,0.824126]
2025-08-22T16:15:11.535Z,1755879311.535 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:11.542Z,1755879311.542 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.292574
2025-08-22T16:15:11.705Z,1755879311.705 [DAT](INFO): DAT read: Rx Time:16:15:12.5327 

2025-08-22T16:15:11.707Z,1755879311.707 [DAT](INFO): Rx dataTimestamp_ set to:1755879311.705944
2025-08-22T16:15:11.709Z,1755879311.709 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.458630
2025-08-22T16:15:11.955Z,1755879311.955 [DAT](INFO): DAT read: Bearing 249.0,  36.9 (Local)

2025-08-22T16:15:11.956Z,1755879311.955 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.0,  36.9 (Local)

2025-08-22T16:15:11.958Z,1755879311.958 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:11.962Z,1755879311.962 [DAT](INFO): DAT read: 16:15:12.5327 LVL= 23536,  9201, 24978, 27891, AGC= 42, IDX= 502,-0.38,-1.369,-2.270,-2.665,-0.625, PHS=-0.642,-1.600,-2.084, RAW=  70.8,  50.3, CAL=  67.4,  55.6, ROT=  82.6, -55.6

2025-08-22T16:15:11.963Z,1755879311.963 [DAT](INFO): got valid direction response:
 16:15:12.5327 LVL= 23536,  9201, 24978, 27891, AGC= 42, IDX= 502,-0.38,-1.369,-2.270,-2.665,-0.625, PHS=-0.642,-1.600,-2.084, RAW=  70.8,  50.3, CAL=  67.4,  55.6, ROT=  82.6, -55.6

2025-08-22T16:15:11.963Z,1755879311.963 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-22T16:15:11.964Z,1755879311.964 [DAT](INFO): direction in FSK: [0.072765,0.560262,0.825113]
2025-08-22T16:15:11.964Z,1755879311.964 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:11.968Z,1755879311.968 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.718180
2025-08-22T16:15:12.210Z,1755879312.210 [DAT](INFO): DAT read: Rx Time:16:15:13.0328 

2025-08-22T16:15:12.211Z,1755879312.211 [DAT](INFO): Rx dataTimestamp_ set to:1755879312.210195
2025-08-22T16:15:12.214Z,1755879312.214 [DAT](INFO): DAT read: Bearing 247.1,  36.5 (Local)

2025-08-22T16:15:12.215Z,1755879312.215 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.1,  36.5 (Local)

2025-08-22T16:15:12.217Z,1755879312.217 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.966623
2025-08-22T16:15:12.461Z,1755879312.461 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:12.474Z,1755879312.474 [DAT](INFO): DAT read: 16:15:13.0328 LVL= 23616, 10065, 24514, 25427, AGC= 43, IDX= 503,-0.22,-0.670,-1.608,-1.972, 0.073, PHS=-0.640,-1.636,-2.089, RAW=  72.2,  50.3, CAL=  68.9,  55.6, ROT=  81.1, -55.6

2025-08-22T16:15:12.475Z,1755879312.475 [DAT](INFO): got valid direction response:
 16:15:13.0328 LVL= 23616, 10065, 24514, 25427, AGC= 43, IDX= 503,-0.22,-0.670,-1.608,-1.972, 0.073, PHS=-0.640,-1.636,-2.089, RAW=  72.2,  50.3, CAL=  68.9,  55.6, ROT=  81.1, -55.6

2025-08-22T16:15:12.475Z,1755879312.475 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-22T16:15:12.477Z,1755879312.477 [DAT](INFO): direction in FSK: [0.087406,0.558165,0.825113]
2025-08-22T16:15:12.495Z,1755879312.495 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:12.546Z,1755879312.546 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.295876
2025-08-22T16:15:12.714Z,1755879312.714 [DAT](INFO): DAT read: Rx Time:16:15:13.5328 

2025-08-22T16:15:12.715Z,1755879312.715 [DAT](INFO): Rx dataTimestamp_ set to:1755879312.714215
2025-08-22T16:15:12.718Z,1755879312.718 [DAT](INFO): DAT read: Bearing 246.7,  36.4 (Local)

2025-08-22T16:15:12.719Z,1755879312.719 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.7,  36.4 (Local)

2025-08-22T16:15:12.723Z,1755879312.723 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.470926
2025-08-22T16:15:12.964Z,1755879312.964 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:12.968Z,1755879312.968 [DAT](INFO): DAT read: 16:15:13.5328 LVL= 23952, 10513, 24562, 25299, AGC= 43, IDX= 502,-0.11,-1.682,-2.606,-2.983,-0.939, PHS=-0.641,-1.622,-2.088, RAW=  71.6,  50.3, CAL=  68.3,  55.6, ROT=  81.7, -55.6

2025-08-22T16:15:12.970Z,1755879312.970 [DAT](INFO): got valid direction response:
 16:15:13.5328 LVL= 23952, 10513, 24562, 25299, AGC= 43, IDX= 502,-0.11,-1.682,-2.606,-2.983,-0.939, PHS=-0.641,-1.622,-2.088, RAW=  71.6,  50.3, CAL=  68.3,  55.6, ROT=  81.7, -55.6

2025-08-22T16:15:12.970Z,1755879312.970 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-22T16:15:12.971Z,1755879312.971 [DAT](INFO): direction in FSK: [0.081557,0.559049,0.825113]
2025-08-22T16:15:12.971Z,1755879312.971 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:12.976Z,1755879312.976 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.725676
2025-08-22T16:15:13.218Z,1755879313.218 [DAT](INFO): DAT read: Rx Time:16:15:14.0329 

2025-08-22T16:15:13.220Z,1755879313.220 [DAT](INFO): Rx dataTimestamp_ set to:1755879313.218498
2025-08-22T16:15:13.223Z,1755879313.223 [DAT](INFO): DAT read: Bearing 247.0,  36.3 (Local)

2025-08-22T16:15:13.224Z,1755879313.224 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0,  36.3 (Local)

2025-08-22T16:15:13.228Z,1755879313.228 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:13.239Z,1755879313.239 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-08-22T16:15:13.242Z,1755879313.242 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.991510
2025-08-22T16:15:13.472Z,1755879313.472 [DAT](INFO): DAT read: 16:15:14.0329 LVL= 23104,  9009, 24850, 23763, AGC= 42, IDX= 503,-0.00, 0.364,-0.526,-0.936, 1.118, PHS=-0.653,-1.599,-2.099, RAW=  70.1,  50.4, CAL=  66.8,  55.6, ROT=  83.2, -55.6

2025-08-22T16:15:13.473Z,1755879313.473 [DAT](INFO): got valid direction response:
 16:15:14.0329 LVL= 23104,  9009, 24850, 23763, AGC= 42, IDX= 503,-0.00, 0.364,-0.526,-0.936, 1.118, PHS=-0.653,-1.599,-2.099, RAW=  70.1,  50.4, CAL=  66.8,  55.6, ROT=  83.2, -55.6

2025-08-22T16:15:13.473Z,1755879313.473 [DAT](INFO): #Rx 45: Read direction message, but no range.
2025-08-22T16:15:13.475Z,1755879313.475 [DAT](INFO): direction in FSK: [0.066894,0.560993,0.825113]
2025-08-22T16:15:13.489Z,1755879313.489 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.238279
2025-08-22T16:15:13.722Z,1755879313.722 [DAT](INFO): DAT read: Rx Time:16:15:14.5328 

2025-08-22T16:15:13.723Z,1755879313.723 [DAT](INFO): Rx dataTimestamp_ set to:1755879313.722237
2025-08-22T16:15:13.726Z,1755879313.726 [DAT](INFO): DAT read: Bearing 245.8,  36.2 (Local)

2025-08-22T16:15:13.727Z,1755879313.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.8,  36.2 (Local)

2025-08-22T16:15:13.732Z,1755879313.732 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:13.734Z,1755879313.734 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-22T16:15:13.737Z,1755879313.737 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.487190
2025-08-22T16:15:13.976Z,1755879313.976 [DAT](INFO): DAT read: 16:15:14.5328 LVL= 23264,  9169, 24562, 24051, AGC= 42, IDX= 502, 0.10, 0.004,-0.908,-1.303, 0.757, PHS=-0.651,-1.620,-2.104, RAW=  70.9,  50.4, CAL=  67.6,  55.6, ROT=  82.4, -55.6

2025-08-22T16:15:13.978Z,1755879313.978 [DAT](INFO): got valid direction response:
 16:15:14.5328 LVL= 23264,  9169, 24562, 24051, AGC= 42, IDX= 502, 0.10, 0.004,-0.908,-1.303, 0.757, PHS=-0.651,-1.620,-2.104, RAW=  70.9,  50.4, CAL=  67.6,  55.6, ROT=  82.4, -55.6

2025-08-22T16:15:13.979Z,1755879313.979 [DAT](INFO): #Rx 47: Read direction message, but no range.
2025-08-22T16:15:13.981Z,1755879313.981 [DAT](INFO): direction in FSK: [0.074720,0.560004,0.825113]
2025-08-22T16:15:14.034Z,1755879314.034 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.784584
2025-08-22T16:15:14.227Z,1755879314.227 [DAT](INFO): DAT read: Rx Time:16:15:15.0328 

2025-08-22T16:15:14.228Z,1755879314.228 [DAT](INFO): Rx dataTimestamp_ set to:1755879314.227151
2025-08-22T16:15:14.231Z,1755879314.231 [DAT](INFO): DAT read: Bearing 245.3,  36.0 (Local)

2025-08-22T16:15:14.232Z,1755879314.232 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.3,  36.0 (Local)

2025-08-22T16:15:14.237Z,1755879314.237 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:14.240Z,1755879314.240 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-22T16:15:14.246Z,1755879314.246 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.995375
2025-08-22T16:15:14.486Z,1755879314.486 [DAT](INFO): DAT read: 16:15:15.0328 LVL= 23504,  9281, 24482, 24099, AGC= 42, IDX= 502, 0.22, 0.189,-0.722,-1.119, 0.943, PHS=-0.652,-1.620,-2.106, RAW=  70.8,  50.4, CAL=  67.5,  55.7, ROT=  82.5, -55.7

2025-08-22T16:15:14.488Z,1755879314.488 [DAT](INFO): got valid direction response:
 16:15:15.0328 LVL= 23504,  9281, 24482, 24099, AGC= 42, IDX= 502, 0.22, 0.189,-0.722,-1.119, 0.943, PHS=-0.652,-1.620,-2.106, RAW=  70.8,  50.4, CAL=  67.5,  55.7, ROT=  82.5, -55.7

2025-08-22T16:15:14.488Z,1755879314.488 [DAT](INFO): #Rx 49: Read direction message, but no range.
2025-08-22T16:15:14.494Z,1755879314.494 [DAT](INFO): direction in FSK: [0.073555,0.558705,0.826098]
2025-08-22T16:15:14.528Z,1755879314.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:15:14.531Z,1755879314.531 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.280674
2025-08-22T16:15:14.733Z,1755879314.733 [DAT](INFO): DAT read: Rx Time:16:15:15.5327 

2025-08-22T16:15:14.735Z,1755879314.735 [DAT](INFO): Rx dataTimestamp_ set to:1755879314.733698
2025-08-22T16:15:14.744Z,1755879314.744 [DAT](INFO): DAT read: Bearing 245.2,  36.0 (Local)

2025-08-22T16:15:14.746Z,1755879314.746 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.2,  36.0 (Local)

2025-08-22T16:15:14.762Z,1755879314.762 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:14.771Z,1755879314.771 [DAT](INFO): DAT read: 16:15:15.5327 LVL= 23360,  9201, 24466, 22899, AGC= 42, IDX= 501, 0.37,-0.794,-1.695,-2.100,-0.038, PHS=-0.654,-1.612,-2.106, RAW=  70.4,  50.4, CAL=  67.1,  55.7, ROT=  82.9, -55.7

2025-08-22T16:15:14.772Z,1755879314.772 [DAT](INFO): got valid direction response:
 16:15:15.5327 LVL= 23360,  9201, 24466, 22899, AGC= 42, IDX= 501, 0.37,-0.794,-1.695,-2.100,-0.038, PHS=-0.654,-1.612,-2.106, RAW=  70.4,  50.4, CAL=  67.1,  55.7, ROT=  82.9, -55.7

2025-08-22T16:15:14.772Z,1755879314.772 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-22T16:15:14.773Z,1755879314.773 [DAT](INFO): direction in FSK: [0.069653,0.559205,0.826098]
2025-08-22T16:15:14.794Z,1755879314.794 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:14.797Z,1755879314.797 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.547209
2025-08-22T16:15:14.980Z,1755879314.980 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.730003
2025-08-22T16:15:15.235Z,1755879315.235 [DAT](INFO): DAT read: Rx Time:16:15:16.0328 

2025-08-22T16:15:15.237Z,1755879315.237 [DAT](INFO): Rx dataTimestamp_ set to:1755879315.235709
2025-08-22T16:15:15.240Z,1755879315.240 [DAT](INFO): DAT read: Bearing 246.9,  36.1 (Local)

2025-08-22T16:15:15.241Z,1755879315.241 [DAT](INFO): Local bearing/azimuth received:
 Bearing 246.9,  36.1 (Local)

2025-08-22T16:15:15.255Z,1755879315.255 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:15.257Z,1755879315.257 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-22T16:15:15.266Z,1755879315.266 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.016502
2025-08-22T16:15:15.489Z,1755879315.489 [DAT](INFO): DAT read: 16:15:16.0328 LVL= 23200,  9089, 24658, 22867, AGC= 42, IDX= 503,-0.41,-1.654,-2.471,-2.935,-0.890, PHS=-0.661,-1.536,-2.089, RAW=  67.4,  50.6, CAL=  64.1,  55.6, ROT=  85.9, -55.6

2025-08-22T16:15:15.490Z,1755879315.490 [DAT](INFO): got valid direction response:
 16:15:16.0328 LVL= 23200,  9089, 24658, 22867, AGC= 42, IDX= 503,-0.41,-1.654,-2.471,-2.935,-0.890, PHS=-0.661,-1.536,-2.089, RAW=  67.4,  50.6, CAL=  64.1,  55.6, ROT=  85.9, -55.6

2025-08-22T16:15:15.491Z,1755879315.491 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-08-22T16:15:15.498Z,1755879315.498 [DAT](INFO): direction in FSK: [0.040394,0.563521,0.825113]
2025-08-22T16:15:15.504Z,1755879315.504 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.253996
2025-08-22T16:15:15.531Z,1755879315.531 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:15:15.738Z,1755879315.738 [DAT](INFO): DAT read: Rx Time:16:15:16.5327 

2025-08-22T16:15:15.740Z,1755879315.740 [DAT](INFO): Rx dataTimestamp_ set to:1755879315.738955
2025-08-22T16:15:15.744Z,1755879315.744 [DAT](INFO): DAT read: Bearing 247.8,  36.2 (Local)

2025-08-22T16:15:15.745Z,1755879315.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.8,  36.2 (Local)

2025-08-22T16:15:15.755Z,1755879315.755 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:15.757Z,1755879315.757 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-22T16:15:15.763Z,1755879315.763 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.512640
2025-08-22T16:15:15.992Z,1755879315.992 [DAT](INFO): DAT read: 16:15:16.5327 LVL= 22448,  9073, 24722, 23283, AGC= 42, IDX= 502,-0.23, 2.957, 2.176, 1.681,-2.556, PHS=-0.668,-1.506,-2.090, RAW=  65.9,  50.6, CAL=  62.6,  55.6, ROT=  87.4, -55.6

2025-08-22T16:15:15.995Z,1755879315.995 [DAT](INFO): got valid direction response:
 16:15:16.5327 LVL= 22448,  9073, 24722, 23283, AGC= 42, IDX= 502,-0.23, 2.957, 2.176, 1.681,-2.556, PHS=-0.668,-1.506,-2.090, RAW=  65.9,  50.6, CAL=  62.6,  55.6, ROT=  87.4, -55.6

2025-08-22T16:15:15.995Z,1755879315.995 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-08-22T16:15:15.997Z,1755879315.997 [DAT](INFO): direction in FSK: [0.025629,0.564385,0.825113]
2025-08-22T16:15:16.004Z,1755879316.004 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.753845
2025-08-22T16:15:16.243Z,1755879316.243 [DAT](INFO): DAT read: Rx Time:16:15:17.0329 

2025-08-22T16:15:16.244Z,1755879316.244 [DAT](INFO): Rx dataTimestamp_ set to:1755879316.243265
2025-08-22T16:15:16.248Z,1755879316.248 [DAT](INFO): DAT read: Bearing 248.4,  35.9 (Local)

2025-08-22T16:15:16.250Z,1755879316.250 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.4,  35.9 (Local)

2025-08-22T16:15:16.256Z,1755879316.256 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:16.282Z,1755879316.282 [DAT](INFO): DAT read: 16:15:17.0329 LVL= 22736,  9201, 24690, 23411, AGC= 42, IDX= 503,-0.12,-2.056,-2.813, 2.964,-1.275, PHS=-0.679,-1.493,-2.088, RAW=  65.1,  50.9, CAL=  61.9,  55.7, ROT=  88.1, -55.7

2025-08-22T16:15:16.283Z,1755879316.283 [DAT](INFO): got valid direction response:
 16:15:17.0329 LVL= 22736,  9201, 24690, 23411, AGC= 42, IDX= 503,-0.12,-2.056,-2.813, 2.964,-1.275, PHS=-0.679,-1.493,-2.088, RAW=  65.1,  50.9, CAL=  61.9,  55.7, ROT=  88.1, -55.7

2025-08-22T16:15:16.283Z,1755879316.283 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-22T16:15:16.284Z,1755879316.284 [DAT](INFO): direction in FSK: [0.018684,0.563216,0.826098]
2025-08-22T16:15:16.284Z,1755879316.284 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:16.297Z,1755879316.297 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.046770
2025-08-22T16:15:16.491Z,1755879316.491 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.241610
2025-08-22T16:15:16.747Z,1755879316.747 [DAT](INFO): DAT read: Rx Time:16:15:17.5328 

2025-08-22T16:15:16.749Z,1755879316.749 [DAT](INFO): Rx dataTimestamp_ set to:1755879316.747689
2025-08-22T16:15:16.752Z,1755879316.752 [DAT](INFO): DAT read: Bearing 250.6,  35.9 (Local)

2025-08-22T16:15:16.753Z,1755879316.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.6,  35.9 (Local)

2025-08-22T16:15:16.760Z,1755879316.760 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:16.777Z,1755879316.777 [DAT](INFO): DAT read: 16:15:17.5328 LVL= 20560, 10289, 26546, 25891, AGC= 40, IDX= 502,-0.02,-2.429,-3.113, 2.611,-1.632, PHS=-0.695,-1.437,-2.085, RAW=  62.2,  51.1, CAL=  59.0,  55.8, ROT=  91.0, -55.8

2025-08-22T16:15:16.778Z,1755879316.778 [DAT](INFO): got valid direction response:
 16:15:17.5328 LVL= 20560, 10289, 26546, 25891, AGC= 40, IDX= 502,-0.02,-2.429,-3.113, 2.611,-1.632, PHS=-0.695,-1.437,-2.085, RAW=  62.2,  51.1, CAL=  59.0,  55.8, ROT=  91.0, -55.8

2025-08-22T16:15:16.778Z,1755879316.778 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-22T16:15:16.779Z,1755879316.779 [DAT](INFO): direction in FSK: [-0.009810,0.561998,0.827081]
2025-08-22T16:15:16.779Z,1755879316.779 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:16.807Z,1755879316.807 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.557240
2025-08-22T16:15:16.996Z,1755879316.996 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.745628
2025-08-22T16:15:17.251Z,1755879317.251 [DAT](INFO): DAT read: Rx Time:16:15:18.0329 

2025-08-22T16:15:17.253Z,1755879317.253 [DAT](INFO): Rx dataTimestamp_ set to:1755879317.251571
2025-08-22T16:15:17.257Z,1755879317.257 [DAT](INFO): DAT read: Bearing 250.0,  35.7 (Local)

2025-08-22T16:15:17.258Z,1755879317.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.0,  35.7 (Local)

2025-08-22T16:15:17.262Z,1755879317.262 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:17.267Z,1755879317.267 [DAT](INFO): DAT read: 16:15:18.0329 LVL= 20208, 10081, 26194, 25651, AGC= 41, IDX= 503, 0.09,-0.407,-1.127,-1.664, 0.400, PHS=-0.706,-1.483,-2.108, RAW=  63.6,  51.3, CAL=  60.3,  56.0, ROT=  89.7, -56.0

2025-08-22T16:15:17.268Z,1755879317.268 [DAT](INFO): got valid direction response:
 16:15:18.0329 LVL= 20208, 10081, 26194, 25651, AGC= 41, IDX= 503, 0.09,-0.407,-1.127,-1.664, 0.400, PHS=-0.706,-1.483,-2.108, RAW=  63.6,  51.3, CAL=  60.3,  56.0, ROT=  89.7, -56.0

2025-08-22T16:15:17.268Z,1755879317.268 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-22T16:15:17.270Z,1755879317.270 [DAT](INFO): direction in FSK: [0.002928,0.559185,0.829038]
2025-08-22T16:15:17.270Z,1755879317.270 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:17.277Z,1755879317.277 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.023355
2025-08-22T16:15:17.500Z,1755879317.500 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.249662
2025-08-22T16:15:17.758Z,1755879317.758 [DAT](INFO): DAT read: Rx Time:16:15:18.5328 

2025-08-22T16:15:17.759Z,1755879317.759 [DAT](INFO): Rx dataTimestamp_ set to:1755879317.758056
2025-08-22T16:15:17.761Z,1755879317.761 [DAT](INFO): DAT read: Bearing 250.6,  35.6 (Local)

2025-08-22T16:15:17.762Z,1755879317.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.6,  35.6 (Local)

2025-08-22T16:15:17.764Z,1755879317.764 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:17.768Z,1755879317.768 [DAT](INFO): DAT read: 16:15:18.5328 LVL= 20432,  9713, 25794, 25459, AGC= 42, IDX= 502, 0.21,-1.490,-2.195,-2.739,-0.677, PHS=-0.711,-1.474,-2.107, RAW=  63.1,  51.4, CAL=  59.9,  56.1, ROT=  90.1, -56.1

2025-08-22T16:15:17.789Z,1755879317.789 [DAT](INFO): got valid direction response:
 16:15:18.5328 LVL= 20432,  9713, 25794, 25459, AGC= 42, IDX= 502, 0.21,-1.490,-2.195,-2.739,-0.677, PHS=-0.711,-1.474,-2.107, RAW=  63.1,  51.4, CAL=  59.9,  56.1, ROT=  90.1, -56.1

2025-08-22T16:15:17.794Z,1755879317.794 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-22T16:15:17.795Z,1755879317.795 [DAT](INFO): direction in FSK: [-0.000973,0.557744,0.830012]
2025-08-22T16:15:17.795Z,1755879317.795 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:17.815Z,1755879317.815 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.564713
2025-08-22T16:15:18.003Z,1755879318.003 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.752686
2025-08-22T16:15:18.259Z,1755879318.259 [DAT](INFO): DAT read: Rx Time:16:15:19.0328 

2025-08-22T16:15:18.260Z,1755879318.260 [DAT](INFO): Rx dataTimestamp_ set to:1755879318.259889
2025-08-22T16:15:18.281Z,1755879318.281 [DAT](INFO): DAT read: Bearing 252.5,  35.3 (Local)

2025-08-22T16:15:18.281Z,1755879318.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5,  35.3 (Local)

2025-08-22T16:15:18.283Z,1755879318.283 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:18.288Z,1755879318.288 [DAT](INFO): DAT read: 16:15:19.0328 LVL= 20320,  9553, 25122, 25843, AGC= 41, IDX= 502, 0.37,-1.369,-2.011,-2.594,-0.535, PHS=-0.732,-1.431,-2.103, RAW=  60.7,  51.8, CAL=  57.6,  56.3, ROT=  92.4, -56.3

2025-08-22T16:15:18.289Z,1755879318.289 [DAT](INFO): got valid direction response:
 16:15:19.0328 LVL= 20320,  9553, 25122, 25843, AGC= 41, IDX= 502, 0.37,-1.369,-2.011,-2.594,-0.535, PHS=-0.732,-1.431,-2.103, RAW=  60.7,  51.8, CAL=  57.6,  56.3, ROT=  92.4, -56.3

2025-08-22T16:15:18.290Z,1755879318.290 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-22T16:15:18.290Z,1755879318.290 [DAT](INFO): direction in FSK: [-0.023234,0.554358,0.831954]
2025-08-22T16:15:18.291Z,1755879318.291 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:18.294Z,1755879318.294 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.044535
2025-08-22T16:15:18.507Z,1755879318.507 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.256861
2025-08-22T16:15:18.761Z,1755879318.761 [DAT](INFO): DAT read: Rx Time:16:15:19.5327 

2025-08-22T16:15:18.762Z,1755879318.762 [DAT](INFO): Rx dataTimestamp_ set to:1755879318.761382
2025-08-22T16:15:18.763Z,1755879318.763 [DAT](INFO): DAT read: Bearing 253.5,  35.3 (Local)

2025-08-22T16:15:18.763Z,1755879318.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5,  35.3 (Local)

2025-08-22T16:15:18.765Z,1755879318.765 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:18.770Z,1755879318.770 [DAT](INFO): DAT read: 16:15:19.5327 LVL= 19856, 10225, 25074, 24627, AGC= 42, IDX= 502,-0.39, 1.916, 1.294, 0.696, 2.753, PHS=-0.735,-1.414,-2.101, RAW=  59.8,  51.8, CAL=  56.8,  56.3, ROT=  93.2, -56.3

2025-08-22T16:15:18.771Z,1755879318.771 [DAT](INFO): got valid direction response:
 16:15:19.5327 LVL= 19856, 10225, 25074, 24627, AGC= 42, IDX= 502,-0.39, 1.916, 1.294, 0.696, 2.753, PHS=-0.735,-1.414,-2.101, RAW=  59.8,  51.8, CAL=  56.8,  56.3, ROT=  93.2, -56.3

2025-08-22T16:15:18.771Z,1755879318.771 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-22T16:15:18.772Z,1755879318.772 [DAT](INFO): direction in FSK: [-0.030972,0.553979,0.831954]
2025-08-22T16:15:18.772Z,1755879318.772 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:18.776Z,1755879318.776 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.526342
2025-08-22T16:15:19.011Z,1755879319.011 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.760687
2025-08-22T16:15:19.078Z,1755879319.078 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:15:19.078Z,1755879319.078 [DockingStepper] No Fault, FailCount= 3
2025-08-22T16:15:19.263Z,1755879319.263 [DAT](INFO): DAT read: Rx Time:16:15:20.0328 

2025-08-22T16:15:19.264Z,1755879319.264 [DAT](INFO): Rx dataTimestamp_ set to:1755879319.263380
2025-08-22T16:15:19.265Z,1755879319.265 [DAT](INFO): DAT read: Bearing 254.7,  35.2 (Local)

2025-08-22T16:15:19.265Z,1755879319.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.7,  35.2 (Local)

2025-08-22T16:15:19.268Z,1755879319.268 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:19.272Z,1755879319.272 [DAT](INFO): DAT read: 16:15:20.0328 LVL= 20464, 10673, 25458, 24819, AGC= 42, IDX= 503,-0.23, 2.529, 1.937, 1.325,-2.910, PHS=-0.743,-1.391,-2.093, RAW=  58.7,  52.0, CAL=  55.8,  56.4, ROT=  94.2, -56.4

2025-08-22T16:15:19.274Z,1755879319.274 [DAT](INFO): got valid direction response:
 16:15:20.0328 LVL= 20464, 10673, 25458, 24819, AGC= 42, IDX= 503,-0.23, 2.529, 1.937, 1.325,-2.910, PHS=-0.743,-1.391,-2.093, RAW=  58.7,  52.0, CAL=  55.8,  56.4, ROT=  94.2, -56.4

2025-08-22T16:15:19.274Z,1755879319.274 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-22T16:15:19.275Z,1755879319.275 [DAT](INFO): direction in FSK: [-0.040529,0.551905,0.832921]
2025-08-22T16:15:19.275Z,1755879319.275 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:19.310Z,1755879319.310 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.060308
2025-08-22T16:15:19.435Z,1755879319.435 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:15:19.435Z,1755879319.435 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:15:19.515Z,1755879319.515 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.264652
2025-08-22T16:15:19.767Z,1755879319.767 [DAT](INFO): DAT read: Rx Time:16:15:20.5328 

2025-08-22T16:15:19.768Z,1755879319.768 [DAT](INFO): Rx dataTimestamp_ set to:1755879319.767280
2025-08-22T16:15:19.769Z,1755879319.769 [DAT](INFO): DAT read: Bearing 255.3,  35.1 (Local)

2025-08-22T16:15:19.769Z,1755879319.769 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,  35.1 (Local)

2025-08-22T16:15:19.771Z,1755879319.771 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:19.776Z,1755879319.776 [DAT](INFO): DAT read: 16:15:20.5328 LVL= 21872, 10801, 26098, 25235, AGC= 42, IDX= 502,-0.11, 1.475, 0.891, 0.274, 2.330, PHS=-0.753,-1.394,-2.100, RAW=  58.4,  52.2, CAL=  55.6,  56.6, ROT=  94.4, -56.6

2025-08-22T16:15:19.777Z,1755879319.777 [DAT](INFO): got valid direction response:
 16:15:20.5328 LVL= 21872, 10801, 26098, 25235, AGC= 42, IDX= 502,-0.11, 1.475, 0.891, 0.274, 2.330, PHS=-0.753,-1.394,-2.100, RAW=  58.4,  52.2, CAL=  55.6,  56.6, ROT=  94.4, -56.6

2025-08-22T16:15:19.777Z,1755879319.777 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-22T16:15:19.778Z,1755879319.778 [DAT](INFO): direction in FSK: [-0.042232,0.548858,0.834848]
2025-08-22T16:15:19.778Z,1755879319.778 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:19.782Z,1755879319.782 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.531984
2025-08-22T16:15:20.019Z,1755879320.019 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.768650
2025-08-22T16:15:20.271Z,1755879320.271 [DAT](INFO): DAT read: Rx Time:16:15:21.0329 

2025-08-22T16:15:20.272Z,1755879320.272 [DAT](INFO): Rx dataTimestamp_ set to:1755879320.271773
2025-08-22T16:15:20.274Z,1755879320.274 [DAT](INFO): DAT read: Bearing 256.0,  35.1 (Local)

2025-08-22T16:15:20.274Z,1755879320.274 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,  35.1 (Local)

2025-08-22T16:15:20.277Z,1755879320.277 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:20.284Z,1755879320.284 [DAT](INFO): DAT read: 16:15:21.0329 LVL= 23232, 10705, 25634, 27555, AGC= 42, IDX= 503,-0.00,-2.751, 2.961, 2.335,-1.890, PHS=-0.759,-1.387,-2.103, RAW=  57.9,  52.2, CAL=  55.0,  56.6, ROT=  95.0, -56.6

2025-08-22T16:15:20.286Z,1755879320.286 [DAT](INFO): got valid direction response:
 16:15:21.0329 LVL= 23232, 10705, 25634, 27555, AGC= 42, IDX= 503,-0.00,-2.751, 2.961, 2.335,-1.890, PHS=-0.759,-1.387,-2.103, RAW=  57.9,  52.2, CAL=  55.0,  56.6, ROT=  95.0, -56.6

2025-08-22T16:15:20.286Z,1755879320.286 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-22T16:15:20.287Z,1755879320.287 [DAT](INFO): direction in FSK: [-0.047978,0.548386,0.834848]
2025-08-22T16:15:20.288Z,1755879320.288 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:20.314Z,1755879320.314 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.064116
2025-08-22T16:15:20.523Z,1755879320.523 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.272799
2025-08-22T16:15:20.775Z,1755879320.775 [DAT](INFO): DAT read: Rx Time:16:15:21.5328 

2025-08-22T16:15:20.776Z,1755879320.776 [DAT](INFO): Rx dataTimestamp_ set to:1755879320.775303
2025-08-22T16:15:20.777Z,1755879320.777 [DAT](INFO): DAT read: Bearing 256.5,  34.9 (Local)

2025-08-22T16:15:20.777Z,1755879320.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.5,  34.9 (Local)

2025-08-22T16:15:20.779Z,1755879320.779 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:20.784Z,1755879320.784 [DAT](INFO): DAT read: 16:15:21.5328 LVL= 22176, 10801, 25234, 27539, AGC= 42, IDX= 502, 0.10,-3.138, 2.578, 1.946,-2.263, PHS=-0.773,-1.397,-2.118, RAW=  57.6,  52.4, CAL=  54.8,  56.8, ROT=  95.2, -56.8

2025-08-22T16:15:20.785Z,1755879320.785 [DAT](INFO): got valid direction response:
 16:15:21.5328 LVL= 22176, 10801, 25234, 27539, AGC= 42, IDX= 502, 0.10,-3.138, 2.578, 1.946,-2.263, PHS=-0.773,-1.397,-2.118, RAW=  57.6,  52.4, CAL=  54.8,  56.8, ROT=  95.2, -56.8

2025-08-22T16:15:20.785Z,1755879320.785 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-08-22T16:15:20.786Z,1755879320.786 [DAT](INFO): direction in FSK: [-0.049627,0.545310,0.836764]
2025-08-22T16:15:20.786Z,1755879320.786 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:20.806Z,1755879320.806 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.556368
2025-08-22T16:15:21.027Z,1755879321.027 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.776800
2025-08-22T16:15:21.279Z,1755879321.279 [DAT](INFO): DAT read: Rx Time:16:15:22.0329 

2025-08-22T16:15:21.280Z,1755879321.280 [DAT](INFO): Rx dataTimestamp_ set to:1755879321.279609
2025-08-22T16:15:21.281Z,1755879321.281 [DAT](INFO): DAT read: Bearing 257.1,  34.8 (Local)

2025-08-22T16:15:21.282Z,1755879321.282 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.1,  34.8 (Local)

2025-08-22T16:15:21.283Z,1755879321.283 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:21.293Z,1755879321.293 [DAT](INFO): DAT read: 16:15:22.0329 LVL= 23792, 11025, 24306, 29107, AGC= 42, IDX= 503, 0.23,-1.792,-2.338,-2.978,-0.905, PHS=-0.785,-1.388,-2.117, RAW=  56.9,  52.7, CAL=  54.2,  57.0, ROT=  95.8, -57.0

2025-08-22T16:15:21.302Z,1755879321.302 [DAT](INFO): got valid direction response:
 16:15:22.0329 LVL= 23792, 11025, 24306, 29107, AGC= 42, IDX= 503, 0.23,-1.792,-2.338,-2.978,-0.905, PHS=-0.785,-1.388,-2.117, RAW=  56.9,  52.7, CAL=  54.2,  57.0, ROT=  95.8, -57.0

2025-08-22T16:15:21.302Z,1755879321.302 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-22T16:15:21.303Z,1755879321.303 [DAT](INFO): direction in FSK: [-0.055039,0.541851,0.838671]
2025-08-22T16:15:21.304Z,1755879321.304 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:21.308Z,1755879321.308 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.057915
2025-08-22T16:15:21.531Z,1755879321.531 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.280693
2025-08-22T16:15:21.783Z,1755879321.783 [DAT](INFO): DAT read: Rx Time:16:15:22.5328 

2025-08-22T16:15:21.784Z,1755879321.784 [DAT](INFO): Rx dataTimestamp_ set to:1755879321.783363
2025-08-22T16:15:21.785Z,1755879321.785 [DAT](INFO): DAT read: Bearing 259.0,  34.2 (Local)

2025-08-22T16:15:21.785Z,1755879321.785 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0,  34.2 (Local)

2025-08-22T16:15:21.787Z,1755879321.787 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:21.792Z,1755879321.792 [DAT](INFO): DAT read: 16:15:22.5328 LVL= 23920, 11697, 26226, 30195, AGC= 42, IDX= 502, 0.40, 2.651, 2.183, 1.502,-2.717, PHS=-0.813,-1.338,-2.107, RAW=  53.8,  53.2, CAL=  51.3,  57.4, ROT=  98.7, -57.4

2025-08-22T16:15:21.793Z,1755879321.793 [DAT](INFO): got valid direction response:
 16:15:22.5328 LVL= 23920, 11697, 26226, 30195, AGC= 42, IDX= 502, 0.40, 2.651, 2.183, 1.502,-2.717, PHS=-0.813,-1.338,-2.107, RAW=  53.8,  53.2, CAL=  51.3,  57.4, ROT=  98.7, -57.4

2025-08-22T16:15:21.793Z,1755879321.793 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-22T16:15:21.794Z,1755879321.794 [DAT](INFO): direction in FSK: [-0.081495,0.532572,0.842452]
2025-08-22T16:15:21.794Z,1755879321.794 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:21.806Z,1755879321.806 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.556290
2025-08-22T16:15:22.035Z,1755879322.035 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.784767
2025-08-22T16:15:22.287Z,1755879322.287 [DAT](INFO): DAT read: Rx Time:16:15:23.0328 

2025-08-22T16:15:22.288Z,1755879322.288 [DAT](INFO): Rx dataTimestamp_ set to:1755879322.287282
2025-08-22T16:15:22.289Z,1755879322.289 [DAT](INFO): DAT read: Bearing 260.0,  33.7 (Local)

2025-08-22T16:15:22.289Z,1755879322.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,  33.7 (Local)

2025-08-22T16:15:22.291Z,1755879322.291 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:22.296Z,1755879322.296 [DAT](INFO): DAT read: 16:15:23.0328 LVL= 26352, 12081, 24818, 32755, AGC= 42, IDX= 503,-0.38, 1.350, 0.934, 0.232, 2.283, PHS=-0.830,-1.304,-2.095, RAW=  51.7,  53.5, CAL=  49.4,  57.6, ROT= 100.6, -57.6

2025-08-22T16:15:22.297Z,1755879322.297 [DAT](INFO): got valid direction response:
 16:15:23.0328 LVL= 26352, 12081, 24818, 32755, AGC= 42, IDX= 503,-0.38, 1.350, 0.934, 0.232, 2.283, PHS=-0.830,-1.304,-2.095, RAW=  51.7,  53.5, CAL=  49.4,  57.6, ROT= 100.6, -57.6

2025-08-22T16:15:22.297Z,1755879322.297 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-22T16:15:22.298Z,1755879322.298 [DAT](INFO): direction in FSK: [-0.098566,0.526683,0.844328]
2025-08-22T16:15:22.298Z,1755879322.298 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:22.302Z,1755879322.302 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.052132
2025-08-22T16:15:22.540Z,1755879322.540 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.289772
2025-08-22T16:15:22.791Z,1755879322.791 [DAT](INFO): DAT read: Rx Time:16:15:23.5327 

2025-08-22T16:15:22.792Z,1755879322.792 [DAT](INFO): Rx dataTimestamp_ set to:1755879322.791258
2025-08-22T16:15:22.793Z,1755879322.793 [DAT](INFO): DAT read: Bearing 259.6,  33.2 (Local)

2025-08-22T16:15:22.793Z,1755879322.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,  33.2 (Local)

2025-08-22T16:15:22.796Z,1755879322.796 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:22.800Z,1755879322.800 [DAT](INFO): DAT read: 16:15:23.5327 LVL= 27824, 11505, 21730, 32755, AGC= 42, IDX= 502,-0.22,-0.484,-0.901,-1.592, 0.458, PHS=-0.840,-1.314,-2.094, RAW=  52.0,  53.9, CAL=  49.6,  57.9, ROT= 100.4, -57.9

2025-08-22T16:15:22.802Z,1755879322.802 [DAT](INFO): got valid direction response:
 16:15:23.5327 LVL= 27824, 11505, 21730, 32755, AGC= 42, IDX= 502,-0.22,-0.484,-0.901,-1.592, 0.458, PHS=-0.840,-1.314,-2.094, RAW=  52.0,  53.9, CAL=  49.6,  57.9, ROT= 100.4, -57.9

2025-08-22T16:15:22.802Z,1755879322.802 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-22T16:15:22.803Z,1755879322.803 [DAT](INFO): direction in FSK: [-0.095928,0.522668,0.847122]
2025-08-22T16:15:22.803Z,1755879322.803 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:22.807Z,1755879322.807 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.556789
2025-08-22T16:15:23.043Z,1755879323.043 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.792736
2025-08-22T16:15:23.114Z,1755879323.114 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:15:23.296Z,1755879323.296 [DAT](INFO): DAT read: Rx Time:16:15:24.0329 

2025-08-22T16:15:23.296Z,1755879323.296 [DAT](INFO): Rx dataTimestamp_ set to:1755879323.295945
2025-08-22T16:15:23.298Z,1755879323.298 [DAT](INFO): DAT read: Bearing 259.2,  32.8 (Local)

2025-08-22T16:15:23.298Z,1755879323.298 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,  32.8 (Local)

2025-08-22T16:15:23.300Z,1755879323.300 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:23.304Z,1755879323.304 [DAT](INFO): DAT read: 16:15:24.0329 LVL= 28368, 12577, 21170, 32755, AGC= 43, IDX= 503,-0.09, 0.753, 0.334,-0.361, 1.715, PHS=-0.860,-1.336,-2.120, RAW=  52.0,  54.2, CAL=  49.7,  58.2, ROT= 100.3, -58.2

2025-08-22T16:15:23.306Z,1755879323.306 [DAT](INFO): got valid direction response:
 16:15:24.0329 LVL= 28368, 12577, 21170, 32755, AGC= 43, IDX= 503,-0.09, 0.753, 0.334,-0.361, 1.715, PHS=-0.860,-1.336,-2.120, RAW=  52.0,  54.2, CAL=  49.7,  58.2, ROT= 100.3, -58.2

2025-08-22T16:15:23.306Z,1755879323.306 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-22T16:15:23.307Z,1755879323.307 [DAT](INFO): direction in FSK: [-0.094221,0.518464,0.849893]
2025-08-22T16:15:23.307Z,1755879323.307 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:23.315Z,1755879323.315 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.065506
2025-08-22T16:15:23.546Z,1755879323.546 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.296623
2025-08-22T16:15:23.799Z,1755879323.799 [DAT](INFO): DAT read: Rx Time:16:15:24.5328 

2025-08-22T16:15:23.800Z,1755879323.800 [DAT](INFO): Rx dataTimestamp_ set to:1755879323.799409
2025-08-22T16:15:23.801Z,1755879323.801 [DAT](INFO): DAT read: Bearing 260.0,  32.0 (Local)

2025-08-22T16:15:23.801Z,1755879323.801 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,  32.0 (Local)

2025-08-22T16:15:23.803Z,1755879323.803 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:23.808Z,1755879323.808 [DAT](INFO): DAT read: 16:15:24.5328 LVL= 25744, 13137, 22130, 32755, AGC= 42, IDX= 502, 0.04, 0.442, 0.076,-0.656, 1.447, PHS=-0.903,-1.325,-2.147, RAW=  49.5,  54.7, CAL=  47.4,  58.7, ROT= 102.6, -58.7

2025-08-22T16:15:23.809Z,1755879323.809 [DAT](INFO): got valid direction response:
 16:15:24.5328 LVL= 25744, 13137, 22130, 32755, AGC= 42, IDX= 502, 0.04, 0.442, 0.076,-0.656, 1.447, PHS=-0.903,-1.325,-2.147, RAW=  49.5,  54.7, CAL=  47.4,  58.7, ROT= 102.6, -58.7

2025-08-22T16:15:23.809Z,1755879323.809 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-22T16:15:23.810Z,1755879323.810 [DAT](INFO): direction in FSK: [-0.113330,0.507007,0.854459]
2025-08-22T16:15:23.810Z,1755879323.810 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:23.818Z,1755879323.818 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.568352
2025-08-22T16:15:24.051Z,1755879324.051 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.800682
2025-08-22T16:15:24.303Z,1755879324.303 [DAT](INFO): DAT read: Rx Time:16:15:25.0329 

2025-08-22T16:15:24.304Z,1755879324.304 [DAT](INFO): Rx dataTimestamp_ set to:1755879324.303509
2025-08-22T16:15:24.305Z,1755879324.305 [DAT](INFO): DAT read: Bearing 259.2,  31.8 (Local)

2025-08-22T16:15:24.305Z,1755879324.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,  31.8 (Local)

2025-08-22T16:15:24.307Z,1755879324.307 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:24.312Z,1755879324.312 [DAT](INFO): DAT read: 16:15:25.0329 LVL= 24720, 13169, 17970, 32755, AGC= 43, IDX= 503, 0.16, 1.694, 1.316, 0.571, 2.717, PHS=-0.920,-1.356,-2.190, RAW=  49.7,  54.7, CAL=  47.6,  58.7, ROT= 102.4, -58.7

2025-08-22T16:15:24.313Z,1755879324.313 [DAT](INFO): got valid direction response:
 16:15:25.0329 LVL= 24720, 13169, 17970, 32755, AGC= 43, IDX= 503, 0.16, 1.694, 1.316, 0.571, 2.717, PHS=-0.920,-1.356,-2.190, RAW=  49.7,  54.7, CAL=  47.6,  58.7, ROT= 102.4, -58.7

2025-08-22T16:15:24.313Z,1755879324.313 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-22T16:15:24.314Z,1755879324.314 [DAT](INFO): direction in FSK: [-0.111559,0.507400,0.854459]
2025-08-22T16:15:24.315Z,1755879324.315 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:24.338Z,1755879324.338 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.088505
2025-08-22T16:15:24.555Z,1755879324.555 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.304844
2025-08-22T16:15:24.807Z,1755879324.807 [DAT](INFO): DAT read: Rx Time:16:15:25.5328 

2025-08-22T16:15:24.807Z,1755879324.807 [DAT](INFO): Rx dataTimestamp_ set to:1755879324.807219
2025-08-22T16:15:24.809Z,1755879324.809 [DAT](INFO): DAT read: Bearing 259.0,  31.1 (Local)

2025-08-22T16:15:24.809Z,1755879324.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0,  31.1 (Local)

2025-08-22T16:15:24.811Z,1755879324.811 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:24.816Z,1755879324.816 [DAT](INFO): DAT read: 16:15:25.5328 LVL= 23920, 13297, 18082, 32755, AGC= 43, IDX= 502, 0.31, 0.624, 0.273,-0.487, 1.671, PHS=-0.946,-1.353,-2.202, RAW=  48.5,  55.1, CAL=  46.5,  59.1, ROT= 103.5, -59.1

2025-08-22T16:15:24.817Z,1755879324.817 [DAT](INFO): got valid direction response:
 16:15:25.5328 LVL= 23920, 13297, 18082, 32755, AGC= 43, IDX= 502, 0.31, 0.624, 0.273,-0.487, 1.671, PHS=-0.946,-1.353,-2.202, RAW=  48.5,  55.1, CAL=  46.5,  59.1, ROT= 103.5, -59.1

2025-08-22T16:15:24.817Z,1755879324.817 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-22T16:15:24.818Z,1755879324.818 [DAT](INFO): direction in FSK: [-0.119884,0.499352,0.858065]
2025-08-22T16:15:24.818Z,1755879324.818 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:24.822Z,1755879324.822 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.572067
2025-08-22T16:15:25.060Z,1755879325.060 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.810066
2025-08-22T16:15:25.311Z,1755879325.311 [DAT](INFO): DAT read: Rx Time:16:15:26.0328 

2025-08-22T16:15:25.312Z,1755879325.312 [DAT](INFO): Rx dataTimestamp_ set to:1755879325.311269
2025-08-22T16:15:25.313Z,1755879325.313 [DAT](INFO): DAT read: Bearing 258.5,  30.3 (Local)

2025-08-22T16:15:25.313Z,1755879325.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.5,  30.3 (Local)

2025-08-22T16:15:25.315Z,1755879325.315 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:25.320Z,1755879325.320 [DAT](INFO): DAT read: 16:15:26.0328 LVL= 23392, 13441, 18226, 32755, AGC= 43, IDX= 503,-0.50,-1.423,-1.741,-2.481,-0.377, PHS=-0.944,-1.319,-2.148, RAW=  47.7,  55.6, CAL=  45.7,  59.6, ROT= 104.3, -59.6

2025-08-22T16:15:25.321Z,1755879325.321 [DAT](INFO): got valid direction response:
 16:15:26.0328 LVL= 23392, 13441, 18226, 32755, AGC= 43, IDX= 503,-0.50,-1.423,-1.741,-2.481,-0.377, PHS=-0.944,-1.319,-2.148, RAW=  47.7,  55.6, CAL=  45.7,  59.6, ROT= 104.3, -59.6

2025-08-22T16:15:25.321Z,1755879325.321 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-22T16:15:25.322Z,1755879325.322 [DAT](INFO): direction in FSK: [-0.124990,0.490355,0.862514]
2025-08-22T16:15:25.322Z,1755879325.322 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:25.329Z,1755879325.329 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.079014
2025-08-22T16:15:25.563Z,1755879325.563 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.312668
2025-08-22T16:15:25.815Z,1755879325.815 [DAT](INFO): DAT read: Rx Time:16:15:26.5327 

2025-08-22T16:15:25.816Z,1755879325.816 [DAT](INFO): Rx dataTimestamp_ set to:1755879325.815328
2025-08-22T16:15:25.817Z,1755879325.817 [DAT](INFO): DAT read: Bearing 257.8,  30.1 (Local)

2025-08-22T16:15:25.817Z,1755879325.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.8,  30.1 (Local)

2025-08-22T16:15:25.819Z,1755879325.819 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:25.824Z,1755879325.824 [DAT](INFO): DAT read: 16:15:26.5327 LVL= 22512, 13329, 17666, 32355, AGC= 43, IDX= 502,-0.32,-2.497,-2.811, 2.728,-1.452, PHS=-0.943,-1.314,-2.147, RAW=  47.5,  55.6, CAL=  45.5,  59.5, ROT= 104.5, -59.5

2025-08-22T16:15:25.826Z,1755879325.826 [DAT](INFO): got valid direction response:
 16:15:26.5327 LVL= 22512, 13329, 17666, 32355, AGC= 43, IDX= 502,-0.32,-2.497,-2.811, 2.728,-1.452, PHS=-0.943,-1.314,-2.147, RAW=  47.5,  55.6, CAL=  45.5,  59.5, ROT= 104.5, -59.5

2025-08-22T16:15:25.826Z,1755879325.826 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-22T16:15:25.827Z,1755879325.827 [DAT](INFO): direction in FSK: [-0.127077,0.491372,0.861629]
2025-08-22T16:15:25.827Z,1755879325.827 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:25.835Z,1755879325.835 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.584938
2025-08-22T16:15:26.067Z,1755879326.067 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.816669
2025-08-22T16:15:26.319Z,1755879326.319 [DAT](INFO): DAT read: Rx Time:16:15:27.0328 

2025-08-22T16:15:26.320Z,1755879326.320 [DAT](INFO): Rx dataTimestamp_ set to:1755879326.319252
2025-08-22T16:15:26.321Z,1755879326.321 [DAT](INFO): DAT read: Bearing 257.8,  29.0 (Local)

2025-08-22T16:15:26.321Z,1755879326.321 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.8,  29.0 (Local)

2025-08-22T16:15:26.323Z,1755879326.323 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:26.328Z,1755879326.328 [DAT](INFO): DAT read: 16:15:27.0328 LVL= 24560, 15073, 20066, 32755, AGC= 43, IDX= 503,-0.19,-1.245,-1.506,-2.256,-0.173, PHS=-0.970,-1.288,-2.128, RAW=  45.4,  56.3, CAL=  43.6,  60.2, ROT= 106.4, -60.2

2025-08-22T16:15:26.329Z,1755879326.329 [DAT](INFO): got valid direction response:
 16:15:27.0328 LVL= 24560, 15073, 20066, 32755, AGC= 43, IDX= 503,-0.19,-1.245,-1.506,-2.256,-0.173, PHS=-0.970,-1.288,-2.128, RAW=  45.4,  56.3, CAL=  43.6,  60.2, ROT= 106.4, -60.2

2025-08-22T16:15:26.329Z,1755879326.329 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-22T16:15:26.330Z,1755879326.330 [DAT](INFO): direction in FSK: [-0.140316,0.476754,0.867765]
2025-08-22T16:15:26.330Z,1755879326.330 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:26.334Z,1755879326.334 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.084213
2025-08-22T16:15:26.570Z,1755879326.570 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.320507
2025-08-22T16:15:26.823Z,1755879326.823 [DAT](INFO): DAT read: Rx Time:16:15:27.5328 

2025-08-22T16:15:26.824Z,1755879326.824 [DAT](INFO): Rx dataTimestamp_ set to:1755879326.823302
2025-08-22T16:15:26.825Z,1755879326.825 [DAT](INFO): DAT read: Bearing 256.9,  29.0 (Local)

2025-08-22T16:15:26.825Z,1755879326.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.9,  29.0 (Local)

2025-08-22T16:15:26.828Z,1755879326.828 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:26.832Z,1755879326.832 [DAT](INFO): DAT read: 16:15:27.5328 LVL= 22624, 14481, 18354, 32755, AGC= 43, IDX= 502,-0.07,-2.367,-2.640, 2.879,-1.292, PHS=-0.973,-1.303,-2.156, RAW=  45.7,  56.0, CAL=  43.8,  59.9, ROT= 106.2, -59.9

2025-08-22T16:15:26.833Z,1755879326.833 [DAT](INFO): got valid direction response:
 16:15:27.5328 LVL= 22624, 14481, 18354, 32755, AGC= 43, IDX= 502,-0.07,-2.367,-2.640, 2.879,-1.292, PHS=-0.973,-1.303,-2.156, RAW=  45.7,  56.0, CAL=  43.8,  59.9, ROT= 106.2, -59.9

2025-08-22T16:15:26.834Z,1755879326.834 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-22T16:15:26.835Z,1755879326.835 [DAT](INFO): direction in FSK: [-0.139917,0.481598,0.865151]
2025-08-22T16:15:26.835Z,1755879326.835 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:26.839Z,1755879326.839 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.588696
2025-08-22T16:15:27.080Z,1755879327.080 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.830402
2025-08-22T16:15:27.331Z,1755879327.331 [DAT](INFO): DAT read: Rx Time:16:15:28.0329 

2025-08-22T16:15:27.332Z,1755879327.332 [DAT](INFO): Rx dataTimestamp_ set to:1755879327.331259
2025-08-22T16:15:27.333Z,1755879327.333 [DAT](INFO): DAT read: Bearing 256.9,  28.4 (Local)

2025-08-22T16:15:27.333Z,1755879327.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.9,  28.4 (Local)

2025-08-22T16:15:27.335Z,1755879327.335 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:27.340Z,1755879327.340 [DAT](INFO): DAT read: 16:15:28.0329 LVL= 19184, 12993, 17170, 28547, AGC= 42, IDX= 503, 0.03,-0.409,-0.651,-1.437, 0.696, PHS=-1.003,-1.302,-2.177, RAW=  44.2,  56.3, CAL=  42.4,  60.2, ROT= 107.6, -60.2

2025-08-22T16:15:27.341Z,1755879327.341 [DAT](INFO): got valid direction response:
 16:15:28.0329 LVL= 19184, 12993, 17170, 28547, AGC= 42, IDX= 503, 0.03,-0.409,-0.651,-1.437, 0.696, PHS=-1.003,-1.302,-2.177, RAW=  44.2,  56.3, CAL=  42.4,  60.2, ROT= 107.6, -60.2

2025-08-22T16:15:27.341Z,1755879327.341 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-22T16:15:27.342Z,1755879327.342 [DAT](INFO): direction in FSK: [-0.150270,0.473711,0.867765]
2025-08-22T16:15:27.343Z,1755879327.343 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:27.346Z,1755879327.346 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.096199
2025-08-22T16:15:27.583Z,1755879327.583 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.332764
2025-08-22T16:15:27.798Z,1755879327.798 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  82.52,  79.47,  86.60
2025-08-22T16:15:27.835Z,1755879327.835 [DAT](INFO): DAT read: Rx Time:16:15:28.5328 

2025-08-22T16:15:27.836Z,1755879327.836 [DAT](INFO): Rx dataTimestamp_ set to:1755879327.835363
2025-08-22T16:15:27.837Z,1755879327.837 [DAT](INFO): DAT read: Bearing 256.6,  27.9 (Local)

2025-08-22T16:15:27.837Z,1755879327.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.6,  27.9 (Local)

2025-08-22T16:15:27.839Z,1755879327.839 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:27.844Z,1755879327.844 [DAT](INFO): DAT read: 16:15:28.5328 LVL= 20064, 13249, 16930, 30963, AGC= 42, IDX= 502, 0.14,-1.487,-1.713,-2.508,-0.369, PHS=-1.016,-1.298,-2.182, RAW=  43.4,  56.5, CAL=  41.7,  60.4, ROT= 108.3, -60.4

2025-08-22T16:15:27.845Z,1755879327.845 [DAT](INFO): got valid direction response:
 16:15:28.5328 LVL= 20064, 13249, 16930, 30963, AGC= 42, IDX= 502, 0.14,-1.487,-1.713,-2.508,-0.369, PHS=-1.016,-1.298,-2.182, RAW=  43.4,  56.5, CAL=  41.7,  60.4, ROT= 108.3, -60.4

2025-08-22T16:15:27.845Z,1755879327.845 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-22T16:15:27.847Z,1755879327.847 [DAT](INFO): direction in FSK: [-0.155094,0.468961,0.869495]
2025-08-22T16:15:27.847Z,1755879327.847 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:27.851Z,1755879327.851 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.600754
2025-08-22T16:15:28.086Z,1755879328.086 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.836601
2025-08-22T16:15:28.340Z,1755879328.340 [DAT](INFO): DAT read: Rx Time:16:15:29.0329 

2025-08-22T16:15:28.341Z,1755879328.341 [DAT](INFO): Rx dataTimestamp_ set to:1755879328.340391
2025-08-22T16:15:28.342Z,1755879328.342 [DAT](INFO): DAT read: Bearing 256.1,  28.2 (Local)

2025-08-22T16:15:28.342Z,1755879328.342 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.1,  28.2 (Local)

2025-08-22T16:15:28.344Z,1755879328.344 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:28.358Z,1755879328.358 [DAT](INFO): DAT read: 16:15:29.0329 LVL= 22560, 14833, 19794, 32355, AGC= 43, IDX= 503, 0.27,-0.145,-0.377,-1.185, 0.964, PHS=-1.006,-1.295,-2.192, RAW=  43.5,  56.0, CAL=  41.8,  60.0, ROT= 108.2, -60.0

2025-08-22T16:15:28.359Z,1755879328.359 [DAT](INFO): got valid direction response:
 16:15:29.0329 LVL= 22560, 14833, 19794, 32355, AGC= 43, IDX= 503, 0.27,-0.145,-0.377,-1.185, 0.964, PHS=-1.006,-1.295,-2.192, RAW=  43.5,  56.0, CAL=  41.8,  60.0, ROT= 108.2, -60.0

2025-08-22T16:15:28.359Z,1755879328.359 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-22T16:15:28.360Z,1755879328.360 [DAT](INFO): direction in FSK: [-0.156167,0.474986,0.866025]
2025-08-22T16:15:28.360Z,1755879328.360 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:28.392Z,1755879328.392 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.142124
2025-08-22T16:15:28.590Z,1755879328.590 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.340485
2025-08-22T16:15:28.843Z,1755879328.843 [DAT](INFO): DAT read: Rx Time:16:15:29.5328 

2025-08-22T16:15:28.844Z,1755879328.844 [DAT](INFO): Rx dataTimestamp_ set to:1755879328.843289
2025-08-22T16:15:28.845Z,1755879328.845 [DAT](INFO): DAT read: Bearing 255.9,  27.4 (Local)

2025-08-22T16:15:28.845Z,1755879328.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.9,  27.4 (Local)

2025-08-22T16:15:28.847Z,1755879328.847 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:28.852Z,1755879328.852 [DAT](INFO): DAT read: 16:15:29.5328 LVL= 20368, 12945, 17634, 32611, AGC= 42, IDX= 502, 0.45,-1.932,-2.139,-2.931,-0.811, PHS=-1.019,-1.283,-2.164, RAW=  42.7,  56.7, CAL=  41.1,  60.6, ROT= 108.9, -60.6

2025-08-22T16:15:28.853Z,1755879328.853 [DAT](INFO): got valid direction response:
 16:15:29.5328 LVL= 20368, 12945, 17634, 32611, AGC= 42, IDX= 502, 0.45,-1.932,-2.139,-2.931,-0.811, PHS=-1.019,-1.283,-2.164, RAW=  42.7,  56.7, CAL=  41.1,  60.6, ROT= 108.9, -60.6

2025-08-22T16:15:28.853Z,1755879328.853 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-22T16:15:28.854Z,1755879328.854 [DAT](INFO): direction in FSK: [-0.159012,0.464437,0.871214]
2025-08-22T16:15:28.854Z,1755879328.854 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:28.858Z,1755879328.858 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.608143
2025-08-22T16:15:29.095Z,1755879329.095 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.845333
2025-08-22T16:15:29.347Z,1755879329.347 [DAT](INFO): DAT read: Rx Time:16:15:30.0328 

2025-08-22T16:15:29.347Z,1755879329.347 [DAT](INFO): Rx dataTimestamp_ set to:1755879329.347169
2025-08-22T16:15:29.349Z,1755879329.349 [DAT](INFO): DAT read: Bearing 255.3,  27.3 (Local)

2025-08-22T16:15:29.349Z,1755879329.349 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,  27.3 (Local)

2025-08-22T16:15:29.351Z,1755879329.351 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:29.355Z,1755879329.355 [DAT](INFO): DAT read: 16:15:30.0328 LVL= 23264, 14833, 19602, 32755, AGC= 43, IDX= 503,-0.35, 3.128, 2.915, 2.149,-2.055, PHS=-0.998,-1.268,-2.124, RAW=  43.3,  56.8, CAL=  41.6,  60.7, ROT= 108.4, -60.7

2025-08-22T16:15:29.356Z,1755879329.356 [DAT](INFO): got valid direction response:
 16:15:30.0328 LVL= 23264, 14833, 19602, 32755, AGC= 43, IDX= 503,-0.35, 3.128, 2.915, 2.149,-2.055, PHS=-0.998,-1.268,-2.124, RAW=  43.3,  56.8, CAL=  41.6,  60.7, ROT= 108.4, -60.7

2025-08-22T16:15:29.357Z,1755879329.357 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-22T16:15:29.359Z,1755879329.359 [DAT](INFO): direction in FSK: [-0.154473,0.464363,0.872069]
2025-08-22T16:15:29.359Z,1755879329.359 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:29.362Z,1755879329.362 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.112549
2025-08-22T16:15:29.581Z,1755879329.581 [MassServo](FAULT): Overload Error
2025-08-22T16:15:29.582Z,1755879329.582 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T16:15:29.582Z,1755879329.582 [MassServo](ERROR): Hardware Fault
2025-08-22T16:15:29.599Z,1755879329.599 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.348675
2025-08-22T16:15:29.697Z,1755879329.697 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T16:15:29.851Z,1755879329.851 [DAT](INFO): DAT read: Rx Time:16:15:30.5327 

2025-08-22T16:15:29.852Z,1755879329.852 [DAT](INFO): Rx dataTimestamp_ set to:1755879329.851508
2025-08-22T16:15:29.853Z,1755879329.853 [DAT](INFO): DAT read: Bearing 255.3,  27.2 (Local)

2025-08-22T16:15:29.853Z,1755879329.853 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.3,  27.2 (Local)

2025-08-22T16:15:29.855Z,1755879329.855 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:29.868Z,1755879329.868 [DAT](INFO): DAT read: 16:15:30.5327 LVL= 23344, 14881, 19906, 32755, AGC= 43, IDX= 502,-0.21, 2.093, 1.886, 1.109,-3.082, PHS=-1.005,-1.270,-2.136, RAW=  42.9,  56.7, CAL=  41.3,  60.6, ROT= 108.7, -60.6

2025-08-22T16:15:29.869Z,1755879329.869 [DAT](INFO): got valid direction response:
 16:15:30.5327 LVL= 23344, 14881, 19906, 32755, AGC= 43, IDX= 502,-0.21, 2.093, 1.886, 1.109,-3.082, PHS=-1.005,-1.270,-2.136, RAW=  42.9,  56.7, CAL=  41.3,  60.6, ROT= 108.7, -60.6

2025-08-22T16:15:29.869Z,1755879329.869 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-22T16:15:29.870Z,1755879329.870 [DAT](INFO): direction in FSK: [-0.157390,0.464989,0.871214]
2025-08-22T16:15:29.871Z,1755879329.871 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:29.887Z,1755879329.887 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.636818
2025-08-22T16:15:29.939Z,1755879329.939 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T16:15:29.939Z,1755879329.939 [MassServo](INFO): Powering down
2025-08-22T16:15:30.103Z,1755879330.103 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.852715
2025-08-22T16:15:30.356Z,1755879330.356 [DAT](INFO): DAT read: Rx Time:16:15:31.0329 

2025-08-22T16:15:30.356Z,1755879330.356 [DAT](INFO): Rx dataTimestamp_ set to:1755879330.356068
2025-08-22T16:15:30.358Z,1755879330.358 [DAT](INFO): DAT read: Bearing 255.6,  26.7 (Local)

2025-08-22T16:15:30.358Z,1755879330.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.6,  26.7 (Local)

2025-08-22T16:15:30.360Z,1755879330.360 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:30.364Z,1755879330.364 [DAT](INFO): DAT read: 16:15:31.0329 LVL= 20800, 13633, 18210, 29171, AGC= 42, IDX= 503,-0.08,-2.762,-2.946, 2.557,-1.643, PHS=-1.017,-1.257,-2.127, RAW=  41.9,  57.0, CAL=  40.3,  60.9, ROT= 109.7, -60.9

2025-08-22T16:15:30.366Z,1755879330.366 [DAT](INFO): got valid direction response:
 16:15:31.0329 LVL= 20800, 13633, 18210, 29171, AGC= 42, IDX= 503,-0.08,-2.762,-2.946, 2.557,-1.643, PHS=-1.017,-1.257,-2.127, RAW=  41.9,  57.0, CAL=  40.3,  60.9, ROT= 109.7, -60.9

2025-08-22T16:15:30.366Z,1755879330.366 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-22T16:15:30.367Z,1755879330.367 [DAT](INFO): direction in FSK: [-0.163941,0.457870,0.873772]
2025-08-22T16:15:30.367Z,1755879330.367 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:30.371Z,1755879330.371 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.121140
2025-08-22T16:15:30.381Z,1755879330.381 [MassServo](FAULT): LCB fault:  Invalid Command.
2025-08-22T16:15:30.606Z,1755879330.606 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.356602
2025-08-22T16:15:30.735Z,1755879330.735 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T16:15:30.851Z,1755879330.851 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T16:15:30.855Z,1755879330.855 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T16:15:30.855Z,1755879330.855 [MassServo] No Fault, FailCount= 1
2025-08-22T16:15:30.859Z,1755879330.859 [DAT](INFO): DAT read: Rx Time:16:15:31.5328 

2025-08-22T16:15:30.860Z,1755879330.860 [DAT](INFO): Rx dataTimestamp_ set to:1755879330.859292
2025-08-22T16:15:30.861Z,1755879330.861 [DAT](INFO): DAT read: Bearing 256.0,  26.8 (Local)

2025-08-22T16:15:30.861Z,1755879330.861 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,  26.8 (Local)

2025-08-22T16:15:30.863Z,1755879330.863 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:30.868Z,1755879330.868 [DAT](INFO): DAT read: 16:15:31.5328 LVL= 23856, 15281, 20130, 32755, AGC= 43, IDX= 502, 0.02,-3.052, 3.056, 2.250,-1.922, PHS=-1.028,-1.260,-2.155, RAW=  41.3,  56.7, CAL=  39.7,  60.7, ROT= 110.3, -60.7

2025-08-22T16:15:30.869Z,1755879330.869 [DAT](INFO): got valid direction response:
 16:15:31.5328 LVL= 23856, 15281, 20130, 32755, AGC= 43, IDX= 502, 0.02,-3.052, 3.056, 2.250,-1.922, PHS=-1.028,-1.260,-2.155, RAW=  41.3,  56.7, CAL=  39.7,  60.7, ROT= 110.3, -60.7

2025-08-22T16:15:30.869Z,1755879330.869 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-22T16:15:30.870Z,1755879330.870 [DAT](INFO): direction in FSK: [-0.169784,0.458986,0.872069]
2025-08-22T16:15:30.870Z,1755879330.870 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:30.874Z,1755879330.874 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.624184
2025-08-22T16:15:31.111Z,1755879331.111 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.861187
2025-08-22T16:15:31.363Z,1755879331.363 [DAT](INFO): DAT read: Rx Time:16:15:32.0329 

2025-08-22T16:15:31.364Z,1755879331.364 [DAT](INFO): Rx dataTimestamp_ set to:1755879331.363277
2025-08-22T16:15:31.365Z,1755879331.365 [DAT](INFO): DAT read: Bearing 256.3,  26.4 (Local)

2025-08-22T16:15:31.365Z,1755879331.365 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.3,  26.4 (Local)

2025-08-22T16:15:31.367Z,1755879331.367 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:31.372Z,1755879331.372 [DAT](INFO): DAT read: 16:15:32.0329 LVL= 23792, 15217, 19922, 32755, AGC= 43, IDX= 503, 0.13,-1.758,-1.921,-2.728,-0.617, PHS=-1.039,-1.259,-2.155, RAW=  40.8,  57.0, CAL=  39.2,  60.9, ROT= 110.8, -60.9

2025-08-22T16:15:31.373Z,1755879331.373 [DAT](INFO): got valid direction response:
 16:15:32.0329 LVL= 23792, 15217, 19922, 32755, AGC= 43, IDX= 503, 0.13,-1.758,-1.921,-2.728,-0.617, PHS=-1.039,-1.259,-2.155, RAW=  40.8,  57.0, CAL=  39.2,  60.9, ROT= 110.8, -60.9

2025-08-22T16:15:31.373Z,1755879331.373 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-22T16:15:31.374Z,1755879331.374 [DAT](INFO): direction in FSK: [-0.172701,0.454639,0.873772]
2025-08-22T16:15:31.374Z,1755879331.374 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:31.382Z,1755879331.382 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.132549
2025-08-22T16:15:31.617Z,1755879331.617 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.367504
2025-08-22T16:15:31.867Z,1755879331.867 [DAT](INFO): DAT read: Rx Time:16:15:32.5328 

2025-08-22T16:15:31.868Z,1755879331.868 [DAT](INFO): Rx dataTimestamp_ set to:1755879331.867314
2025-08-22T16:15:31.869Z,1755879331.869 [DAT](INFO): DAT read: Bearing 256.9,  26.0 (Local)

2025-08-22T16:15:31.869Z,1755879331.869 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.9,  26.0 (Local)

2025-08-22T16:15:31.871Z,1755879331.871 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:31.876Z,1755879331.876 [DAT](INFO): DAT read: 16:15:32.5328 LVL= 24144, 15681, 19730, 31539, AGC= 43, IDX= 502, 0.27,-2.771,-2.914, 2.561,-1.616, PHS=-1.053,-1.253,-2.150, RAW=  39.9,  57.3, CAL=  38.3,  61.1, ROT= 111.7, -61.1

2025-08-22T16:15:31.877Z,1755879331.877 [DAT](INFO): got valid direction response:
 16:15:32.5328 LVL= 24144, 15681, 19730, 31539, AGC= 43, IDX= 502, 0.27,-2.771,-2.914, 2.561,-1.616, PHS=-1.053,-1.253,-2.150, RAW=  39.9,  57.3, CAL=  38.3,  61.1, ROT= 111.7, -61.1

2025-08-22T16:15:31.877Z,1755879331.877 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-22T16:15:31.878Z,1755879331.878 [DAT](INFO): direction in FSK: [-0.178692,0.449033,0.875465]
2025-08-22T16:15:31.878Z,1755879331.878 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:31.886Z,1755879331.886 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.636135
2025-08-22T16:15:32.119Z,1755879332.119 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.868675
2025-08-22T16:15:32.371Z,1755879332.371 [DAT](INFO): DAT read: Rx Time:16:15:33.0329 

2025-08-22T16:15:32.371Z,1755879332.372 [DAT](INFO): Rx dataTimestamp_ set to:1755879332.371224
2025-08-22T16:15:32.373Z,1755879332.373 [DAT](INFO): DAT read: Bearing 257.0,  26.2 (Local)

2025-08-22T16:15:32.373Z,1755879332.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,  26.2 (Local)

2025-08-22T16:15:32.379Z,1755879332.379 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:32.384Z,1755879332.384 [DAT](INFO): DAT read: 16:15:33.0329 LVL= 23664, 16081, 19874, 32755, AGC= 43, IDX= 503, 0.44,-2.098,-2.249,-3.053,-0.953, PHS=-1.042,-1.250,-2.143, RAW=  40.3,  57.1, CAL=  38.7,  61.0, ROT= 111.3, -61.0

2025-08-22T16:15:32.385Z,1755879332.385 [DAT](INFO): got valid direction response:
 16:15:33.0329 LVL= 23664, 16081, 19874, 32755, AGC= 43, IDX= 503, 0.44,-2.098,-2.249,-3.053,-0.953, PHS=-1.042,-1.250,-2.143, RAW=  40.3,  57.1, CAL=  38.7,  61.0, ROT= 111.3, -61.0

2025-08-22T16:15:32.385Z,1755879332.385 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-08-22T16:15:32.418Z,1755879332.418 [DAT](INFO): direction in FSK: [-0.176108,0.451693,0.874620]
2025-08-22T16:15:32.419Z,1755879332.419 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:32.435Z,1755879332.435 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.184544
2025-08-22T16:15:32.510Z,1755879332.510 [DockingStepper](FAULT): Timed out moving from: 7631 to: 14700 response: ÿ
2025-08-22T16:15:32.510Z,1755879332.510 [DockingStepper] Hardware Fault, FailCount= 4
2025-08-22T16:15:32.510Z,1755879332.510 [DockingStepper](ERROR): Hardware Fault
2025-08-22T16:15:32.515Z,1755879332.515 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-22T16:15:32.623Z,1755879332.623 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.372658
2025-08-22T16:15:32.756Z,1755879332.756 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:15:32.757Z,1755879332.757 [DockingStepper](INFO): Powering down
2025-08-22T16:15:32.875Z,1755879332.875 [DAT](INFO): DAT read: Rx Time:16:15:33.5328 

2025-08-22T16:15:32.876Z,1755879332.876 [DAT](INFO): Rx dataTimestamp_ set to:1755879332.875299
2025-08-22T16:15:32.877Z,1755879332.877 [DAT](INFO): DAT read: Bearing 257.0,  25.7 (Local)

2025-08-22T16:15:32.877Z,1755879332.877 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,  25.7 (Local)

2025-08-22T16:15:32.879Z,1755879332.879 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:32.884Z,1755879332.884 [DAT](INFO): DAT read: 16:15:33.5328 LVL= 23712, 15825, 19986, 32371, AGC= 43, IDX= 503,-0.33, 1.797, 1.649, 0.878, 2.936, PHS=-1.036,-1.242,-2.102, RAW=  40.5,  57.7, CAL=  39.0,  61.5, ROT= 111.0, -61.5

2025-08-22T16:15:32.885Z,1755879332.885 [DAT](INFO): got valid direction response:
 16:15:33.5328 LVL= 23712, 15825, 19986, 32371, AGC= 43, IDX= 503,-0.33, 1.797, 1.649, 0.878, 2.936, PHS=-1.036,-1.242,-2.102, RAW=  40.5,  57.7, CAL=  39.0,  61.5, ROT= 111.0, -61.5

2025-08-22T16:15:32.885Z,1755879332.885 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-22T16:15:32.886Z,1755879332.886 [DAT](INFO): direction in FSK: [-0.170998,0.445466,0.878817]
2025-08-22T16:15:32.886Z,1755879332.886 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:32.890Z,1755879332.890 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.640182
2025-08-22T16:15:33.127Z,1755879333.127 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.876656
2025-08-22T16:15:33.380Z,1755879333.380 [DAT](INFO): DAT read: Rx Time:16:15:34.0328 

2025-08-22T16:15:33.380Z,1755879333.380 [DAT](INFO): Rx dataTimestamp_ set to:1755879333.380017
2025-08-22T16:15:33.382Z,1755879333.382 [DAT](INFO): DAT read: Bearing 257.7,  25.7 (Local)

2025-08-22T16:15:33.382Z,1755879333.382 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.7,  25.7 (Local)

2025-08-22T16:15:33.384Z,1755879333.384 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:33.388Z,1755879333.388 [DAT](INFO): DAT read: 16:15:34.0328 LVL= 21440, 14433, 18498, 28083, AGC= 42, IDX= 503,-0.21, 2.015, 1.876, 1.099,-3.128, PHS=-1.038,-1.233,-2.100, RAW=  39.9,  57.7, CAL=  38.4,  61.4, ROT= 111.6, -61.4

2025-08-22T16:15:33.390Z,1755879333.390 [DAT](INFO): got valid direction response:
 16:15:34.0328 LVL= 21440, 14433, 18498, 28083, AGC= 42, IDX= 503,-0.21, 2.015, 1.876, 1.099,-3.128, PHS=-1.038,-1.233,-2.100, RAW=  39.9,  57.7, CAL=  38.4,  61.4, ROT= 111.6, -61.4

2025-08-22T16:15:33.390Z,1755879333.390 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-22T16:15:33.391Z,1755879333.391 [DAT](INFO): direction in FSK: [-0.176218,0.445076,0.877983]
2025-08-22T16:15:33.391Z,1755879333.391 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:33.405Z,1755879333.405 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.155045
2025-08-22T16:15:33.631Z,1755879333.631 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.380722
2025-08-22T16:15:33.883Z,1755879333.883 [DAT](INFO): DAT read: Rx Time:16:15:34.5328 

2025-08-22T16:15:33.883Z,1755879333.883 [DAT](INFO): Rx dataTimestamp_ set to:1755879333.883222
2025-08-22T16:15:33.885Z,1755879333.885 [DAT](INFO): DAT read: Bearing 258.0,  26.0 (Local)

2025-08-22T16:15:33.885Z,1755879333.885 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.0,  26.0 (Local)

2025-08-22T16:15:33.887Z,1755879333.887 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:33.892Z,1755879333.892 [DAT](INFO): DAT read: 16:15:34.5328 LVL= 24176, 16273, 20514, 32323, AGC= 43, IDX= 502,-0.09, 1.018, 0.872, 0.082, 2.157, PHS=-1.037,-1.240,-2.119, RAW=  40.2,  57.3, CAL=  38.6,  61.2, ROT= 111.4, -61.2

2025-08-22T16:15:33.893Z,1755879333.893 [DAT](INFO): got valid direction response:
 16:15:34.5328 LVL= 24176, 16273, 20514, 32323, AGC= 43, IDX= 502,-0.09, 1.018, 0.872, 0.082, 2.157, PHS=-1.037,-1.240,-2.119, RAW=  40.2,  57.3, CAL=  38.6,  61.2, ROT= 111.4, -61.2

2025-08-22T16:15:33.893Z,1755879333.893 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-22T16:15:33.894Z,1755879333.894 [DAT](INFO): direction in FSK: [-0.175781,0.448540,0.876307]
2025-08-22T16:15:33.894Z,1755879333.894 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:33.898Z,1755879333.898 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.647938
2025-08-22T16:15:34.135Z,1755879334.135 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.884674
2025-08-22T16:15:34.387Z,1755879334.387 [DAT](INFO): DAT read: Rx Time:16:15:35.0329 

2025-08-22T16:15:34.388Z,1755879334.388 [DAT](INFO): Rx dataTimestamp_ set to:1755879334.387287
2025-08-22T16:15:34.389Z,1755879334.389 [DAT](INFO): DAT read: Bearing 258.8,  26.1 (Local)

2025-08-22T16:15:34.389Z,1755879334.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.8,  26.1 (Local)

2025-08-22T16:15:34.391Z,1755879334.391 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:34.395Z,1755879334.395 [DAT](INFO): DAT read: 16:15:35.0329 LVL= 24080, 15937, 20082, 32707, AGC= 43, IDX= 503, 0.01, 3.103, 2.968, 2.158,-2.032, PHS=-1.046,-1.238,-2.136, RAW=  39., CAL=  38.0,  61.0, ROT= 112.0, -61.0

2025-08-22T16:15:34.396Z,1755879334.396 [DAT](INFO): unknown deviceResponse_: 16:15:35.0329 LVL= 24080, 15937, 20082, 32707, AGC= 43, IDX= 503, 0.01, 3.103, 2.968, 2.158,-2.032, PHS=-1.046,-1.238,-2.136, RAW=  39., CAL=  38.0,  61.0, ROT= 112.0, -61.0

2025-08-22T16:15:34.397Z,1755879334.397 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-08-22T16:15:34.398Z,1755879334.398 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.147758
2025-08-22T16:15:34.639Z,1755879334.639 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.388638
2025-08-22T16:15:34.891Z,1755879334.891 [DAT](INFO): DAT read: Rx Time:16:15:35.5328 

2025-08-22T16:15:34.892Z,1755879334.892 [DAT](INFO): Rx dataTimestamp_ set to:1755879334.891298
2025-08-22T16:15:34.893Z,1755879334.893 [DAT](INFO): DAT read: Bearing 259.6,  26.1 (Local)

2025-08-22T16:15:34.893Z,1755879334.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,  26.1 (Local)

2025-08-22T16:15:34.895Z,1755879334.895 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:34.900Z,1755879334.900 [DAT](INFO): DAT read: 16:15:35.5328 LVL= 23536, 16017, 19874, 32755, AGC= 43, IDX= 502, 0.12, 2.827, 2.705, 1.874,-2.290, PHS=-1.064,-1.243,-2.164, RAW=  38.7,  57.1, CAL=  37.2,  61.0, ROT= 112.8, -61.0

2025-08-22T16:15:34.903Z,1755879334.903 [DAT](INFO): got valid direction response:
 16:15:35.5328 LVL= 23536, 16017, 19874, 32755, AGC= 43, IDX= 502, 0.12, 2.827, 2.705, 1.874,-2.290, PHS=-1.064,-1.243,-2.164, RAW=  38.7,  57.1, CAL=  37.2,  61.0, ROT= 112.8, -61.0

2025-08-22T16:15:34.905Z,1755879334.905 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-22T16:15:34.907Z,1755879334.907 [DAT](INFO): direction in FSK: [-0.187871,0.446928,0.874620]
2025-08-22T16:15:34.907Z,1755879334.907 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:34.911Z,1755879334.911 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.660892
2025-08-22T16:15:35.143Z,1755879335.143 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.892776
2025-08-22T16:15:35.395Z,1755879335.395 [DAT](INFO): DAT read: Rx Time:16:15:36.0329 

2025-08-22T16:15:35.396Z,1755879335.396 [DAT](INFO): Rx dataTimestamp_ set to:1755879335.395401
2025-08-22T16:15:35.397Z,1755879335.397 [DAT](INFO): DAT read: Bearing 260.3,  26.0 (Local)

2025-08-22T16:15:35.397Z,1755879335.397 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.3,  26.0 (Local)

2025-08-22T16:15:35.399Z,1755879335.399 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:35.404Z,1755879335.404 [DAT](INFO): DAT read: 16:15:36.0329 LVL= 21312, 14609, 17714, 28611, AGC= 42, IDX= 503, 0.25,-2.080,-2.193,-3.029,-0.908, PHS=-1.071,-1.240,-2.165, RAW=  38.3,  57.2, CAL=  36.8,  61.0, ROT= 113.2, -61.0

2025-08-22T16:15:35.405Z,1755879335.405 [DAT](INFO): got valid direction response:
 16:15:36.0329 LVL= 21312, 14609, 17714, 28611, AGC= 42, IDX= 503, 0.25,-2.080,-2.193,-3.029,-0.908, PHS=-1.071,-1.240,-2.165, RAW=  38.3,  57.2, CAL=  36.8,  61.0, ROT= 113.2, -61.0

2025-08-22T16:15:35.405Z,1755879335.405 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-22T16:15:35.407Z,1755879335.407 [DAT](INFO): direction in FSK: [-0.190987,0.445606,0.874620]
2025-08-22T16:15:35.407Z,1755879335.407 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:35.411Z,1755879335.411 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.160831
2025-08-22T16:15:35.647Z,1755879335.647 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.396675
2025-08-22T16:15:35.899Z,1755879335.899 [DAT](INFO): DAT read: Rx Time:16:15:36.5328 

2025-08-22T16:15:35.900Z,1755879335.900 [DAT](INFO): Rx dataTimestamp_ set to:1755879335.899247
2025-08-22T16:15:35.901Z,1755879335.901 [DAT](INFO): DAT read: Bearing 260.4,  26.1 (Local)

2025-08-22T16:15:35.901Z,1755879335.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.4,  26.1 (Local)

2025-08-22T16:15:35.903Z,1755879335.903 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:35.908Z,1755879335.908 [DAT](INFO): DAT read: 16:15:36.5328 LVL= 24048, 15905, 19826, 32755, AGC= 43, IDX= 502, 0.44, 2.518, 2.396, 1.574,-2.598, PHS=-1.065,-1.244,-2.155, RAW=  38.8,  57.3, CAL=  37.3,  61.1, ROT= 112.7, -61.1

2025-08-22T16:15:35.909Z,1755879335.909 [DAT](INFO): got valid direction response:
 16:15:36.5328 LVL= 24048, 15905, 19826, 32755, AGC= 43, IDX= 502, 0.44, 2.518, 2.396, 1.574,-2.598, PHS=-1.065,-1.244,-2.155, RAW=  38.8,  57.3, CAL=  37.3,  61.1, ROT= 112.7, -61.1

2025-08-22T16:15:35.909Z,1755879335.909 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-22T16:15:35.910Z,1755879335.910 [DAT](INFO): direction in FSK: [-0.186502,0.445846,0.875465]
2025-08-22T16:15:35.910Z,1755879335.910 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:35.914Z,1755879335.914 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.664474
2025-08-22T16:15:36.151Z,1755879336.151 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.900654
2025-08-22T16:15:36.403Z,1755879336.403 [DAT](INFO): DAT read: Rx Time:16:15:37.0329 

2025-08-22T16:15:36.404Z,1755879336.404 [DAT](INFO): Rx dataTimestamp_ set to:1755879336.403234
2025-08-22T16:15:36.405Z,1755879336.405 [DAT](INFO): DAT read: Bearing 260.1,  26.0 (Local)

2025-08-22T16:15:36.405Z,1755879336.405 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.1,  26.0 (Local)

2025-08-22T16:15:36.407Z,1755879336.407 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:36.412Z,1755879336.412 [DAT](INFO): DAT read: 16:15:37.0329 LVL= 23648, 16081, 19746, 32675, AGC= 43, IDX= 504,-0.35, 1.844, 1.708, 0.933, 2.983, PHS=-1.037,-1.230,-2.094, RAW=  39.9,  57.7, CAL=  38.4,  61.5, ROT= 111.6, -61.5

2025-08-22T16:15:36.413Z,1755879336.413 [DAT](INFO): got valid direction response:
 16:15:37.0329 LVL= 23648, 16081, 19746, 32675, AGC= 43, IDX= 504,-0.35, 1.844, 1.708, 0.933, 2.983, PHS=-1.037,-1.230,-2.094, RAW=  39.9,  57.7, CAL=  38.4,  61.5, ROT= 111.6, -61.5

2025-08-22T16:15:36.413Z,1755879336.413 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-22T16:15:36.414Z,1755879336.414 [DAT](INFO): direction in FSK: [-0.175654,0.443651,0.878817]
2025-08-22T16:15:36.414Z,1755879336.414 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:36.418Z,1755879336.418 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.168140
2025-08-22T16:15:36.655Z,1755879336.655 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.404659
2025-08-22T16:15:36.909Z,1755879336.909 [DAT](INFO): DAT read: Rx Time:16:15:37.5328 

2025-08-22T16:15:36.910Z,1755879336.910 [DAT](INFO): Rx dataTimestamp_ set to:1755879336.909649
2025-08-22T16:15:36.911Z,1755879336.911 [DAT](INFO): DAT read: Bearing 260.4,  26.0 (Local)

2025-08-22T16:15:36.911Z,1755879336.911 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.4,  26.0 (Local)

2025-08-22T16:15:36.916Z,1755879336.916 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:36.946Z,1755879336.946 [DAT](INFO): DAT read: 16:15:37.5328 LVL= 23728, 16161, 19618, 31283, AGC= 43, IDX= 503,-0.22, 0.709, 0.575,-0.203, 1.853, PHS=-1.042,-1.232,-2.099, RAW=  39.7,  57.7, CAL=  38.2,  61.5, ROT= 111.8, -61.5

2025-08-22T16:15:36.948Z,1755879336.948 [DAT](INFO): got valid direction response:
 16:15:37.5328 LVL= 23728, 16161, 19618, 31283, AGC= 43, IDX= 503,-0.22, 0.709, 0.575,-0.203, 1.853, PHS=-1.042,-1.232,-2.099, RAW=  39.7,  57.7, CAL=  38.2,  61.5, ROT= 111.8, -61.5

2025-08-22T16:15:36.949Z,1755879336.949 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-22T16:15:36.959Z,1755879336.959 [DAT](INFO): direction in FSK: [-0.177201,0.443035,0.878817]
2025-08-22T16:15:36.959Z,1755879336.959 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:36.968Z,1755879336.968 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.717842
2025-08-22T16:15:37.159Z,1755879337.159 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.908760
2025-08-22T16:15:37.411Z,1755879337.411 [DAT](INFO): DAT read: Rx Time:16:15:38.0329 

2025-08-22T16:15:37.412Z,1755879337.412 [DAT](INFO): Rx dataTimestamp_ set to:1755879337.411283
2025-08-22T16:15:37.413Z,1755879337.413 [DAT](INFO): DAT read: Bearing 260.7,  26.1 (Local)

2025-08-22T16:15:37.413Z,1755879337.413 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.7,  26.1 (Local)

2025-08-22T16:15:37.415Z,1755879337.415 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:37.420Z,1755879337.420 [DAT](INFO): DAT read: 16:15:38.0329 LVL= 23472, 16241, 19666, 32755, AGC= 43, IDX= 503,-0.11, 0.782, 0.646,-0.138, 1.925, PHS=-1.041,-1.234,-2.107, RAW=  39.8,  57.6, CAL=  38.3,  61.4, ROT= 111.7, -61.4

2025-08-22T16:15:37.421Z,1755879337.421 [DAT](INFO): got valid direction response:
 16:15:38.0329 LVL= 23472, 16241, 19666, 32755, AGC= 43, IDX= 503,-0.11, 0.782, 0.646,-0.138, 1.925, PHS=-1.041,-1.234,-2.107, RAW=  39.8,  57.6, CAL=  38.3,  61.4, ROT= 111.7, -61.4

2025-08-22T16:15:37.421Z,1755879337.421 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-22T16:15:37.422Z,1755879337.422 [DAT](INFO): direction in FSK: [-0.176995,0.444768,0.877983]
2025-08-22T16:15:37.422Z,1755879337.422 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:37.428Z,1755879337.428 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.177830
2025-08-22T16:15:37.662Z,1755879337.662 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.412601
2025-08-22T16:15:37.915Z,1755879337.915 [DAT](INFO): DAT read: Rx Time:16:15:38.5328 

2025-08-22T16:15:37.916Z,1755879337.916 [DAT](INFO): Rx dataTimestamp_ set to:1755879337.915318
2025-08-22T16:15:37.917Z,1755879337.917 [DAT](INFO): DAT read: Bearing 261.4,  26.1 (Local)

2025-08-22T16:15:37.917Z,1755879337.917 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.4,  26.1 (Local)

2025-08-22T16:15:37.919Z,1755879337.919 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:37.925Z,1755879337.925 [DAT](INFO): DAT read: 16:15:38.5328 LVL= 23632, 16369, 19586, 30771, AGC= 43, IDX= 502,-0.01, 0.387, 0.264,-0.541, 1.546, PHS=-1.057,-1.237,-2.131, RAW=  39.0,  57.5, CAL=  37.5,  61.3, ROT= 112.5, -61.3

2025-08-22T16:15:37.934Z,1755879337.934 [DAT](INFO): got valid direction response:
 16:15:38.5328 LVL= 23632, 16369, 19586, 30771, AGC= 43, IDX= 502,-0.01, 0.387, 0.264,-0.541, 1.546, PHS=-1.057,-1.237,-2.131, RAW=  39.0,  57.5, CAL=  37.5,  61.3, ROT= 112.5, -61.3

2025-08-22T16:15:37.935Z,1755879337.935 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-22T16:15:37.937Z,1755879337.937 [DAT](INFO): direction in FSK: [-0.183774,0.443669,0.877146]
2025-08-22T16:15:37.937Z,1755879337.937 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:37.969Z,1755879337.969 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.719070
2025-08-22T16:15:38.167Z,1755879338.167 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.917416
2025-08-22T16:15:38.419Z,1755879338.419 [DAT](INFO): DAT read: Rx Time:16:15:39.0329 

2025-08-22T16:15:38.419Z,1755879338.419 [DAT](INFO): Rx dataTimestamp_ set to:1755879338.419178
2025-08-22T16:15:38.421Z,1755879338.421 [DAT](INFO): DAT read: Bearing 262.0,  26.0 (Local)

2025-08-22T16:15:38.421Z,1755879338.421 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.0,  26.0 (Local)

2025-08-22T16:15:38.423Z,1755879338.423 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:38.432Z,1755879338.432 [DAT](INFO): DAT read: 16:15:39.0329 LVL= 23728, 16577, 19826, 30691, AGC= 43, IDX= 503, 0.10, 2.394, 2.289, 1.466,-2.714, PHS=-1.073,-1.235,-2.147, RAW=  38.0,  57.5, CAL=  36.6,  61.3, ROT= 113.4, -61.3

2025-08-22T16:15:38.433Z,1755879338.434 [DAT](INFO): got valid direction response:
 16:15:39.0329 LVL= 23728, 16577, 19826, 30691, AGC= 43, IDX= 503, 0.10, 2.394, 2.289, 1.466,-2.714, PHS=-1.073,-1.235,-2.147, RAW=  38.0,  57.5, CAL=  36.6,  61.3, ROT= 113.4, -61.3

2025-08-22T16:15:38.434Z,1755879338.434 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-22T16:15:38.436Z,1755879338.436 [DAT](INFO): direction in FSK: [-0.190720,0.440727,0.877146]
2025-08-22T16:15:38.436Z,1755879338.436 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:38.446Z,1755879338.446 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.196228
2025-08-22T16:15:38.671Z,1755879338.671 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.420658
2025-08-22T16:15:38.929Z,1755879338.929 [DAT](INFO): DAT read: Rx Time:16:15:39.5328 

2025-08-22T16:15:38.931Z,1755879338.931 [DAT](INFO): Rx dataTimestamp_ set to:1755879338.930189
2025-08-22T16:15:38.935Z,1755879338.935 [DAT](INFO): DAT read: Bearing 262.7,  25.2 (Local)

2025-08-22T16:15:38.935Z,1755879338.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.7,  25.2 (Local)

2025-08-22T16:15:38.939Z,1755879338.939 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:38.946Z,1755879338.946 [DAT](INFO): DAT read: 16:15:39.5328 LVL= 21328, 15153, 17602, 27043, AGC= 42, IDX= 502, 0.22, 1.361, 1.293, 0.471, 2.565, PHS=-1.102,-1.227,-2.138, RAW=  36.3,  58.2, CAL=  34.9,  61.8, ROT= 115.1, -61.8

2025-08-22T16:15:38.947Z,1755879338.947 [DAT](INFO): got valid direction response:
 16:15:39.5328 LVL= 21328, 15153, 17602, 27043, AGC= 42, IDX= 502, 0.22, 1.361, 1.293, 0.471, 2.565, PHS=-1.102,-1.227,-2.138, RAW=  36.3,  58.2, CAL=  34.9,  61.8, ROT= 115.1, -61.8

2025-08-22T16:15:38.948Z,1755879338.948 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-22T16:15:38.949Z,1755879338.949 [DAT](INFO): direction in FSK: [-0.200456,0.427927,0.881303]
2025-08-22T16:15:38.950Z,1755879338.950 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:38.956Z,1755879338.956 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.706394
2025-08-22T16:15:39.175Z,1755879339.175 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.925140
2025-08-22T16:15:39.429Z,1755879339.429 [DAT](INFO): DAT read: Rx Time:16:15:40.0329 

2025-08-22T16:15:39.430Z,1755879339.430 [DAT](INFO): Rx dataTimestamp_ set to:1755879339.429139
2025-08-22T16:15:39.432Z,1755879339.432 [DAT](INFO): DAT read: Bearing 262.5,  26.2 (Local)

2025-08-22T16:15:39.433Z,1755879339.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.5,  26.2 (Local)

2025-08-22T16:15:39.436Z,1755879339.436 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:39.443Z,1755879339.443 [DAT](INFO): DAT read: 16:15:40.0329 LVL= 23904, 17089, 19442, 29907, AGC= 43, IDX= 503, 0.36, 2.691, 2.593, 1.754,-2.414, PHS=-1.076,-1.231,-2.159, RAW=  37.6,  57.3, CAL=  36.1,  61.1, ROT= 113.9, -61.1

2025-08-22T16:15:39.445Z,1755879339.445 [DAT](INFO): got valid direction response:
 16:15:40.0329 LVL= 23904, 17089, 19442, 29907, AGC= 43, IDX= 503, 0.36, 2.691, 2.593, 1.754,-2.414, PHS=-1.076,-1.231,-2.159, RAW=  37.6,  57.3, CAL=  36.1,  61.1, ROT= 113.9, -61.1

2025-08-22T16:15:39.445Z,1755879339.445 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-22T16:15:39.466Z,1755879339.466 [DAT](INFO): direction in FSK: [-0.195798,0.441843,0.875465]
2025-08-22T16:15:39.467Z,1755879339.467 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:39.474Z,1755879339.474 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.224522
2025-08-22T16:15:39.679Z,1755879339.679 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.428741
2025-08-22T16:15:39.934Z,1755879339.934 [DAT](INFO): DAT read: Rx Time:16:15:40.5328 

2025-08-22T16:15:39.935Z,1755879339.935 [DAT](INFO): Rx dataTimestamp_ set to:1755879339.934630
2025-08-22T16:15:39.937Z,1755879339.937 [DAT](INFO): DAT read: Bearing 261.7,  25.5 (Local)

2025-08-22T16:15:39.938Z,1755879339.938 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.7,  25.5 (Local)

2025-08-22T16:15:39.941Z,1755879339.941 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:39.954Z,1755879339.954 [DAT](INFO): DAT read: 16:15:40.5328 LVL= 23776, 17313, 19298, 29891, AGC= 43, IDX= 503,-0.42,-0.461,-0.564,-1.339, 0.702, PHS=-1.061,-1.221,-2.085, RAW=  38.4,  58.3, CAL=  36.9,  62.0, ROT= 113.1, -62.0

2025-08-22T16:15:39.955Z,1755879339.955 [DAT](INFO): got valid direction response:
 16:15:40.5328 LVL= 23776, 17313, 19298, 29891, AGC= 43, IDX= 503,-0.42,-0.461,-0.564,-1.339, 0.702, PHS=-1.061,-1.221,-2.085, RAW=  38.4,  58.3, CAL=  36.9,  62.0, ROT= 113.1, -62.0

2025-08-22T16:15:39.955Z,1755879339.955 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-22T16:15:39.956Z,1755879339.956 [DAT](INFO): direction in FSK: [-0.184191,0.431830,0.882948]
2025-08-22T16:15:39.956Z,1755879339.956 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:39.980Z,1755879339.980 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.730103
2025-08-22T16:15:40.183Z,1755879340.183 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.933189
2025-08-22T16:15:40.436Z,1755879340.436 [DAT](INFO): DAT read: Rx Time:16:15:41.0329 

2025-08-22T16:15:40.437Z,1755879340.437 [DAT](INFO): Rx dataTimestamp_ set to:1755879340.436567
2025-08-22T16:15:40.439Z,1755879340.439 [DAT](INFO): DAT read: Bearing 261.9,  25.6 (Local)

2025-08-22T16:15:40.440Z,1755879340.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.9,  25.6 (Local)

2025-08-22T16:15:40.443Z,1755879340.443 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:40.466Z,1755879340.466 [DAT](INFO): DAT read: 16:15:41.0329 LVL= 23696, 17185, 19394, 30355, AGC= 43, IDX= 504,-0.28, 0.776, 0.680,-0.108, 1.942, PHS=-1.064,-1.217,-2.095, RAW=  37.9,  58.1, CAL=  36.5,  61.8, ROT= 113.5, -61.8

2025-08-22T16:15:40.467Z,1755879340.467 [DAT](INFO): got valid direction response:
 16:15:41.0329 LVL= 23696, 17185, 19394, 30355, AGC= 43, IDX= 504,-0.28, 0.776, 0.680,-0.108, 1.942, PHS=-1.064,-1.217,-2.095, RAW=  37.9,  58.1, CAL=  36.5,  61.8, ROT= 113.5, -61.8

2025-08-22T16:15:40.468Z,1755879340.468 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-22T16:15:40.469Z,1755879340.469 [DAT](INFO): direction in FSK: [-0.188429,0.433357,0.881303]
2025-08-22T16:15:40.469Z,1755879340.469 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:40.489Z,1755879340.489 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.238903
2025-08-22T16:15:40.686Z,1755879340.686 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.436626
2025-08-22T16:15:40.944Z,1755879340.944 [DAT](INFO): DAT read: Rx Time:16:15:41.5328 

2025-08-22T16:15:40.946Z,1755879340.946 [DAT](INFO): Rx dataTimestamp_ set to:1755879340.944984
2025-08-22T16:15:40.951Z,1755879340.951 [DAT](INFO): DAT read: Bearing 261.9,  25.4 (Local)

2025-08-22T16:15:40.953Z,1755879340.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 261.9,  25.4 (Local)

2025-08-22T16:15:40.962Z,1755879340.962 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:40.968Z,1755879340.968 [DAT](INFO): DAT read: 16:15:41.5328 LVL= 23888, 17393, 19250, 29891, AGC= 43, IDX= 503,-0.15,-0.331,-0.416,-1.212, 0.843, PHS=-1.072,-1.214,-2.098, RAW=  37.3,  58.2, CAL=  35.9,  61.8, ROT= 114.1, -61.8

2025-08-22T16:15:40.969Z,1755879340.969 [DAT](INFO): got valid direction response:
 16:15:41.5328 LVL= 23888, 17393, 19250, 29891, AGC= 43, IDX= 503,-0.15,-0.331,-0.416,-1.212, 0.843, PHS=-1.072,-1.214,-2.098, RAW=  37.3,  58.2, CAL=  35.9,  61.8, ROT= 114.1, -61.8

2025-08-22T16:15:40.969Z,1755879340.969 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-22T16:15:40.970Z,1755879340.970 [DAT](INFO): direction in FSK: [-0.192957,0.431360,0.881303]
2025-08-22T16:15:40.971Z,1755879340.971 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:41.006Z,1755879341.006 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.756462
2025-08-22T16:15:41.191Z,1755879341.191 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.941490
2025-08-22T16:15:41.444Z,1755879341.444 [DAT](INFO): DAT read: Rx Time:16:15:42.0328 

2025-08-22T16:15:41.445Z,1755879341.445 [DAT](INFO): Rx dataTimestamp_ set to:1755879341.444466
2025-08-22T16:15:41.448Z,1755879341.448 [DAT](INFO): DAT read: Bearing 262.1,  25.2 (Local)

2025-08-22T16:15:41.448Z,1755879341.448 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.1,  25.2 (Local)

2025-08-22T16:15:41.451Z,1755879341.451 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:41.456Z,1755879341.456 [DAT](INFO): DAT read: 16:15:42.0328 LVL= 24016, 17521, 19282, 29891, AGC= 43, IDX= 503,-0.06,-0.285,-0.351,-1.153, 0.898, PHS=-1.081,-1.205,-2.095, RAW=  36.4,  58.2, CAL=  35.0,  61.9, ROT= 115.0, -61.9

2025-08-22T16:15:41.457Z,1755879341.457 [DAT](INFO): got valid direction response:
 16:15:42.0328 LVL= 24016, 17521, 19282, 29891, AGC= 43, IDX= 503,-0.06,-0.285,-0.351,-1.153, 0.898, PHS=-1.081,-1.205,-2.095, RAW=  36.4,  58.2, CAL=  35.0,  61.9, ROT= 115.0, -61.9

2025-08-22T16:15:41.458Z,1755879341.458 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-22T16:15:41.458Z,1755879341.458 [DAT](INFO): direction in FSK: [-0.199058,0.426882,0.882127]
2025-08-22T16:15:41.459Z,1755879341.459 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:41.474Z,1755879341.474 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.224586
2025-08-22T16:15:41.695Z,1755879341.695 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.444687
2025-08-22T16:15:41.952Z,1755879341.952 [DAT](INFO): DAT read: Rx Time:16:15:42.5327 

2025-08-22T16:15:41.954Z,1755879341.954 [DAT](INFO): Rx dataTimestamp_ set to:1755879341.952794
2025-08-22T16:15:41.960Z,1755879341.960 [DAT](INFO): DAT read: Bearing 263.7,  23.6 (Local)

2025-08-22T16:15:41.962Z,1755879341.962 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.7,  23.6 (Local)

2025-08-22T16:15:41.965Z,1755879341.965 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:41.982Z,1755879341.982 [DAT](INFO): DAT read: 16:15:42.5327 LVL= 20400, 16593, 20978, 26035, AGC= 42, IDX= 502, 0.03,-0.060,-0.036,-0.871, 1.190, PHS=-1.149,-1.181,-2.105, RAW=  31.7,  59.0, CAL=  30.4,  62.5, ROT= 119.6, -62.5

2025-08-22T16:15:41.983Z,1755879341.983 [DAT](INFO): got valid direction response:
 16:15:42.5327 LVL= 20400, 16593, 20978, 26035, AGC= 42, IDX= 502, 0.03,-0.060,-0.036,-0.871, 1.190, PHS=-1.149,-1.181,-2.105, RAW=  31.7,  59.0, CAL=  30.4,  62.5, ROT= 119.6, -62.5

2025-08-22T16:15:41.983Z,1755879341.983 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-22T16:15:41.984Z,1755879341.984 [DAT](INFO): direction in FSK: [-0.228077,0.401488,0.887011]
2025-08-22T16:15:41.985Z,1755879341.985 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:41.996Z,1755879341.996 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.746510
2025-08-22T16:15:42.202Z,1755879342.202 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.951019
2025-08-22T16:15:42.451Z,1755879342.451 [DAT](INFO): DAT read: Rx Time:16:15:43.0328 

2025-08-22T16:15:42.451Z,1755879342.451 [DAT](INFO): Rx dataTimestamp_ set to:1755879342.451132
2025-08-22T16:15:42.453Z,1755879342.453 [DAT](INFO): DAT read: Bearing 263.4,  24.7 (Local)

2025-08-22T16:15:42.453Z,1755879342.453 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.4,  24.7 (Local)

2025-08-22T16:15:42.455Z,1755879342.455 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:42.459Z,1755879342.459 [DAT](INFO): DAT read: 16:15:43.0328 LVL= 22960, 18369, 19186, 28611, AGC= 43, IDX= 503, 0.13, 1.204, 1.206, 0.333, 2.435, PHS=-1.128,-1.184,-2.146, RAW=  32.8,  57.8, CAL=  31.4,  61.4, ROT= 118.6, -61.4

2025-08-22T16:15:42.460Z,1755879342.460 [DAT](INFO): got valid direction response:
 16:15:43.0328 LVL= 22960, 18369, 19186, 28611, AGC= 43, IDX= 503, 0.13, 1.204, 1.206, 0.333, 2.435, PHS=-1.128,-1.184,-2.146, RAW=  32.8,  57.8, CAL=  31.4,  61.4, ROT= 118.6, -61.4

2025-08-22T16:15:42.461Z,1755879342.461 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-22T16:15:42.462Z,1755879342.462 [DAT](INFO): direction in FSK: [-0.229146,0.420283,0.877983]
2025-08-22T16:15:42.462Z,1755879342.462 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:42.470Z,1755879342.470 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.215557
2025-08-22T16:15:42.705Z,1755879342.705 [DAT](INFO): DAT read: Rx Time:16:15:43.5327 

2025-08-22T16:15:42.707Z,1755879342.707 [DAT](INFO): Rx dataTimestamp_ set to:1755879342.705968
2025-08-22T16:15:42.709Z,1755879342.709 [DAT](INFO): DAT read: Bearing 264.0,  23.7 (Local)

2025-08-22T16:15:42.711Z,1755879342.711 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.0,  23.7 (Local)

2025-08-22T16:15:42.713Z,1755879342.713 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=53.462349
2025-08-22T16:15:42.961Z,1755879342.961 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:42.975Z,1755879342.975 [DAT](INFO): DAT read: 16:15:43.5327 LVL= 22416, 19441, 20738, 27571, AGC= 43, IDX= 502, 0.25, 0.081, 0.136,-0.742, 1.348, PHS=-1.166,-1.168,-2.135, RAW=  30.1,  58.5, CAL=  28.9,  62.0, ROT= 121.1, -62.0

2025-08-22T16:15:42.980Z,1755879342.980 [DAT](INFO): got valid direction response:
 16:15:43.5327 LVL= 22416, 19441, 20738, 27571, AGC= 43, IDX= 502, 0.25, 0.081, 0.136,-0.742, 1.348, PHS=-1.166,-1.168,-2.135, RAW=  30.1,  58.5, CAL=  28.9,  62.0, ROT= 121.1, -62.0

2025-08-22T16:15:42.981Z,1755879342.981 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-08-22T16:15:42.993Z,1755879342.993 [DAT](INFO): direction in FSK: [-0.242498,0.401993,0.882948]
2025-08-22T16:15:42.994Z,1755879342.994 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:43.014Z,1755879343.014 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.764179
2025-08-22T16:15:43.224Z,1755879343.224 [DAT](INFO): DAT read: Rx Time:16:15:44.0328 

2025-08-22T16:15:43.226Z,1755879343.226 [DAT](INFO): Rx dataTimestamp_ set to:1755879343.224599
2025-08-22T16:15:43.229Z,1755879343.229 [DAT](INFO): DAT read: Bearing 264.3,  23.7 (Local)

2025-08-22T16:15:43.230Z,1755879343.230 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.3,  23.7 (Local)

2025-08-22T16:15:43.239Z,1755879343.239 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:43.241Z,1755879343.241 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-22T16:15:43.266Z,1755879343.266 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=54.016438
2025-08-22T16:15:43.463Z,1755879343.463 [DAT](INFO): DAT read: 16:15:44.0328 LVL= 22832, 19649, 17954, 25651, AGC= 43, IDX= 503, 0.43, 1.317, 1.390, 0.485, 2.593, PHS=-1.174,-1.158,-2.152, RAW=  29.2,  58.1, CAL=  27.9,  61.6, ROT= 122.1, -61.6

2025-08-22T16:15:43.465Z,1755879343.465 [DAT](INFO): got valid direction response:
 16:15:44.0328 LVL= 22832, 19649, 17954, 25651, AGC= 43, IDX= 503, 0.43, 1.317, 1.390, 0.485, 2.593, PHS=-1.174,-1.158,-2.152, RAW=  29.2,  58.1, CAL=  27.9,  61.6, ROT= 122.1, -61.6

2025-08-22T16:15:43.465Z,1755879343.465 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-08-22T16:15:43.467Z,1755879343.467 [DAT](INFO): direction in FSK: [-0.252746,0.402912,0.879649]
2025-08-22T16:15:43.470Z,1755879343.470 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.220211
2025-08-22T16:15:43.716Z,1755879343.716 [DAT](INFO): DAT read: Rx Time:16:15:44.5327 

2025-08-22T16:15:43.718Z,1755879343.718 [DAT](INFO): Rx dataTimestamp_ set to:1755879343.716392
2025-08-22T16:15:43.720Z,1755879343.720 [DAT](INFO): DAT read: Bearing 263.7,  21.4 (Local)

2025-08-22T16:15:43.721Z,1755879343.721 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.7,  21.4 (Local)

2025-08-22T16:15:43.725Z,1755879343.725 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:43.732Z,1755879343.732 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-22T16:15:43.735Z,1755879343.735 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.484802
2025-08-22T16:15:44.006Z,1755879344.006 [DAT](INFO): DAT read: 16:15:44.5327 LVL= 20976, 18289, 19058, 25987, AGC= 42, IDX= 503,-0.36,-1.958,-1.847,-2.654,-0.672, PHS=-1.184,-1.130,-2.026, RAW=  26.9,  60.4, CAL=  25.8,  63.7, ROT= 124.2, -63.7

2025-08-22T16:15:44.007Z,1755879344.007 [DAT](INFO): got valid direction response:
 16:15:44.5327 LVL= 20976, 18289, 19058, 25987, AGC= 42, IDX= 503,-0.36,-1.958,-1.847,-2.654,-0.672, PHS=-1.184,-1.130,-2.026, RAW=  26.9,  60.4, CAL=  25.8,  63.7, ROT= 124.2, -63.7

2025-08-22T16:15:44.007Z,1755879344.007 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-08-22T16:15:44.008Z,1755879344.008 [DAT](INFO): direction in FSK: [-0.249043,0.366456,0.896486]
2025-08-22T16:15:44.016Z,1755879344.016 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.766029
2025-08-22T16:15:44.220Z,1755879344.220 [DAT](INFO): DAT read: Rx Time:16:15:45.0328 

2025-08-22T16:15:44.222Z,1755879344.222 [DAT](INFO): Rx dataTimestamp_ set to:1755879344.220887
2025-08-22T16:15:44.224Z,1755879344.224 [DAT](INFO): DAT read: Bearing 263.7,  21.6 (Local)

2025-08-22T16:15:44.226Z,1755879344.226 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.7,  21.6 (Local)

2025-08-22T16:15:44.305Z,1755879344.305 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:44.311Z,1755879344.311 [DAT](INFO): DAT read: 16:15:45.0328 LVL= 20912, 20097, 19682, 28643, AGC= 43, IDX= 504,-0.22,-0.722,-0.601,-1.441, 0.578, PHS=-1.198,-1.134,-2.063, RAW=  26.5,  60.0, CAL=  25.4,  63.3, ROT= 124.6, -63.3

2025-08-22T16:15:44.312Z,1755879344.312 [DAT](INFO): got valid direction response:
 16:15:45.0328 LVL= 20912, 20097, 19682, 28643, AGC= 43, IDX= 504,-0.22,-0.722,-0.601,-1.441, 0.578, PHS=-1.198,-1.134,-2.063, RAW=  26.5,  60.0, CAL=  25.4,  63.3, ROT= 124.6, -63.3

2025-08-22T16:15:44.312Z,1755879344.312 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-08-22T16:15:44.313Z,1755879344.313 [DAT](INFO): direction in FSK: [-0.255143,0.369851,0.893371]
2025-08-22T16:15:44.313Z,1755879344.313 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:44.317Z,1755879344.317 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.067009
2025-08-22T16:15:44.467Z,1755879344.467 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.216728
2025-08-22T16:15:44.722Z,1755879344.722 [DAT](INFO): DAT read: Rx Time:16:15:45.5328 

2025-08-22T16:15:44.724Z,1755879344.724 [DAT](INFO): Rx dataTimestamp_ set to:1755879344.722733
2025-08-22T16:15:44.727Z,1755879344.727 [DAT](INFO): DAT read: Bearing 264.0,  21.2 (Local)

2025-08-22T16:15:44.728Z,1755879344.728 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.0,  21.2 (Local)

2025-08-22T16:15:44.735Z,1755879344.735 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:44.737Z,1755879344.737 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-22T16:15:44.741Z,1755879344.741 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.490154
2025-08-22T16:15:44.984Z,1755879344.984 [DAT](INFO): DAT read: 16:15:45.5328 LVL= 20656, 20273, 18930, 27875, AGC= 43, IDX= 503,-0.11,-1.876,-1.728,-2.584,-0.560, PHS=-1.213,-1.123,-2.068, RAW=  25.0,  59.9, CAL=  23.9,  63.2, ROT= 126.1, -63.2

2025-08-22T16:15:44.988Z,1755879344.988 [DAT](INFO): got valid direction response:
 16:15:45.5328 LVL= 20656, 20273, 18930, 27875, AGC= 43, IDX= 503,-0.11,-1.876,-1.728,-2.584,-0.560, PHS=-1.213,-1.123,-2.068, RAW=  25.0,  59.9, CAL=  23.9,  63.2, ROT= 126.1, -63.2

2025-08-22T16:15:44.990Z,1755879344.990 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-08-22T16:15:44.994Z,1755879344.994 [DAT](INFO): direction in FSK: [-0.265655,0.364304,0.892586]
2025-08-22T16:15:45.008Z,1755879345.008 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.757862
2025-08-22T16:15:45.226Z,1755879345.226 [DAT](INFO): DAT read: Rx Time:16:15:46.0328 

2025-08-22T16:15:45.228Z,1755879345.228 [DAT](INFO): Rx dataTimestamp_ set to:1755879345.227260
2025-08-22T16:15:45.258Z,1755879345.258 [DAT](INFO): DAT read: Bearing 264.9,  21.6 (Local)

2025-08-22T16:15:45.258Z,1755879345.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.9,  21.6 (Local)

2025-08-22T16:15:45.260Z,1755879345.260 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:45.297Z,1755879345.297 [DAT](INFO): DAT read: 16:15:46.0328 LVL= 21408, 20193, 19218, 26163, AGC= 42, IDX= 503, 0.00,-1.114,-0.928,-1.855, 0.231, PHS=-1.242,-1.114,-2.130, RAW=  23.3,  58.9, CAL=  22.3,  62.3, ROT= 127.7, -62.3

2025-08-22T16:15:45.306Z,1755879345.306 [DAT](INFO): got valid direction response:
 16:15:46.0328 LVL= 21408, 20193, 19218, 26163, AGC= 42, IDX= 503, 0.00,-1.114,-0.928,-1.855, 0.231, PHS=-1.242,-1.114,-2.130, RAW=  23.3,  58.9, CAL=  22.3,  62.3, ROT= 127.7, -62.3

2025-08-22T16:15:45.306Z,1755879345.306 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-08-22T16:15:45.307Z,1755879345.307 [DAT](INFO): direction in FSK: [-0.284264,0.367794,0.885394]
2025-08-22T16:15:45.308Z,1755879345.308 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:45.319Z,1755879345.319 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.069633
2025-08-22T16:15:45.475Z,1755879345.475 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.224731
2025-08-22T16:15:45.731Z,1755879345.731 [DAT](INFO): DAT read: Rx Time:16:15:46.5327 

2025-08-22T16:15:45.733Z,1755879345.733 [DAT](INFO): Rx dataTimestamp_ set to:1755879345.731708
2025-08-22T16:15:45.736Z,1755879345.736 [DAT](INFO): DAT read: Bearing 265.5,  21.8 (Local)

2025-08-22T16:15:45.738Z,1755879345.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.5,  21.8 (Local)

2025-08-22T16:15:45.744Z,1755879345.744 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:45.748Z,1755879345.748 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-08-22T16:15:45.752Z,1755879345.752 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.500938
2025-08-22T16:15:45.999Z,1755879345.999 [DAT](INFO): DAT read: 16:15:46.5327 LVL= 22176, 21537, 19666, 28003, AGC= 44, IDX= 502, 0.09,-1.590,-1.373,-2.362,-0.216, PHS=-1.272,-1.111,-2.190, RAW=  22.1,  58.1, CAL=  21.0,  61.6, ROT= 129.0, -61.6

2025-08-22T16:15:46.012Z,1755879346.012 [DAT](INFO): got valid direction response:
 16:15:46.5327 LVL= 22176, 21537, 19666, 28003, AGC= 44, IDX= 502, 0.09,-1.590,-1.373,-2.362,-0.216, PHS=-1.272,-1.111,-2.190, RAW=  22.1,  58.1, CAL=  21.0,  61.6, ROT= 129.0, -61.6

2025-08-22T16:15:46.013Z,1755879346.013 [DAT](INFO): #Rx 118: Read direction message, but no range.
2025-08-22T16:15:46.020Z,1755879346.020 [DAT](INFO): direction in FSK: [-0.299320,0.369629,0.879649]
2025-08-22T16:15:46.049Z,1755879346.049 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.799030
2025-08-22T16:15:46.235Z,1755879346.235 [DAT](INFO): DAT read: Rx Time:16:15:47.0328 

2025-08-22T16:15:46.253Z,1755879346.253 [DAT](INFO): Rx dataTimestamp_ set to:1755879346.236121
2025-08-22T16:15:46.262Z,1755879346.262 [DAT](INFO): DAT read: Bearing 266.0,  22.4 (Local)

2025-08-22T16:15:46.262Z,1755879346.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.0,  22.4 (Local)

2025-08-22T16:15:46.264Z,1755879346.264 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:46.277Z,1755879346.277 [DAT](INFO): DAT read: 16:15:47.0328 LVL= 21648, 21297, 18994, 27283, AGC= 43, IDX= 503, 0.23,-0.340,-0.110,-1.159, 1.042, PHS=-1.280,-1.107,-2.245, RAW=  21.9,  57.0, CAL=  20.8,  60.7, ROT= 129.2, -60.7

2025-08-22T16:15:46.285Z,1755879346.285 [DAT](INFO): got valid direction response:
 16:15:47.0328 LVL= 21648, 21297, 18994, 27283, AGC= 43, IDX= 503, 0.23,-0.340,-0.110,-1.159, 1.042, PHS=-1.280,-1.107,-2.245, RAW=  21.9,  57.0, CAL=  20.8,  60.7, ROT= 129.2, -60.7

2025-08-22T16:15:46.289Z,1755879346.289 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-22T16:15:46.290Z,1755879346.290 [DAT](INFO): direction in FSK: [-0.309304,0.379244,0.872069]
2025-08-22T16:15:46.291Z,1755879346.291 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:46.299Z,1755879346.299 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.048874
2025-08-22T16:15:46.483Z,1755879346.483 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.232792
2025-08-22T16:15:46.738Z,1755879346.738 [DAT](INFO): DAT read: Rx Time:16:15:47.5327 

2025-08-22T16:15:46.740Z,1755879346.740 [DAT](INFO): Rx dataTimestamp_ set to:1755879346.739015
2025-08-22T16:15:46.743Z,1755879346.743 [DAT](INFO): DAT read: Bearing 266.1,  22.6 (Local)

2025-08-22T16:15:46.745Z,1755879346.745 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.1,  22.6 (Local)

2025-08-22T16:15:46.771Z,1755879346.771 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:46.775Z,1755879346.775 [DAT](INFO): DAT read: 16:15:47.5327 LVL= 22576, 20465, 19602, 27347, AGC= 43, IDX= 502, 0.43,-2.177,-1.941,-2.988,-0.815, PHS=-1.260,-1.081,-2.217, RAW=  21.6,  56.7, CAL=  20.5,  60.4, ROT= 129.5, -60.4

2025-08-22T16:15:46.776Z,1755879346.776 [DAT](INFO): got valid direction response:
 16:15:47.5327 LVL= 22576, 20465, 19602, 27347, AGC= 43, IDX= 502, 0.43,-2.177,-1.941,-2.988,-0.815, PHS=-1.260,-1.081,-2.217, RAW=  21.6,  56.7, CAL=  20.5,  60.4, ROT= 129.5, -60.4

2025-08-22T16:15:46.777Z,1755879346.777 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-08-22T16:15:46.784Z,1755879346.784 [DAT](INFO): direction in FSK: [-0.314186,0.381138,0.869495]
2025-08-22T16:15:46.785Z,1755879346.785 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:46.818Z,1755879346.818 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:15:46.818Z,1755879346.818 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:15:46.818Z,1755879346.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:46.987Z,1755879346.987 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:46.988Z,1755879346.988 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:46.989Z,1755879346.989 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:47.255Z,1755879347.255 [DAT](INFO): DAT read: Rx Time:16:15:48.0328 

2025-08-22T16:15:47.256Z,1755879347.256 [DAT](INFO): Rx dataTimestamp_ set to:1755879347.255492
2025-08-22T16:15:47.259Z,1755879347.259 [DAT](INFO): DAT read: Bearing 265.1,  22.1 (Local)

2025-08-22T16:15:47.259Z,1755879347.259 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.1,  22.1 (Local)

2025-08-22T16:15:47.261Z,1755879347.261 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:47.270Z,1755879347.270 [DAT](INFO): DAT read: 16:15:48.0328 LVL= 20784, 20065, 18370, 26867, AGC= 43, IDX= 504,-0.40,-2.293,-2.083,-3.062,-0.947, PHS=-1.244,-1.090,-2.159, RAW=  22.4,  57.8, CAL=  21.3,  61.4, ROT= 128.7, -61.4

2025-08-22T16:15:47.271Z,1755879347.271 [DAT](INFO): got valid direction response:
 16:15:48.0328 LVL= 20784, 20065, 18370, 26867, AGC= 43, IDX= 504,-0.40,-2.293,-2.083,-3.062,-0.947, PHS=-1.244,-1.090,-2.159, RAW=  22.4,  57.8, CAL=  21.3,  61.4, ROT= 128.7, -61.4

2025-08-22T16:15:47.272Z,1755879347.272 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:47.272Z,1755879347.272 [DAT](INFO): direction in FSK: [-0.299299,0.373586,0.877983]
2025-08-22T16:15:47.273Z,1755879347.273 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:47.300Z,1755879347.300 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:47.301Z,1755879347.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:47.490Z,1755879347.490 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:47.491Z,1755879347.491 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:47.491Z,1755879347.491 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:47.747Z,1755879347.747 [DAT](INFO): DAT read: Rx Time:16:15:48.5327 

2025-08-22T16:15:47.749Z,1755879347.749 [DAT](INFO): Rx dataTimestamp_ set to:1755879347.747739
2025-08-22T16:15:47.753Z,1755879347.753 [DAT](INFO): DAT read: Bearing 265.1,  21.9 (Local)

2025-08-22T16:15:47.770Z,1755879347.770 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.1,  21.9 (Local)

2025-08-22T16:15:47.772Z,1755879347.772 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:47.776Z,1755879347.776 [DAT](INFO): DAT read: 16:15:48.5327 LVL= 21264, 20081, 18274, 27219, AGC= 43, IDX= 503,-0.24, 2.220, 2.436, 1.467,-2.721, PHS=-1.240,-1.081,-2.139, RAW=  22.0,  57.9, CAL=  20.9,  61.5, ROT= 129.1, -61.5

2025-08-22T16:15:47.801Z,1755879347.801 [DAT](INFO): got valid direction response:
 16:15:48.5327 LVL= 21264, 20081, 18274, 27219, AGC= 43, IDX= 503,-0.24, 2.220, 2.436, 1.467,-2.721, PHS=-1.240,-1.081,-2.139, RAW=  22.0,  57.9, CAL=  20.9,  61.5, ROT= 129.1, -61.5

2025-08-22T16:15:47.802Z,1755879347.802 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:47.803Z,1755879347.803 [DAT](INFO): direction in FSK: [-0.300932,0.370297,0.878817]
2025-08-22T16:15:47.803Z,1755879347.803 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:47.818Z,1755879347.818 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:47.819Z,1755879347.819 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:47.996Z,1755879347.996 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:47.997Z,1755879347.997 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:47.998Z,1755879347.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:48.251Z,1755879348.251 [DAT](INFO): DAT read: Rx Time:16:15:49.0328 

2025-08-22T16:15:48.253Z,1755879348.253 [DAT](INFO): Rx dataTimestamp_ set to:1755879348.251598
2025-08-22T16:15:48.257Z,1755879348.257 [DAT](INFO): DAT read: Bearing 267.0,  21.9 (Local)

2025-08-22T16:15:48.262Z,1755879348.262 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.0,  21.9 (Local)

2025-08-22T16:15:48.264Z,1755879348.264 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:48.269Z,1755879348.269 [DAT](INFO): DAT read: 16:15:49.0328 LVL= 21744, 19697, 18242, 23891, AGC= 42, IDX= 503,-0.09, 2.204, 2.481, 1.458,-2.725, PHS=-1.252,-1.032,-2.144, RAW=  19.2,  56.9, CAL=  18.2,  60.6, ROT= 131.8, -60.6

2025-08-22T16:15:48.270Z,1755879348.270 [DAT](INFO): got valid direction response:
 16:15:49.0328 LVL= 21744, 19697, 18242, 23891, AGC= 42, IDX= 503,-0.09, 2.204, 2.481, 1.458,-2.725, PHS=-1.252,-1.032,-2.144, RAW=  19.2,  56.9, CAL=  18.2,  60.6, ROT= 131.8, -60.6

2025-08-22T16:15:48.270Z,1755879348.270 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:48.271Z,1755879348.271 [DAT](INFO): direction in FSK: [-0.327203,0.365957,0.871214]
2025-08-22T16:15:48.271Z,1755879348.271 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:48.275Z,1755879348.275 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:48.275Z,1755879348.275 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:48.498Z,1755879348.498 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:48.498Z,1755879348.498 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:48.499Z,1755879348.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:48.755Z,1755879348.755 [DAT](INFO): DAT read: Rx Time:16:15:49.5327 

2025-08-22T16:15:48.758Z,1755879348.758 [DAT](INFO): Rx dataTimestamp_ set to:1755879348.756234
2025-08-22T16:15:48.760Z,1755879348.760 [DAT](INFO): DAT read: Bearing 268.1,  21.7 (Local)

2025-08-22T16:15:48.760Z,1755879348.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.1,  21.7 (Local)

2025-08-22T16:15:48.762Z,1755879348.762 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:48.767Z,1755879348.767 [DAT](INFO): DAT read: 16:15:49.5327 LVL= 19760, 20305, 16082, 24131, AGC= 42, IDX= 502,-0.00, 1.818, 2.139, 1.064,-3.073, PHS=-1.290,-1.027,-2.190, RAW=  17.5,  56.4, CAL=  16.5,  60.1, ROT= 133.5, -60.1

2025-08-22T16:15:48.768Z,1755879348.768 [DAT](INFO): got valid direction response:
 16:15:49.5327 LVL= 19760, 20305, 16082, 24131, AGC= 42, IDX= 502,-0.00, 1.818, 2.139, 1.064,-3.073, PHS=-1.290,-1.027,-2.190, RAW=  17.5,  56.4, CAL=  16.5,  60.1, ROT= 133.5, -60.1

2025-08-22T16:15:48.768Z,1755879348.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:48.784Z,1755879348.784 [DAT](INFO): direction in FSK: [-0.343136,0.361590,0.866897]
2025-08-22T16:15:48.785Z,1755879348.785 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:48.788Z,1755879348.788 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:48.788Z,1755879348.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:49.004Z,1755879349.004 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:49.005Z,1755879349.005 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:49.006Z,1755879349.006 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:49.259Z,1755879349.259 [DAT](INFO): DAT read: Rx Time:16:15:50.0328 

2025-08-22T16:15:49.260Z,1755879349.260 [DAT](INFO): Rx dataTimestamp_ set to:1755879349.259312
2025-08-22T16:15:49.261Z,1755879349.261 [DAT](INFO): DAT read: Bearing 269.9,  21.7 (Local)

2025-08-22T16:15:49.261Z,1755879349.261 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.9,  21.7 (Local)

2025-08-22T16:15:49.267Z,1755879349.267 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:49.272Z,1755879349.272 [DAT](INFO): DAT read: 16:15:50.0328 LVL= 22560, 20177, 17394, 22259, AGC= 42, IDX= 503, 0.13, 2.964,-2.936, 2.210,-1.903, PHS=-1.315,-0.988,-2.214, RAW=  15.1,  55.4, CAL=  14.0,  59.2, ROT= 136.0, -59.2

2025-08-22T16:15:49.273Z,1755879349.273 [DAT](INFO): got valid direction response:
 16:15:50.0328 LVL= 22560, 20177, 17394, 22259, AGC= 42, IDX= 503, 0.13, 2.964,-2.936, 2.210,-1.903, PHS=-1.315,-0.988,-2.214, RAW=  15.1,  55.4, CAL=  14.0,  59.2, ROT= 136.0, -59.2

2025-08-22T16:15:49.273Z,1755879349.273 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:49.280Z,1755879349.280 [DAT](INFO): direction in FSK: [-0.368333,0.355695,0.858960]
2025-08-22T16:15:49.280Z,1755879349.280 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:49.312Z,1755879349.312 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:49.313Z,1755879349.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:49.507Z,1755879349.507 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:49.507Z,1755879349.507 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:49.508Z,1755879349.508 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:49.760Z,1755879349.760 [DAT](INFO): DAT read: Rx Time:16:15:50.5327 

2025-08-22T16:15:49.761Z,1755879349.761 [DAT](INFO): Rx dataTimestamp_ set to:1755879349.760452
2025-08-22T16:15:49.762Z,1755879349.762 [DAT](INFO): DAT read: Bearing 271.4,  21.5 (Local)

2025-08-22T16:15:49.762Z,1755879349.762 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.4,  21.5 (Local)

2025-08-22T16:15:49.764Z,1755879349.764 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:49.769Z,1755879349.769 [DAT](INFO): DAT read: 16:15:50.5327 LVL= 22336, 20113, 16834, 23027, AGC= 42, IDX= 502, 0.28, 1.830, 2.271, 1.080,-3.001, PHS=-1.350,-0.967,-2.247, RAW=  13.0,  54.8, CAL=  11.9,  58.6, ROT= 138.1, -58.6

2025-08-22T16:15:49.770Z,1755879349.770 [DAT](INFO): got valid direction response:
 16:15:50.5327 LVL= 22336, 20113, 16834, 23027, AGC= 42, IDX= 502, 0.28, 1.830, 2.271, 1.080,-3.001, PHS=-1.350,-0.967,-2.247, RAW=  13.0,  54.8, CAL=  11.9,  58.6, ROT= 138.1, -58.6

2025-08-22T16:15:49.770Z,1755879349.770 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:49.771Z,1755879349.771 [DAT](INFO): direction in FSK: [-0.387794,0.347947,0.853551]
2025-08-22T16:15:49.772Z,1755879349.772 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:49.783Z,1755879349.783 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:49.783Z,1755879349.783 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:50.010Z,1755879350.010 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:50.010Z,1755879350.010 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:50.011Z,1755879350.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:50.263Z,1755879350.263 [DAT](INFO): DAT read: Rx Time:16:15:51.0328 

2025-08-22T16:15:50.264Z,1755879350.264 [DAT](INFO): Rx dataTimestamp_ set to:1755879350.263360
2025-08-22T16:15:50.265Z,1755879350.265 [DAT](INFO): DAT read: Bearing 272.2,  21.0 (Local)

2025-08-22T16:15:50.265Z,1755879350.265 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.2,  21.0 (Local)

2025-08-22T16:15:50.272Z,1755879350.272 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.0

2025-08-22T16:15:50.277Z,1755879350.277 [DAT](INFO): DAT read: 16:15:51.0328 LVL= 22480, 20001, 16274, 23011, AGC= 42, IDX= 503, 0.47, 2.346, 2.817, 1.635,-2.480, PHS=-1.355,-0.941,-2.212, RAW=  11.4,  54.8, CAL=  10.3,  58.6, ROT= 139.7, -58.6

2025-08-22T16:15:50.281Z,1755879350.281 [DAT](INFO): got valid direction response:
 16:15:51.0328 LVL= 22480, 20001, 16274, 23011, AGC= 42, IDX= 503, 0.47, 2.346, 2.817, 1.635,-2.480, PHS=-1.355,-0.941,-2.212, RAW=  11.4,  54.8, CAL=  10.3,  58.6, ROT= 139.7, -58.6

2025-08-22T16:15:50.281Z,1755879350.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:50.300Z,1755879350.300 [DAT](INFO): direction in FSK: [-0.397358,0.336984,0.853551]
2025-08-22T16:15:50.300Z,1755879350.300 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:50.311Z,1755879350.311 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:50.312Z,1755879350.312 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:50.521Z,1755879350.521 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:50.522Z,1755879350.522 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:50.523Z,1755879350.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:50.771Z,1755879350.771 [DAT](INFO): DAT read: Rx Time:16:15:51.5327 

2025-08-22T16:15:50.772Z,1755879350.772 [DAT](INFO): Rx dataTimestamp_ set to:1755879350.771254
2025-08-22T16:15:50.773Z,1755879350.773 [DAT](INFO): DAT read: Bearing 272.9,  19.7 (Local)

2025-08-22T16:15:50.773Z,1755879350.773 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9,  19.7 (Local)

2025-08-22T16:15:50.775Z,1755879350.775 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.0

2025-08-22T16:15:50.780Z,1755879350.780 [DAT](INFO): DAT read: 16:15:51.5327 LVL= 24432, 19873, 16818, 25683, AGC= 42, IDX= 503,-0.32,-0.186, 0.315,-0.808, 1.271, PHS=-1.354,-0.911,-2.123, RAW=   8.8,  55.6, CAL=   7.7,  59.2, ROT= 142.3, -59.2

2025-08-22T16:15:50.781Z,1755879350.781 [DAT](INFO): got valid direction response:
 16:15:51.5327 LVL= 24432, 19873, 16818, 25683, AGC= 42, IDX= 503,-0.32,-0.186, 0.315,-0.808, 1.271, PHS=-1.354,-0.911,-2.123, RAW=   8.8,  55.6, CAL=   7.7,  59.2, ROT= 142.3, -59.2

2025-08-22T16:15:50.781Z,1755879350.781 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:50.782Z,1755879350.782 [DAT](INFO): direction in FSK: [-0.405140,0.313128,0.858960]
2025-08-22T16:15:50.782Z,1755879350.782 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:50.786Z,1755879350.786 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:50.786Z,1755879350.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:51.022Z,1755879351.022 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:51.022Z,1755879351.022 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:51.023Z,1755879351.023 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:51.279Z,1755879351.279 [DAT](INFO): DAT read: Rx Time:16:15:52.0329 

2025-08-22T16:15:51.280Z,1755879351.280 [DAT](INFO): Rx dataTimestamp_ set to:1755879351.279223
2025-08-22T16:15:51.281Z,1755879351.281 [DAT](INFO): DAT read: Bearing 274.2,  18.7 (Local)

2025-08-22T16:15:51.281Z,1755879351.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.2,  18.7 (Local)

2025-08-22T16:15:51.283Z,1755879351.283 [DAT](INFO): DAT read: Range 11 to 50 :     1.8 m (trip time 1.2 ms) speed 0.0

2025-08-22T16:15:51.288Z,1755879351.288 [DAT](INFO): DAT read: 16:15:52.0329 LVL= 24128, 20113, 16210, 26483, AGC= 41, IDX= 505,-0.18, 1.457, 2.002, 0.903, 2.911, PHS=-1.351,-0.864,-2.052, RAW=   5.9,  55.6, CAL=   4.8,  59.1, ROT= 145.2, -59.1

2025-08-22T16:15:51.289Z,1755879351.289 [DAT](INFO): got valid direction response:
 16:15:52.0329 LVL= 24128, 20113, 16210, 26483, AGC= 41, IDX= 505,-0.18, 1.457, 2.002, 0.903, 2.911, PHS=-1.351,-0.864,-2.052, RAW=   5.9,  55.6, CAL=   4.8,  59.1, ROT= 145.2, -59.1

2025-08-22T16:15:51.289Z,1755879351.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:15:51.290Z,1755879351.290 [DAT](INFO): direction in FSK: [-0.421694,0.293085,0.858065]
2025-08-22T16:15:51.290Z,1755879351.290 [DAT](INFO): publishing direction and range info
2025-08-22T16:15:51.319Z,1755879351.319 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:51.320Z,1755879351.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:51.526Z,1755879351.526 [DAT](INFO): Reached modem response timeout
2025-08-22T16:15:51.526Z,1755879351.526 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:15:51.527Z,1755879351.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:15:51.791Z,1755879351.791 [DAT](INFO): DAT read: user:104>

2025-08-22T16:15:51.792Z,1755879351.792 [DAT](INFO): DAT read: Tx time:16:15:52.9510

2025-08-22T16:15:51.792Z,1755879351.792 [DAT](INFO): Ping request sent.
2025-08-22T16:15:51.792Z,1755879351.792 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:15:51.792Z,1755879351.792 [DAT](INFO): publishing transmit ping time
2025-08-22T16:15:51.793Z,1755879351.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-22T16:15:52.042Z,1755879352.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250395
2025-08-22T16:15:52.295Z,1755879352.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502588
2025-08-22T16:15:52.547Z,1755879352.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754585
2025-08-22T16:15:52.799Z,1755879352.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006533
2025-08-22T16:15:53.050Z,1755879353.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258415
2025-08-22T16:15:53.303Z,1755879353.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510488
2025-08-22T16:15:53.450Z,1755879353.450 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:15:53.450Z,1755879353.450 [DockingStepper] No Fault, FailCount= 4
2025-08-22T16:15:53.554Z,1755879353.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762427
2025-08-22T16:15:53.791Z,1755879353.791 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:15:53.792Z,1755879353.792 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:15:53.807Z,1755879353.807 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014751
2025-08-22T16:15:54.058Z,1755879354.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266409
2025-08-22T16:15:54.310Z,1755879354.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518401
2025-08-22T16:15:54.563Z,1755879354.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804
2025-08-22T16:15:54.815Z,1755879354.815 [DAT](INFO): DAT read: Rx Time:16:15:55.3578

2025-08-22T16:15:54.815Z,1755879354.815 [DAT](INFO): Rx dataTimestamp_ set to:1755879354.814774
2025-08-22T16:15:54.816Z,1755879354.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023533
2025-08-22T16:15:55.066Z,1755879355.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274388
2025-08-22T16:15:55.319Z,1755879355.319 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-22T16:15:55.320Z,1755879355.320 [DAT](INFO): DAT read: user:105>

2025-08-22T16:15:55.321Z,1755879355.321 [DAT](INFO): DAT read: Tx time:16:15:56.4510

2025-08-22T16:15:55.321Z,1755879355.321 [DAT](INFO): Ping request sent.
2025-08-22T16:15:55.321Z,1755879355.321 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:15:55.322Z,1755879355.322 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-22T16:15:55.323Z,1755879355.323 [DAT](INFO): publishing transmit ping time
2025-08-22T16:15:55.326Z,1755879355.326 [DAT](INFO): publishing transmit ping time
2025-08-22T16:15:57.606Z,1755879357.606 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:15:57.815Z,1755879357.815 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-22T16:15:57.816Z,1755879357.816 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-22T16:15:57.870Z,1755879357.870 [DockingStepper](INFO): Changing to mode: 4
2025-08-22T16:15:58.359Z,1755879358.359 [DAT](INFO): DAT read: Rx Time:16:15:58.8578

2025-08-22T16:15:58.359Z,1755879358.359 [DAT](INFO): Rx dataTimestamp_ set to:1755879358.358694
2025-08-22T16:15:58.863Z,1755879358.863 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-22T16:15:58.864Z,1755879358.864 [DAT](INFO): DAT read: user:106>

2025-08-22T16:15:58.865Z,1755879358.865 [DAT](INFO): DAT read: Tx time:16:15:59.9510

2025-08-22T16:15:58.865Z,1755879358.865 [DAT](INFO): Ping request sent.
2025-08-22T16:15:58.865Z,1755879358.865 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:15:58.866Z,1755879358.866 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-22T16:15:58.866Z,1755879358.866 [DAT](INFO): publishing transmit ping time
2025-08-22T16:15:58.866Z,1755879358.866 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:01.215Z,1755879361.215 [MassServo](FAULT): Overload Error
2025-08-22T16:16:01.215Z,1755879361.215 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T16:16:01.215Z,1755879361.215 [MassServo](ERROR): Hardware Fault
2025-08-22T16:16:01.326Z,1755879361.326 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T16:16:01.543Z,1755879361.543 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T16:16:01.543Z,1755879361.543 [MassServo](INFO): Powering down
2025-08-22T16:16:01.888Z,1755879361.888 [DAT](INFO): DAT read: Rx Time:16:16:02.3578

2025-08-22T16:16:01.889Z,1755879361.889 [DAT](INFO): Rx dataTimestamp_ set to:1755879361.888230
2025-08-22T16:16:02.404Z,1755879362.404 [DAT](INFO): DAT read: 16:16:02.3578 LVL= 22064, 21745, 19698, 21491, AGC= 43, IDX= 439,-0.20, 0.955, 1.902, 0.477, 2.651, PHS=-1.594,-0.704,-2.218, RAW= 354.2,  50.5, CAL= 353.0,  54.3, ROT= 157.0, -54.3

2025-08-22T16:16:02.405Z,1755879362.405 [DAT](INFO): got valid direction response:
 16:16:02.3578 LVL= 22064, 21745, 19698, 21491, AGC= 43, IDX= 439,-0.20, 0.955, 1.902, 0.477, 2.651, PHS=-1.594,-0.704,-2.218, RAW= 354.2,  50.5, CAL= 353.0,  54.3, ROT= 157.0, -54.3

2025-08-22T16:16:02.407Z,1755879362.407 [DAT](INFO): DAT read: Bearing 279.6,  16.2 (Local)

2025-08-22T16:16:02.407Z,1755879362.407 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.6,  16.2 (Local)

2025-08-22T16:16:02.410Z,1755879362.410 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-22T16:16:02.411Z,1755879362.411 [DAT](INFO): DAT read: user:107>

2025-08-22T16:16:02.412Z,1755879362.412 [DAT](INFO): DAT read: Tx time:16:16:03.4510

2025-08-22T16:16:02.412Z,1755879362.412 [DAT](INFO): Ping request sent.
2025-08-22T16:16:02.412Z,1755879362.412 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:02.412Z,1755879362.412 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-22T16:16:02.415Z,1755879362.415 [DAT](INFO): direction in FSK: [-0.537153,0.228008,0.812084]
2025-08-22T16:16:02.416Z,1755879362.416 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:02.417Z,1755879362.417 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:02.425Z,1755879362.425 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:02.425Z,1755879362.425 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:02.454Z,1755879362.454 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T16:16:02.574Z,1755879362.574 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T16:16:02.580Z,1755879362.580 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T16:16:02.580Z,1755879362.580 [MassServo] No Fault, FailCount= 1
2025-08-22T16:16:05.439Z,1755879365.439 [DAT](INFO): DAT read: Rx Time:16:16:05.8577

2025-08-22T16:16:05.439Z,1755879365.439 [DAT](INFO): Rx dataTimestamp_ set to:1755879365.438780
2025-08-22T16:16:05.948Z,1755879365.948 [DAT](INFO): DAT read: 16:16:05.8577 LVL= 20672, 21025, 15522, 24435, AGC= 42, IDX= 439,-0.29, 0.510, 1.093,-0.024, 1.981, PHS=-1.369,-0.843,-2.049, RAW=   4.2,  55.2, CAL=   3.1,  58.8, ROT= 146.9, -58.8

2025-08-22T16:16:05.949Z,1755879365.949 [DAT](INFO): got valid direction response:
 16:16:05.8577 LVL= 20672, 21025, 15522, 24435, AGC= 42, IDX= 439,-0.29, 0.510, 1.093,-0.024, 1.981, PHS=-1.369,-0.843,-2.049, RAW=   4.2,  55.2, CAL=   3.1,  58.8, ROT= 146.9, -58.8

2025-08-22T16:16:05.950Z,1755879365.950 [DAT](INFO): DAT read: Bearing 274.3,  18.0 (Local)

2025-08-22T16:16:05.951Z,1755879365.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.3,  18.0 (Local)

2025-08-22T16:16:05.952Z,1755879365.952 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-22T16:16:05.953Z,1755879365.953 [DAT](INFO): DAT read: user:108>

2025-08-22T16:16:05.954Z,1755879365.954 [DAT](INFO): DAT read: Tx time:16:16:06.9510

2025-08-22T16:16:05.954Z,1755879365.954 [DAT](INFO): Ping request sent.
2025-08-22T16:16:05.954Z,1755879365.954 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:05.954Z,1755879365.954 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-22T16:16:05.955Z,1755879365.955 [DAT](INFO): direction in FSK: [-0.433961,0.282896,0.855364]
2025-08-22T16:16:05.955Z,1755879365.955 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:05.956Z,1755879365.956 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:05.963Z,1755879365.963 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:05.963Z,1755879365.963 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:06.510Z,1755879366.510 [DockingStepper](FAULT): Timed out moving from: 8001 to: 10500 response: ÿ
2025-08-22T16:16:06.510Z,1755879366.510 [DockingStepper] Hardware Fault, FailCount= 5
2025-08-22T16:16:06.510Z,1755879366.510 [DockingStepper](ERROR): Hardware Fault
2025-08-22T16:16:06.543Z,1755879366.543 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-22T16:16:06.544Z,1755879366.544 [CBIT](CRITICAL): Hardware Fault in component: DockingStepper
2025-08-22T16:16:06.790Z,1755879366.790 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-22T16:16:06.791Z,1755879366.791 [DockingStepper](INFO): Powering down
2025-08-22T16:16:06.820Z,1755879366.820 [CommandExec](FAULT): Scheduling is paused for 1 commands
2025-08-22T16:16:06.820Z,1755879366.820 [CBIT](INFO): Critical error at 20250822T161606
2025-08-22T16:16:06.821Z,1755879366.821 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals
2025-08-22T16:16:07.119Z,1755879367.119 [MissionManager](INFO): MissionManager is completed.
2025-08-22T16:16:07.119Z,1755879367.119 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science:B] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science:C] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science:E] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-22T16:16:07.119Z,1755879367.119 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-22T16:16:07.120Z,1755879367.120 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:TrackAC.] Stopped
2025-08-22T16:16:07.121Z,1755879367.121 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T16:16:07.122Z,1755879367.122 [lineCaptureHoming:Lap] Stopped
2025-08-22T16:16:07.122Z,1755879367.122 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-22T16:16:07.122Z,1755879367.122 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-22T16:16:07.122Z,1755879367.122 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-22T16:16:07.122Z,1755879367.122 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-22T16:16:07.574Z,1755879367.574 [WetLabsBB2FL](INFO): Powering down
2025-08-22T16:16:07.618Z,1755879367.618 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-08-22T16:16:07.618Z,1755879367.618 [DefaultWithUndock] Running Loop=1
2025-08-22T16:16:07.618Z,1755879367.618 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-08-22T16:16:07.618Z,1755879367.618 [DefaultWithUndock:A.Wait] Running Loop=1
2025-08-22T16:16:07.618Z,1755879367.618 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-08-22T16:16:08.715Z,1755879368.715 [DAT](INFO): DAT read: Rx Time:16:16:09.3577

2025-08-22T16:16:08.715Z,1755879368.715 [DAT](INFO): Rx dataTimestamp_ set to:1755879368.714691
2025-08-22T16:16:09.476Z,1755879369.476 [DAT](INFO): DAT read: 16:16:09.3577 LVL= 23696, 20561, 18498, 22211, AGC= 42, IDX= 439,-0.35,-0.450,-0.007,-1.025, 0.951, PHS=-1.298,-0.912,-2.020, RAW=   9.9,  56.9, CAL=   8.9,  60.5, ROT= 141.1, -60.5

2025-08-22T16:16:09.477Z,1755879369.477 [DAT](INFO): got valid direction response:
 16:16:09.3577 LVL= 23696, 20561, 18498, 22211, AGC= 42, IDX= 439,-0.35,-0.450,-0.007,-1.025, 0.951, PHS=-1.298,-0.912,-2.020, RAW=   9.9,  56.9, CAL=   8.9,  60.5, ROT= 141.1, -60.5

2025-08-22T16:16:09.478Z,1755879369.478 [DAT](INFO): DAT read: Bearing 270.7,  19.0 (Local)

2025-08-22T16:16:09.478Z,1755879369.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.7,  19.0 (Local)

2025-08-22T16:16:09.480Z,1755879369.480 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-22T16:16:09.480Z,1755879369.480 [DAT](INFO): DAT read: user:109>

2025-08-22T16:16:09.481Z,1755879369.481 [DAT](INFO): DAT read: Tx time:16:16:10.4510

2025-08-22T16:16:09.482Z,1755879369.482 [DAT](INFO): Ping request sent.
2025-08-22T16:16:09.482Z,1755879369.482 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:09.482Z,1755879369.482 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-22T16:16:09.483Z,1755879369.483 [DAT](INFO): direction in FSK: [-0.383225,0.309224,0.870356]
2025-08-22T16:16:09.483Z,1755879369.483 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:09.484Z,1755879369.484 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:09.487Z,1755879369.487 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:09.487Z,1755879369.487 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:12.255Z,1755879372.255 [DAT](INFO): DAT read: Rx Time:16:16:12.8577

2025-08-22T16:16:12.255Z,1755879372.255 [DAT](INFO): Rx dataTimestamp_ set to:1755879372.254728
2025-08-22T16:16:12.777Z,1755879372.777 [DAT](INFO): DAT read: 16:16:12.8577 LVL= 24528, 21585, 17682, 25299, AGC= 42, IDX= 439,-0.45,-0.770,-0.275,-1.396, 0.686, PHS=-1.354,-0.916,-2.126, RAW=   9.1,  55.7, CAL=   8.0,  59.3, ROT= 142.0, -59.3

2025-08-22T16:16:12.795Z,1755879372.795 [DAT](INFO): got valid direction response:
 16:16:12.8577 LVL= 24528, 21585, 17682, 25299, AGC= 42, IDX= 439,-0.45,-0.770,-0.275,-1.396, 0.686, PHS=-1.354,-0.916,-2.126, RAW=   9.1,  55.7, CAL=   8.0,  59.3, ROT= 142.0, -59.3

2025-08-22T16:16:12.796Z,1755879372.796 [DAT](INFO): DAT read: Bearing 270.3,  19.5 (Local)

2025-08-22T16:16:12.796Z,1755879372.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3,  19.5 (Local)

2025-08-22T16:16:12.802Z,1755879372.802 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-22T16:16:12.803Z,1755879372.803 [DAT](INFO): DAT read: user:110>

2025-08-22T16:16:12.803Z,1755879372.803 [DAT](INFO): DAT read: Tx time:16:16:13.9510

2025-08-22T16:16:12.804Z,1755879372.804 [DAT](INFO): Ping request sent.
2025-08-22T16:16:12.804Z,1755879372.804 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:12.804Z,1755879372.804 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-22T16:16:12.805Z,1755879372.805 [DAT](INFO): direction in FSK: [-0.402313,0.314322,0.859852]
2025-08-22T16:16:12.810Z,1755879372.810 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:12.810Z,1755879372.810 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:12.813Z,1755879372.813 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:12.813Z,1755879372.813 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:15.783Z,1755879375.783 [DAT](INFO): DAT read: Rx Time:16:16:16.3577

2025-08-22T16:16:15.783Z,1755879375.783 [DAT](INFO): Rx dataTimestamp_ set to:1755879375.782710
2025-08-22T16:16:16.292Z,1755879376.292 [DAT](INFO): DAT read: 16:16:16.3577 LVL= 21920, 20929, 17330, 23603, AGC= 43, IDX= 439,-0.47,-2.952,-2.171, 2.706,-1.353, PHS=-1.497,-0.774,-2.269, RAW=   1.0,  51.1, CAL= 359.8,  55.0, ROT= 150.2, -55.0

2025-08-22T16:16:16.293Z,1755879376.293 [DAT](INFO): got valid direction response:
 16:16:16.3577 LVL= 21920, 20929, 17330, 23603, AGC= 43, IDX= 439,-0.47,-2.952,-2.171, 2.706,-1.353, PHS=-1.497,-0.774,-2.269, RAW=   1.0,  51.1, CAL= 359.8,  55.0, ROT= 150.2, -55.0

2025-08-22T16:16:16.294Z,1755879376.294 [DAT](INFO): DAT read: Bearing 277.8,  19.4 (Local)

2025-08-22T16:16:16.294Z,1755879376.294 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.8,  19.4 (Local)

2025-08-22T16:16:16.296Z,1755879376.296 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-22T16:16:16.296Z,1755879376.296 [DAT](INFO): DAT read: user:111>

2025-08-22T16:16:16.297Z,1755879376.297 [DAT](INFO): DAT read: Tx time:16:16:17.4510

2025-08-22T16:16:16.297Z,1755879376.297 [DAT](INFO): Ping request sent.
2025-08-22T16:16:16.298Z,1755879376.298 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:16.298Z,1755879376.298 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-22T16:16:16.299Z,1755879376.299 [DAT](INFO): direction in FSK: [-0.497730,0.285053,0.819152]
2025-08-22T16:16:16.299Z,1755879376.299 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:16.299Z,1755879376.299 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:16.311Z,1755879376.311 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:16.311Z,1755879376.311 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:19.311Z,1755879379.311 [DAT](INFO): DAT read: Rx Time:16:16:19.8579

2025-08-22T16:16:19.311Z,1755879379.311 [DAT](INFO): Rx dataTimestamp_ set to:1755879379.310766
2025-08-22T16:16:19.815Z,1755879379.815 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-22T16:16:19.816Z,1755879379.816 [DAT](INFO): DAT read: user:112>

2025-08-22T16:16:19.817Z,1755879379.817 [DAT](INFO): DAT read: Tx time:16:16:20.9510

2025-08-22T16:16:19.817Z,1755879379.817 [DAT](INFO): Ping request sent.
2025-08-22T16:16:19.817Z,1755879379.817 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:19.818Z,1755879379.818 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-22T16:16:19.818Z,1755879379.818 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:19.819Z,1755879379.819 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:22.170Z,1755879382.170 [MassServo](FAULT): Overload Error
2025-08-22T16:16:22.170Z,1755879382.170 [MassServo] Hardware Fault, FailCount= 1
2025-08-22T16:16:22.171Z,1755879382.171 [MassServo](ERROR): Hardware Fault
2025-08-22T16:16:22.276Z,1755879382.276 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-22T16:16:22.607Z,1755879382.607 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-22T16:16:22.607Z,1755879382.607 [MassServo](INFO): Powering down
2025-08-22T16:16:22.839Z,1755879382.839 [DAT](INFO): DAT read: Rx Time:16:16:23.3579

2025-08-22T16:16:22.839Z,1755879382.839 [DAT](INFO): Rx dataTimestamp_ set to:1755879382.838720
2025-08-22T16:16:23.343Z,1755879383.343 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-22T16:16:23.344Z,1755879383.344 [DAT](INFO): DAT read: user:113>

2025-08-22T16:16:23.345Z,1755879383.345 [DAT](INFO): DAT read: Tx time:16:16:24.4510

2025-08-22T16:16:23.345Z,1755879383.345 [DAT](INFO): Ping request sent.
2025-08-22T16:16:23.345Z,1755879383.345 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:23.346Z,1755879383.346 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-22T16:16:23.346Z,1755879383.346 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:23.346Z,1755879383.346 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:23.377Z,1755879383.377 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-22T16:16:23.494Z,1755879383.494 [MassServo](DEBUG): Initializing MassServo.
2025-08-22T16:16:23.499Z,1755879383.499 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-22T16:16:23.499Z,1755879383.499 [MassServo] No Fault, FailCount= 1
2025-08-22T16:16:26.371Z,1755879386.371 [DAT](INFO): DAT read: Rx Time:16:16:26.8579

2025-08-22T16:16:26.371Z,1755879386.371 [DAT](INFO): Rx dataTimestamp_ set to:1755879386.370952
2025-08-22T16:16:26.880Z,1755879386.880 [DAT](INFO): DAT read: 16:16:26.8579 LVL= 28736, 26097, 22450, 27187, AGC= 46, IDX= 442, 0.12,-1.763,-0.040,-1.715,-0.470, PHS=-1.192, 0.474,-1.289, RAW= 332.8,  22.5, CAL= 332.5,  27.2, ROT= 177.5, -27.2

2025-08-22T16:16:26.881Z,1755879386.881 [DAT](INFO): got valid direction response:
 16:16:26.8579 LVL= 28736, 26097, 22450, 27187, AGC= 46, IDX= 442, 0.12,-1.763,-0.040,-1.715,-0.470, PHS=-1.192, 0.474,-1.289, RAW= 332.8,  22.5, CAL= 332.5,  27.2, ROT= 177.5, -27.2

2025-08-22T16:16:26.884Z,1755879386.884 [DAT](INFO): DAT read: Bearing 307.6,  15.5 (Local)

2025-08-22T16:16:26.884Z,1755879386.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.6,  15.5 (Local)

2025-08-22T16:16:26.886Z,1755879386.886 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-22T16:16:26.886Z,1755879386.886 [DAT](INFO): DAT read: user:114>

2025-08-22T16:16:26.887Z,1755879386.887 [DAT](INFO): DAT read: Tx time:16:16:27.9510

2025-08-22T16:16:26.887Z,1755879386.887 [DAT](INFO): Ping request sent.
2025-08-22T16:16:26.887Z,1755879386.887 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:26.888Z,1755879386.888 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-22T16:16:26.889Z,1755879386.889 [DAT](INFO): direction in FSK: [-0.888570,0.038796,0.457098]
2025-08-22T16:16:26.889Z,1755879386.889 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:26.889Z,1755879386.889 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:26.893Z,1755879386.893 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:26.893Z,1755879386.893 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:29.903Z,1755879389.903 [DAT](INFO): DAT read: Rx Time:16:16:30.3579

2025-08-22T16:16:29.903Z,1755879389.903 [DAT](INFO): Rx dataTimestamp_ set to:1755879389.902714
2025-08-22T16:16:30.416Z,1755879390.416 [DAT](INFO): DAT read: 16:16:30.3579 LVL= 28976, 21537, 19490, 25267, AGC= 45, IDX= 442, 0.01,-2.841,-1.282,-2.785,-1.622, PHS=-1.117, 0.385,-1.207, RAW= 332.9,  23.9, CAL= 332.5,  28.8, ROT= 177.5, -28.8

2025-08-22T16:16:30.417Z,1755879390.417 [DAT](INFO): got valid direction response:
 16:16:30.3579 LVL= 28976, 21537, 19490, 25267, AGC= 45, IDX= 442, 0.01,-2.841,-1.282,-2.785,-1.622, PHS=-1.117, 0.385,-1.207, RAW= 332.9,  23.9, CAL= 332.5,  28.8, ROT= 177.5, -28.8

2025-08-22T16:16:30.418Z,1755879390.418 [DAT](INFO): DAT read: Bearing 306.0,  15.8 (Local)

2025-08-22T16:16:30.418Z,1755879390.418 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.0,  15.8 (Local)

2025-08-22T16:16:30.420Z,1755879390.420 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-22T16:16:30.420Z,1755879390.420 [DAT](INFO): DAT read: user:115>

2025-08-22T16:16:30.421Z,1755879390.421 [DAT](INFO): DAT read: Tx time:16:16:31.4510

2025-08-22T16:16:30.422Z,1755879390.422 [DAT](INFO): Ping request sent.
2025-08-22T16:16:30.422Z,1755879390.422 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:30.422Z,1755879390.422 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-22T16:16:30.423Z,1755879390.423 [DAT](INFO): direction in FSK: [-0.875473,0.038224,0.481754]
2025-08-22T16:16:30.423Z,1755879390.423 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:30.423Z,1755879390.423 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:30.427Z,1755879390.427 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:30.427Z,1755879390.427 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:33.439Z,1755879393.439 [DAT](INFO): DAT read: Rx Time:16:16:33.8578

2025-08-22T16:16:33.440Z,1755879393.440 [DAT](INFO): Rx dataTimestamp_ set to:1755879393.439328
2025-08-22T16:16:33.948Z,1755879393.948 [DAT](INFO): DAT read: 16:16:33.8578 LVL= 29808, 23665, 19762, 23859, AGC= 46, IDX= 442,-0.04, 1.765,-2.988, 1.826, 2.974, PHS=-1.107, 0.367,-1.192, RAW= 332.8,  24.2, CAL= 332.4,  29.1, ROT= 177.6, -29.1

2025-08-22T16:16:33.949Z,1755879393.949 [DAT](INFO): got valid direction response:
 16:16:33.8578 LVL= 29808, 23665, 19762, 23859, AGC= 46, IDX= 442,-0.04, 1.765,-2.988, 1.826, 2.974, PHS=-1.107, 0.367,-1.192, RAW= 332.8,  24.2, CAL= 332.4,  29.1, ROT= 177.6, -29.1

2025-08-22T16:16:33.950Z,1755879393.950 [DAT](INFO): DAT read: Bearing 307.6,  16.0 (Local)

2025-08-22T16:16:33.950Z,1755879393.950 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.6,  16.0 (Local)

2025-08-22T16:16:33.952Z,1755879393.952 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-22T16:16:33.952Z,1755879393.952 [DAT](INFO): DAT read: user:116>

2025-08-22T16:16:33.953Z,1755879393.953 [DAT](INFO): DAT read: Tx time:16:16:34.9500

2025-08-22T16:16:33.953Z,1755879393.953 [DAT](INFO): Ping request sent.
2025-08-22T16:16:33.954Z,1755879393.954 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:33.954Z,1755879393.954 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-22T16:16:33.955Z,1755879393.955 [DAT](INFO): direction in FSK: [-0.873006,0.036590,0.486335]
2025-08-22T16:16:33.955Z,1755879393.955 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:33.955Z,1755879393.955 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:33.959Z,1755879393.959 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:33.959Z,1755879393.959 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:36.210Z,1755879396.210 [DAT](INFO): DAT read: Rx Time:16:16:36.8090

2025-08-22T16:16:36.211Z,1755879396.211 [DAT](INFO): Rx dataTimestamp_ set to:1755879396.210657
2025-08-22T16:16:36.731Z,1755879396.731 [DAT](INFO): DAT read: 16:16:36.8090 LVL= 29168, 22993, 21234, 26435, AGC= 45, IDX= 471,-0.04, 1.913,-2.675, 2.082,-3.075, PHS=-1.193, 0.444,-1.170, RAW= 329.3,  22.6, CAL= 329.0,  27.5, ROT= 181.0, -27.5

2025-08-22T16:16:36.737Z,1755879396.737 [DAT](INFO): got valid direction response:
 16:16:36.8090 LVL= 29168, 22993, 21234, 26435, AGC= 45, IDX= 471,-0.04, 1.913,-2.675, 2.082,-3.075, PHS=-1.193, 0.444,-1.170, RAW= 329.3,  22.6, CAL= 329.0,  27.5, ROT= 181.0, -27.5

2025-08-22T16:16:36.739Z,1755879396.739 [DAT](INFO): DAT read: OK

2025-08-22T16:16:36.740Z,1755879396.740 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T16:16:36.741Z,1755879396.741 [DAT](INFO): DAT read: user:117>

2025-08-22T16:16:36.760Z,1755879396.760 [DAT](INFO): DAT read: Tx time:16:16:37.9000

2025-08-22T16:16:36.761Z,1755879396.761 [DAT](INFO): Ping request sent.
2025-08-22T16:16:36.770Z,1755879396.770 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:36.771Z,1755879396.771 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-08-22T16:16:36.778Z,1755879396.778 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-22T16:16:36.778Z,1755879396.778 [DockingStepper] No Fault, FailCount= 5
2025-08-22T16:16:36.780Z,1755879396.780 [DAT](INFO): direction in FSK: [-0.886876,-0.015480,0.461749]
2025-08-22T16:16:36.780Z,1755879396.780 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:36.788Z,1755879396.788 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:37.111Z,1755879397.111 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-22T16:16:37.111Z,1755879397.111 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:A.Wait] Stopped
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:LeaveDock] Running Loop=1
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-22T16:16:37.897Z,1755879397.897 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2025-08-22T16:16:37.898Z,1755879397.898 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2025-08-22T16:16:37.898Z,1755879397.898 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T16:16:37.898Z,1755879397.898 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:16:38.265Z,1755879398.265 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2025-08-22T16:16:38.265Z,1755879398.265 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:16:38.266Z,1755879398.266 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock at depth 66.119957 m.
2025-08-22T16:16:38.267Z,1755879398.267 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2025-08-22T16:16:38.267Z,1755879398.267 [DefaultWithUndock:LeaveDock:A.](ERROR): Failed to read sound speed
2025-08-22T16:16:38.664Z,1755879398.664 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-22T16:16:39.235Z,1755879399.235 [DAT](INFO): DAT read: Rx Time:16:16:39.7590

2025-08-22T16:16:39.235Z,1755879399.235 [DAT](INFO): Rx dataTimestamp_ set to:1755879399.234728
2025-08-22T16:16:39.738Z,1755879399.738 [DAT](INFO): DAT read: OK

2025-08-22T16:16:39.739Z,1755879399.739 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T16:16:39.739Z,1755879399.739 [DAT](INFO): DAT read: user:118>

2025-08-22T16:16:39.740Z,1755879399.740 [DAT](INFO): DAT read: Tx time:16:16:40.8500

2025-08-22T16:16:39.740Z,1755879399.740 [DAT](INFO): Ping request sent.
2025-08-22T16:16:39.740Z,1755879399.740 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:39.740Z,1755879399.740 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:41.132Z,1755879401.132 [DockingStepper](INFO): Changing to mode: 3
2025-08-22T16:16:41.495Z,1755879401.495 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T16:16:42.258Z,1755879402.258 [DAT](INFO): DAT read: Rx Time:16:16:42.7091

2025-08-22T16:16:42.259Z,1755879402.259 [DAT](INFO): Rx dataTimestamp_ set to:1755879402.258664
2025-08-22T16:16:42.550Z,1755879402.550 [DockingStepper](INFO): Failure count cleared after critical for DockingStepper
2025-08-22T16:16:42.715Z,1755879402.715 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2025-08-22T16:16:42.762Z,1755879402.762 [DAT](INFO): DAT read: OK

2025-08-22T16:16:42.763Z,1755879402.763 [DAT](INFO): unknown deviceResponse_: OK

2025-08-22T16:16:47.999Z,1755879407.999 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:16:48.063Z,1755879408.063 [DAT](DEBUG): Acoustic response timeout
2025-08-22T16:16:48.063Z,1755879408.063 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:16:48.314Z,1755879408.314 [DAT](INFO): DAT read: user:119>

2025-08-22T16:16:48.315Z,1755879408.315 [DAT](INFO): DAT read: Tx time:16:16:49.3509

2025-08-22T16:16:48.315Z,1755879408.315 [DAT](INFO): Ping request sent.
2025-08-22T16:16:48.316Z,1755879408.316 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:48.316Z,1755879408.316 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:48.316Z,1755879408.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-08-22T16:16:48.567Z,1755879408.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250977
2025-08-22T16:16:48.819Z,1755879408.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503168
2025-08-22T16:16:49.071Z,1755879409.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755221
2025-08-22T16:16:49.327Z,1755879409.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011611
2025-08-22T16:16:49.581Z,1755879409.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265613
2025-08-22T16:16:49.831Z,1755879409.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515221
2025-08-22T16:16:50.083Z,1755879410.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767119
2025-08-22T16:16:50.334Z,1755879410.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018933
2025-08-22T16:16:50.587Z,1755879410.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271070
2025-08-22T16:16:50.839Z,1755879410.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523833
2025-08-22T16:16:51.091Z,1755879411.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774982
2025-08-22T16:16:51.343Z,1755879411.343 [DAT](INFO): DAT read: Rx Time:16:16:51.7583

2025-08-22T16:16:51.343Z,1755879411.343 [DAT](INFO): Rx dataTimestamp_ set to:1755879411.342942
2025-08-22T16:16:51.344Z,1755879411.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028266
2025-08-22T16:16:51.595Z,1755879411.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279106
2025-08-22T16:16:51.852Z,1755879411.852 [DAT](INFO): DAT read: 16:16:51.7583 LVL= 17200, 12529, 23714, 29315, AGC= 46, IDX= 407, 0.42,-0.692,-0.469,-1.780, 0.368, PHS=-0.959,-0.792,-2.192, RAW=  23.7,  46.5, CAL=  22.3,  51.3, ROT= 127.7, -51.3

2025-08-22T16:16:51.853Z,1755879411.853 [DAT](INFO): got valid direction response:
 16:16:51.7583 LVL= 17200, 12529, 23714, 29315, AGC= 46, IDX= 407, 0.42,-0.692,-0.469,-1.780, 0.368, PHS=-0.959,-0.792,-2.192, RAW=  23.7,  46.5, CAL=  22.3,  51.3, ROT= 127.7, -51.3

2025-08-22T16:16:51.854Z,1755879411.854 [DAT](INFO): DAT read: Bearing 270.3,  39.4 (Local)

2025-08-22T16:16:51.854Z,1755879411.854 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3,  39.4 (Local)

2025-08-22T16:16:51.855Z,1755879411.855 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m  (Round-trip  3.2 ms) speed  0.0 m/s

2025-08-22T16:16:51.856Z,1755879411.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:16:51.857Z,1755879411.857 [DAT](INFO): direction in FSK: [-0.382353,0.494707,0.780430]
2025-08-22T16:16:51.857Z,1755879411.857 [DAT](INFO): publishing direction and range info
2025-08-22T16:16:52.803Z,1755879412.803 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2025-08-22T16:16:58.116Z,1755879418.116 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:16:58.159Z,1755879418.159 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:16:58.159Z,1755879418.159 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:16:58.160Z,1755879418.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:16:58.410Z,1755879418.410 [DAT](INFO): DAT read: user:120>

2025-08-22T16:16:58.411Z,1755879418.411 [DAT](INFO): DAT read: Tx time:16:16:59.4009

2025-08-22T16:16:58.412Z,1755879418.412 [DAT](INFO): Ping request sent.
2025-08-22T16:16:58.412Z,1755879418.412 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:16:58.412Z,1755879418.412 [DAT](INFO): publishing transmit ping time
2025-08-22T16:16:58.412Z,1755879418.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-22T16:16:58.662Z,1755879418.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250819
2025-08-22T16:16:58.915Z,1755879418.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503355
2025-08-22T16:16:59.167Z,1755879419.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755508
2025-08-22T16:16:59.418Z,1755879419.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006826
2025-08-22T16:16:59.670Z,1755879419.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258718
2025-08-22T16:16:59.923Z,1755879419.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510891
2025-08-22T16:17:00.175Z,1755879420.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763729
2025-08-22T16:17:00.426Z,1755879420.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863
2025-08-22T16:17:00.679Z,1755879420.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884
2025-08-22T16:17:00.931Z,1755879420.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519006
2025-08-22T16:17:01.184Z,1755879421.184 [DAT](INFO): DAT read: Rx Time:16:17:01.8089

2025-08-22T16:17:01.184Z,1755879421.184 [DAT](INFO): Rx dataTimestamp_ set to:1755879421.183827
2025-08-22T16:17:01.185Z,1755879421.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773336
2025-08-22T16:17:01.435Z,1755879421.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022870
2025-08-22T16:17:01.689Z,1755879421.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276818
2025-08-22T16:17:01.944Z,1755879421.944 [DAT](INFO): DAT read: 16:17:01.8089 LVL= 25248, 19617, 30290, 32755, AGC= 46, IDX= 453,-0.02,-2.443, 1.676,-2.989,-2.730, PHS= 0.388,-1.833,-0.303, RAW= 132.3,  17.4, CAL= 130.9,  18.5, ROT=  19.1, -18.5

2025-08-22T16:17:01.945Z,1755879421.945 [DAT](INFO): got valid direction response:
 16:17:01.8089 LVL= 25248, 19617, 30290, 32755, AGC= 46, IDX= 453,-0.02,-2.443, 1.676,-2.989,-2.730, PHS= 0.388,-1.833,-0.303, RAW= 132.3,  17.4, CAL= 130.9,  18.5, ROT=  19.1, -18.5

2025-08-22T16:17:01.946Z,1755879421.946 [DAT](INFO): DAT read: Bearing 181.7,  24.1 (Local)

2025-08-22T16:17:01.946Z,1755879421.946 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.7,  24.1 (Local)

2025-08-22T16:17:01.948Z,1755879421.948 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m  (Round-trip  3.9 ms) speed -0.2 m/s

2025-08-22T16:17:01.948Z,1755879421.948 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:01.949Z,1755879421.949 [DAT](INFO): direction in FSK: [0.896117,0.310308,0.317305]
2025-08-22T16:17:01.950Z,1755879421.950 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:08.155Z,1755879428.155 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:08.258Z,1755879428.258 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:08.259Z,1755879428.259 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:08.259Z,1755879428.259 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:08.510Z,1755879428.510 [DAT](INFO): DAT read: user:121>

2025-08-22T16:17:08.511Z,1755879428.511 [DAT](INFO): DAT read: Tx time:16:17:09.5009

2025-08-22T16:17:08.511Z,1755879428.511 [DAT](INFO): Ping request sent.
2025-08-22T16:17:08.512Z,1755879428.512 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:08.512Z,1755879428.512 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:08.512Z,1755879428.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000780
2025-08-22T16:17:08.763Z,1755879428.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990
2025-08-22T16:17:09.015Z,1755879429.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503608
2025-08-22T16:17:09.266Z,1755879429.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754951
2025-08-22T16:17:09.519Z,1755879429.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007216
2025-08-22T16:17:09.771Z,1755879429.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259119
2025-08-22T16:17:10.022Z,1755879430.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510946
2025-08-22T16:17:10.278Z,1755879430.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765257
2025-08-22T16:17:10.527Z,1755879430.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015056
2025-08-22T16:17:10.778Z,1755879430.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266936
2025-08-22T16:17:11.031Z,1755879431.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519536
2025-08-22T16:17:11.284Z,1755879431.284 [DAT](INFO): DAT read: Rx Time:16:17:11.9114

2025-08-22T16:17:11.284Z,1755879431.284 [DAT](INFO): Rx dataTimestamp_ set to:1755879431.284094
2025-08-22T16:17:11.285Z,1755879431.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773440
2025-08-22T16:17:11.534Z,1755879431.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022950
2025-08-22T16:17:11.790Z,1755879431.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278236
2025-08-22T16:17:12.044Z,1755879432.044 [DAT](INFO): DAT read: 16:17:11.9114 LVL= 18448, 26577, 19602, 30275, AGC= 46, IDX= 445,-0.22,-1.628,-2.970,-0.913,-1.414, PHS=-0.112,-1.512, 0.456, RAW= 166.3,  13.2, CAL= 166.7,  15.7, ROT= 343.3, -15.7

2025-08-22T16:17:12.045Z,1755879432.045 [DAT](INFO): got valid direction response:
 16:17:11.9114 LVL= 18448, 26577, 19602, 30275, AGC= 46, IDX= 445,-0.22,-1.628,-2.970,-0.913,-1.414, PHS=-0.112,-1.512, 0.456, RAW= 166.3,  13.2, CAL= 166.7,  15.7, ROT= 343.3, -15.7

2025-08-22T16:17:12.046Z,1755879432.046 [DAT](INFO): DAT read: Bearing 185.8,  -8.5 (Local)

2025-08-22T16:17:12.046Z,1755879432.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.8,  -8.5 (Local)

2025-08-22T16:17:12.047Z,1755879432.047 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m  (Round-trip  6.3 ms) speed -0.2 m/s

2025-08-22T16:17:12.048Z,1755879432.048 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:12.049Z,1755879432.049 [DAT](INFO): direction in FSK: [0.922088,-0.276640,0.270600]
2025-08-22T16:17:12.049Z,1755879432.049 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:18.262Z,1755879438.262 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:18.340Z,1755879438.340 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:18.340Z,1755879438.340 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:18.341Z,1755879438.341 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:18.590Z,1755879438.590 [DAT](INFO): DAT read: user:122>

2025-08-22T16:17:18.591Z,1755879438.591 [DAT](INFO): DAT read: Tx time:16:17:19.6008

2025-08-22T16:17:18.591Z,1755879438.591 [DAT](INFO): Ping request sent.
2025-08-22T16:17:18.591Z,1755879438.591 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:18.592Z,1755879438.592 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:18.592Z,1755879438.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771
2025-08-22T16:17:18.843Z,1755879438.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251015
2025-08-22T16:17:19.095Z,1755879439.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503590
2025-08-22T16:17:19.350Z,1755879439.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757750
2025-08-22T16:17:19.459Z,1755879439.459 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720043925,35.0, +10.4, 91.6,  0
2025-08-22T16:17:19.598Z,1755879439.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959
2025-08-22T16:17:19.850Z,1755879439.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960
2025-08-22T16:17:20.103Z,1755879440.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511189
2025-08-22T16:17:20.356Z,1755879440.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764438
2025-08-22T16:17:20.606Z,1755879440.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014971
2025-08-22T16:17:20.859Z,1755879440.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267232
2025-08-22T16:17:21.111Z,1755879441.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519027
2025-08-22T16:17:21.363Z,1755879441.363 [DAT](INFO): DAT read: Rx Time:16:17:22.0140

2025-08-22T16:17:21.363Z,1755879441.363 [DAT](INFO): Rx dataTimestamp_ set to:1755879441.362695
2025-08-22T16:17:21.364Z,1755879441.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772037
2025-08-22T16:17:21.614Z,1755879441.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022981
2025-08-22T16:17:21.870Z,1755879441.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278311
2025-08-22T16:17:22.128Z,1755879442.128 [DAT](INFO): DAT read: 16:17:22.0140 LVL= 19552, 27345, 25490, 32755, AGC= 49, IDX= 457,-0.09,-2.161, 2.774,-1.480,-1.895, PHS=-0.164,-1.569, 0.371, RAW= 165.5,  15.5, CAL= 166.2,  18.9, ROT= 343.8, -18.9

2025-08-22T16:17:22.129Z,1755879442.129 [DAT](INFO): got valid direction response:
 16:17:22.0140 LVL= 19552, 27345, 25490, 32755, AGC= 49, IDX= 457,-0.09,-2.161, 2.774,-1.480,-1.895, PHS=-0.164,-1.569, 0.371, RAW= 165.5,  15.5, CAL= 166.2,  18.9, ROT= 343.8, -18.9

2025-08-22T16:17:22.130Z,1755879442.130 [DAT](INFO): DAT read: Bearing 190.1, -13.8 (Local)

2025-08-22T16:17:22.130Z,1755879442.130 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.1, -13.8 (Local)

2025-08-22T16:17:22.131Z,1755879442.131 [DAT](INFO): DAT read: Range 11 to 50 : 6.7 m  (Round-trip  9.0 ms) speed -0.2 m/s

2025-08-22T16:17:22.132Z,1755879442.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:22.133Z,1755879442.133 [DAT](INFO): direction in FSK: [0.908520,-0.263950,0.323917]
2025-08-22T16:17:22.133Z,1755879442.133 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:28.370Z,1755879448.370 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:28.435Z,1755879448.435 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:28.435Z,1755879448.435 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:28.435Z,1755879448.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:28.686Z,1755879448.686 [DAT](INFO): DAT read: user:123>

2025-08-22T16:17:28.687Z,1755879448.687 [DAT](INFO): DAT read: Tx time:16:17:29.7008

2025-08-22T16:17:28.687Z,1755879448.687 [DAT](INFO): Ping request sent.
2025-08-22T16:17:28.688Z,1755879448.688 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:28.688Z,1755879448.688 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:28.688Z,1755879448.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769
2025-08-22T16:17:28.938Z,1755879448.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250877
2025-08-22T16:17:29.191Z,1755879449.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503834
2025-08-22T16:17:29.443Z,1755879449.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936
2025-08-22T16:17:29.694Z,1755879449.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006887
2025-08-22T16:17:29.949Z,1755879449.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261296
2025-08-22T16:17:30.203Z,1755879450.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515047
2025-08-22T16:17:30.456Z,1755879450.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768039
2025-08-22T16:17:30.706Z,1755879450.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018865
2025-08-22T16:17:30.959Z,1755879450.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270963
2025-08-22T16:17:31.211Z,1755879451.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522946
2025-08-22T16:17:31.463Z,1755879451.463 [DAT](INFO): DAT read: Rx Time:16:17:32.1165

2025-08-22T16:17:31.463Z,1755879451.463 [DAT](INFO): Rx dataTimestamp_ set to:1755879451.462995
2025-08-22T16:17:31.464Z,1755879451.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776279
2025-08-22T16:17:31.715Z,1755879451.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026961
2025-08-22T16:17:31.967Z,1755879451.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278956
2025-08-22T16:17:32.228Z,1755879452.228 [DAT](INFO): DAT read: 16:17:32.1165 LVL= 21488, 25953, 20978, 30611, AGC= 51, IDX= 450,-0.20,-1.637, 3.131,-1.099,-1.601, PHS= 0.066,-1.506, 0.458, RAW= 160.9,  10.9, CAL= 161.0,  12.1, ROT= 349.0, -12.1

2025-08-22T16:17:32.230Z,1755879452.230 [DAT](INFO): got valid direction response:
 16:17:32.1165 LVL= 21488, 25953, 20978, 30611, AGC= 51, IDX= 450,-0.20,-1.637, 3.131,-1.099,-1.601, PHS= 0.066,-1.506, 0.458, RAW= 160.9,  10.9, CAL= 161.0,  12.1, ROT= 349.0, -12.1

2025-08-22T16:17:32.230Z,1755879452.230 [DAT](INFO): DAT read: Bearing 181.6,  -8.2 (Local)

2025-08-22T16:17:32.231Z,1755879452.231 [DAT](INFO): Local bearing/azimuth received:
 Bearing 181.6,  -8.2 (Local)

2025-08-22T16:17:32.232Z,1755879452.232 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m  (Round-trip  11.5 ms) speed -0.2 m/s

2025-08-22T16:17:32.233Z,1755879452.233 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:32.234Z,1755879452.234 [DAT](INFO): direction in FSK: [0.959819,-0.186570,0.209619]
2025-08-22T16:17:32.234Z,1755879452.234 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:32.402Z,1755879452.402 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-22T16:17:38.454Z,1755879458.454 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:38.522Z,1755879458.522 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:38.522Z,1755879458.522 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:38.523Z,1755879458.523 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:38.774Z,1755879458.774 [DAT](INFO): DAT read: user:124>

2025-08-22T16:17:38.775Z,1755879458.775 [DAT](INFO): DAT read: Tx time:16:17:39.8008

2025-08-22T16:17:38.775Z,1755879458.775 [DAT](INFO): Ping request sent.
2025-08-22T16:17:38.776Z,1755879458.776 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:38.776Z,1755879458.776 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:38.776Z,1755879458.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000762
2025-08-22T16:17:39.027Z,1755879459.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251237
2025-08-22T16:17:39.279Z,1755879459.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503136
2025-08-22T16:17:39.530Z,1755879459.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754884
2025-08-22T16:17:39.783Z,1755879459.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007069
2025-08-22T16:17:40.035Z,1755879460.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259020
2025-08-22T16:17:40.286Z,1755879460.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924
2025-08-22T16:17:40.539Z,1755879460.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101
2025-08-22T16:17:40.791Z,1755879460.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015068
2025-08-22T16:17:41.042Z,1755879461.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266895
2025-08-22T16:17:41.295Z,1755879461.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519923
2025-08-22T16:17:41.547Z,1755879461.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771000
2025-08-22T16:17:41.799Z,1755879461.799 [DAT](INFO): DAT read: Rx Time:16:17:42.2191

2025-08-22T16:17:41.800Z,1755879461.800 [DAT](INFO): Rx dataTimestamp_ set to:1755879461.799577
2025-08-22T16:17:41.801Z,1755879461.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025187
2025-08-22T16:17:42.050Z,1755879462.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274964
2025-08-22T16:17:42.308Z,1755879462.308 [DAT](INFO): DAT read: 16:17:42.2191 LVL= 22512, 28385, 20914, 32755, AGC= 51, IDX= 445,-0.24,-1.085,-2.707,-0.689,-1.219, PHS= 0.236,-1.443, 0.486, RAW= 156.9,   8.0, CAL= 156.4,   8.3, ROT= 353.6,  -8.3

2025-08-22T16:17:42.309Z,1755879462.309 [DAT](INFO): got valid direction response:
 16:17:42.2191 LVL= 22512, 28385, 20914, 32755, AGC= 51, IDX= 445,-0.24,-1.085,-2.707,-0.689,-1.219, PHS= 0.236,-1.443, 0.486, RAW= 156.9,   8.0, CAL= 156.4,   8.3, ROT= 353.6,  -8.3

2025-08-22T16:17:42.310Z,1755879462.310 [DAT](INFO): DAT read: Bearing 175.0,  -1.3 (Local)

2025-08-22T16:17:42.310Z,1755879462.310 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.0,  -1.3 (Local)

2025-08-22T16:17:42.312Z,1755879462.312 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m  (Round-trip  14.1 ms) speed -0.2 m/s

2025-08-22T16:17:42.312Z,1755879462.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:42.313Z,1755879462.313 [DAT](INFO): direction in FSK: [0.983359,-0.110301,0.144356]
2025-08-22T16:17:42.314Z,1755879462.314 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:48.554Z,1755879468.554 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:48.603Z,1755879468.603 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:48.603Z,1755879468.603 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:48.603Z,1755879468.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:48.855Z,1755879468.855 [DAT](INFO): DAT read: user:125>

2025-08-22T16:17:48.855Z,1755879468.855 [DAT](INFO): DAT read: Tx time:16:17:49.8508

2025-08-22T16:17:48.856Z,1755879468.856 [DAT](INFO): Ping request sent.
2025-08-22T16:17:48.856Z,1755879468.856 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:48.856Z,1755879468.856 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:48.857Z,1755879468.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-08-22T16:17:49.106Z,1755879469.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250600
2025-08-22T16:17:49.359Z,1755879469.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503633
2025-08-22T16:17:49.611Z,1755879469.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754877
2025-08-22T16:17:49.863Z,1755879469.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006747
2025-08-22T16:17:50.114Z,1755879470.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258488
2025-08-22T16:17:50.367Z,1755879470.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510887
2025-08-22T16:17:50.619Z,1755879470.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763163
2025-08-22T16:17:50.874Z,1755879470.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017036
2025-08-22T16:17:51.123Z,1755879471.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-08-22T16:17:51.375Z,1755879471.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518821
2025-08-22T16:17:51.626Z,1755879471.626 [DAT](INFO): DAT read: Rx Time:16:17:52.2716

2025-08-22T16:17:51.627Z,1755879471.627 [DAT](INFO): Rx dataTimestamp_ set to:1755879471.626680
2025-08-22T16:17:51.628Z,1755879471.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771682
2025-08-22T16:17:51.883Z,1755879471.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025227
2025-08-22T16:17:52.133Z,1755879472.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276890
2025-08-22T16:17:52.388Z,1755879472.388 [DAT](INFO): DAT read: 16:17:52.2716 LVL= 20816, 28401, 20930, 29651, AGC= 52, IDX= 455, 0.06,-0.693,-2.419,-0.432,-0.901, PHS= 0.311,-1.473, 0.426, RAW= 153.1,   8.0, CAL= 152.6,   8.5, ROT= 357.4,  -8.5

2025-08-22T16:17:52.389Z,1755879472.389 [DAT](INFO): got valid direction response:
 16:17:52.2716 LVL= 20816, 28401, 20930, 29651, AGC= 52, IDX= 455, 0.06,-0.693,-2.419,-0.432,-0.901, PHS= 0.311,-1.473, 0.426, RAW= 153.1,   8.0, CAL= 152.6,   8.5, ROT= 357.4,  -8.5

2025-08-22T16:17:52.390Z,1755879472.390 [DAT](INFO): DAT read: Bearing 172.5,  -0.5 (Local)

2025-08-22T16:17:52.390Z,1755879472.390 [DAT](INFO): Local bearing/azimuth received:
 Bearing 172.5,  -0.5 (Local)

2025-08-22T16:17:52.391Z,1755879472.391 [DAT](INFO): DAT read: Range 11 to 50 : 12.4 m  (Round-trip  16.6 ms) speed -0.2 m/s

2025-08-22T16:17:52.392Z,1755879472.392 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:17:52.393Z,1755879472.393 [DAT](INFO): direction in FSK: [0.987998,-0.044865,0.147809]
2025-08-22T16:17:52.393Z,1755879472.393 [DAT](INFO): publishing direction and range info
2025-08-22T16:17:52.598Z,1755879472.598 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 12.40 m. Transitioning docking module to standby.
2025-08-22T16:17:53.056Z,1755879473.056 [DockingStepper](INFO): Changing to mode: 1
2025-08-22T16:17:58.660Z,1755879478.660 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2025-08-22T16:17:58.687Z,1755879478.687 [DAT](INFO): ****** received valid address query ******
2025-08-22T16:17:58.687Z,1755879478.687 [DAT](INFO): ****** received valid ping request ******
2025-08-22T16:17:58.687Z,1755879478.687 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-22T16:17:58.941Z,1755879478.941 [DAT](INFO): DAT read: user:126>

2025-08-22T16:17:58.944Z,1755879478.944 [DAT](INFO): DAT read: Tx time:16:17:59.9508

2025-08-22T16:17:58.945Z,1755879478.945 [DAT](INFO): Ping request sent.
2025-08-22T16:17:58.945Z,1755879478.945 [DAT](INFO): transmitted an acoustic signal
2025-08-22T16:17:58.946Z,1755879478.946 [DAT](INFO): publishing transmit ping time
2025-08-22T16:17:58.948Z,1755879478.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003115
2025-08-22T16:17:59.087Z,1755879479.087 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Docking module at standby.
2025-08-22T16:17:59.191Z,1755879479.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246699
2025-08-22T16:17:59.447Z,1755879479.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502291
2025-08-22T16:17:59.468Z,1755879479.468 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2025-08-22T16:17:59.468Z,1755879479.468 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:LeaveDock] Stopped
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:LeaveDock:A.] Stopped
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:LeaveDock:A.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2025-08-22T16:17:59.469Z,1755879479.469 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2025-08-22T16:17:59.470Z,1755879479.470 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Running Loop=1
2025-08-22T16:17:59.470Z,1755879479.470 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T16:17:59.470Z,1755879479.470 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2025-08-22T16:17:59.470Z,1755879479.470 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2025-08-22T16:17:59.470Z,1755879479.470 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2025-08-22T16:17:59.471Z,1755879479.471 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2025-08-22T16:17:59.471Z,1755879479.471 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T16:17:59.471Z,1755879479.471 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T16:17:59.699Z,1755879479.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754055
2025-08-22T16:17:59.953Z,1755879479.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008115
2025-08-22T16:18:00.202Z,1755879480.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257954
2025-08-22T16:18:00.291Z,1755879480.291 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm (1 active estimators).
2025-08-22T16:18:00.406Z,1755879480.406 [Radio_Surface](INFO): Powering up
2025-08-22T16:18:00.455Z,1755879480.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510051
2025-08-22T16:18:00.706Z,1755879480.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761968
2025-08-22T16:18:00.959Z,1755879480.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014295
2025-08-22T16:18:01.211Z,1755879481.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266049
2025-08-22T16:18:01.462Z,1755879481.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517946
2025-08-22T16:18:01.715Z,1755879481.715 [DAT](INFO): DAT read: Rx Time:16:18:02.3742

2025-08-22T16:18:01.716Z,1755879481.716 [DAT](INFO): Rx dataTimestamp_ set to:1755879481.715454
2025-08-22T16:18:01.716Z,1755879481.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771833
2025-08-22T16:18:01.974Z,1755879481.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028544
2025-08-22T16:18:02.223Z,1755879482.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278004
2025-08-22T16:18:02.480Z,1755879482.480 [DAT](INFO): DAT read: 16:18:02.3742 LVL= 21120, 32753, 21858, 32755, AGC= 53, IDX= 449, 0.21,-1.679, 2.844,-1.538,-1.961, PHS= 0.385,-1.432, 0.379, RAW= 149.9,   7.4, CAL= 149.3,   7.9, ROT=   0.7,  -7.9

2025-08-22T16:18:02.482Z,1755879482.482 [DAT](INFO): got valid direction response:
 16:18:02.3742 LVL= 21120, 32753, 21858, 32755, AGC= 53, IDX= 449, 0.21,-1.679, 2.844,-1.538,-1.961, PHS= 0.385,-1.432, 0.379, RAW= 149.9,   7.4, CAL= 149.3,   7.9, ROT=   0.7,  -7.9

2025-08-22T16:18:02.482Z,1755879482.482 [DAT](INFO): DAT read: Bearing 169.3,   2.2 (Local)

2025-08-22T16:18:02.483Z,1755879482.483 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.3,   2.2 (Local)

2025-08-22T16:18:02.484Z,1755879482.484 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m  (Round-trip  19.2 ms) speed -0.2 m/s

2025-08-22T16:18:02.485Z,1755879482.485 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-22T16:18:02.486Z,1755879482.486 [DAT](INFO): direction in FSK: [0.990436,0.012101,0.137445]
2025-08-22T16:18:02.486Z,1755879482.486 [DAT](INFO): publishing direction and range info
2025-08-22T16:18:05.659Z,1755879485.659 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-08-22T16:18:05.659Z,1755879485.659 [Radio_Surface](INFO): No local IP found
2025-08-22T16:18:29.474Z,1755879509.474 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0002272005493+0.0,1491.3,  0
2025-08-22T16:19:28.082Z,1755879568.082 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2025-08-22T16:19:28.082Z,1755879568.082 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2025-08-22T16:19:28.082Z,1755879568.082 [BuoyancyServo] Communications Fault, FailCount= 1
2025-08-22T16:19:28.082Z,1755879568.082 [BuoyancyServo](ERROR): Communications Fault
2025-08-22T16:19:28.101Z,1755879568.101 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2025-08-22T16:19:30.029Z,1755879570.029 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2025-08-22T16:19:30.029Z,1755879570.029 [BuoyancyServo](INFO): Powering down
2025-08-22T16:19:30.837Z,1755879570.837 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2025-08-22T16:19:30.837Z,1755879570.837 [BuoyancyServo] No Fault, FailCount= 1
2025-08-22T16:19:31.229Z,1755879571.229 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2025-08-22T16:19:31.230Z,1755879571.230 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2025-08-22T16:20:19.782Z,1755879619.782 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:20:20.786Z,1755879620.786 [DataOverHttps](INFO): Radio surface powered ON.
2025-08-22T16:20:20.786Z,1755879620.786 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:20:27.886Z,1755879627.886 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2025-08-22T16:20:27.886Z,1755879627.886 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T16:20:27.886Z,1755879627.886 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T16:20:50.938Z,1755879650.938 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:20:51.942Z,1755879651.942 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:21:02.620Z,1755879662.620 [NAL9602](INFO): SBD MO Status=0, MOMSN=974, MT Status=0, MTMSN=0
2025-08-22T16:21:02.620Z,1755879662.620 [NAL9602](INFO): No messages in MT queue
2025-08-22T16:21:03.824Z,1755879663.824 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162103.00,A,3646.75981,N,12151.52745,W,0.622,186.49,220825,,,D*77
2025-08-22T16:21:03.827Z,1755879663.827 [NAL9602](INFO): GPS fix at 20250822T162103: (36.779330, -121.858791)
2025-08-22T16:21:03.838Z,1755879663.838 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T16:21:03.839Z,1755879663.839 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T16:21:22.090Z,1755879682.090 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:21:22.944Z,1755879682.944 [NAL9602](INFO): SBD MO Status=1, MOMSN=975, MT Status=0, MTMSN=0
2025-08-22T16:21:22.994Z,1755879682.994 [NAL9602](INFO): Sent 72 bytes from file Logs/20250822T155111/Courier0019.lzma
2025-08-22T16:21:22.994Z,1755879682.994 [NAL9602](INFO): Packets left to send: 0
2025-08-22T16:21:23.094Z,1755879683.094 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:21:34.127Z,1755879694.127 [NAL9602](INFO): SBD MO Status=1, MOMSN=976, MT Status=0, MTMSN=0
2025-08-22T16:21:34.179Z,1755879694.179 [NAL9602](INFO): Sent 151 bytes from file Logs/20250822T160302/Courier0000.lzma
2025-08-22T16:21:34.180Z,1755879694.180 [NAL9602](INFO): Packets left to send: 0
2025-08-22T16:21:53.222Z,1755879713.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-22T16:21:54.226Z,1755879714.226 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:21:56.920Z,1755879716.920 [NAL9602](INFO): SBD MO Status=1, MOMSN=977, MT Status=0, MTMSN=0
2025-08-22T16:21:56.970Z,1755879716.970 [NAL9602](INFO): Sent 39 bytes from file Logs/20250822T160302/Courier0003.lzma
2025-08-22T16:21:56.970Z,1755879716.970 [NAL9602](INFO): Packets left to send: 0
2025-08-22T16:22:01.554Z,1755879721.554 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003136
2025-08-22T16:22:16.040Z,1755879736.040 [NAL9602](INFO): SBD MO Status=1, MOMSN=978, MT Status=0, MTMSN=0
2025-08-22T16:22:16.102Z,1755879736.102 [NAL9602](INFO): Sent 287 bytes from file Logs/20250822T160302/Courier0006.lzma
2025-08-22T16:22:16.102Z,1755879736.102 [NAL9602](INFO): Packets left to send: 0
2025-08-22T16:22:26.223Z,1755879746.223 [DataOverHttps](INFO): Sending 850 bytes from file Logs/20250822T155111/Express0020.lzma
2025-08-22T16:22:27.223Z,1755879747.223 [DataOverHttps](INFO): Moved sent file to Logs/20250822T155111/Express0020.lzma.bak
2025-08-22T16:22:27.223Z,1755879747.223 [DataOverHttps](INFO): SBD MOMSN=25881916
2025-08-22T16:22:44.291Z,1755879764.291 [DataOverHttps](INFO): Sending 592 bytes from file Logs/20250822T160302/Express0001.lzma
2025-08-22T16:22:45.291Z,1755879765.291 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0001.lzma.bak
2025-08-22T16:22:45.291Z,1755879765.291 [DataOverHttps](INFO): SBD MOMSN=25881936
2025-08-22T16:22:46.738Z,1755879766.738 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:23:01.606Z,1755879781.606 [DataOverHttps](INFO): Sending 532 bytes from file Logs/20250822T160302/Express0004.lzma
2025-08-22T16:23:02.607Z,1755879782.607 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0004.lzma.bak
2025-08-22T16:23:02.608Z,1755879782.608 [DataOverHttps](INFO): SBD MOMSN=25881940
2025-08-22T16:23:19.587Z,1755879799.587 [DataOverHttps](INFO): Sending 840 bytes from file Logs/20250822T160302/Express0007.lzma
2025-08-22T16:23:20.589Z,1755879800.589 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0007.lzma.bak
2025-08-22T16:23:20.589Z,1755879800.589 [DataOverHttps](INFO): SBD MOMSN=25881951
2025-08-22T16:23:21.913Z,1755879801.913 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T16:23:21.913Z,1755879801.913 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T16:23:21.913Z,1755879801.913 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T16:23:30.266Z,1755879810.266 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:23:38.794Z,1755879818.794 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:23:47.462Z,1755879827.462 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:23:56.144Z,1755879836.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:04.718Z,1755879844.718 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:13.514Z,1755879853.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:22.163Z,1755879862.163 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:30.694Z,1755879870.694 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:39.366Z,1755879879.366 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:47.962Z,1755879887.962 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:24:56.672Z,1755879896.672 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:05.326Z,1755879905.326 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:13.914Z,1755879913.914 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:22.630Z,1755879922.630 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:31.270Z,1755879931.270 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:39.926Z,1755879939.926 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:48.622Z,1755879948.622 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:25:57.062Z,1755879957.062 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:06.886Z,1755879966.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:15.582Z,1755879975.582 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:24.230Z,1755879984.230 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:34.646Z,1755879994.646 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:43.398Z,1755880003.398 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:26:51.970Z,1755880011.970 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:00.800Z,1755880020.800 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:09.490Z,1755880029.490 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:18.162Z,1755880038.162 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:26.846Z,1755880046.846 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:35.514Z,1755880055.514 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:44.175Z,1755880064.175 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:27:52.742Z,1755880072.742 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:28:01.242Z,1755880081.242 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:28:11.182Z,1755880091.182 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:28:19.934Z,1755880099.934 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:28:22.571Z,1755880102.571 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2025-08-22T16:28:22.572Z,1755880102.572 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T16:28:22.572Z,1755880102.572 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T16:28:22.572Z,1755880102.572 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2025-08-22T16:28:22.945Z,1755880102.945 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2025-08-22T16:28:22.946Z,1755880102.946 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for  12.255386 min 
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2025-08-22T16:28:23.322Z,1755880103.322 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2025-08-22T16:28:23.323Z,1755880103.323 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T16:28:23.323Z,1755880103.323 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2025-08-22T16:28:25.324Z,1755880105.324 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,162824.00,A,3646.73648,N,12151.55606,W,0.505,218.04,220825,,,D*7D
2025-08-22T16:28:25.327Z,1755880105.327 [NAL9602](INFO): GPS fix at 20250822T162824: (36.778941, -121.859268)
2025-08-22T16:28:25.352Z,1755880105.352 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2025-08-22T16:28:25.352Z,1755880105.352 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2025-08-22T16:28:26.704Z,1755880106.704 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20250822T160302/Courier0009.lzma
2025-08-22T16:28:27.599Z,1755880107.599 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Courier0009.lzma.bak
2025-08-22T16:28:27.599Z,1755880107.599 [DataOverHttps](INFO): SBD MOMSN=25881979
2025-08-22T16:28:43.950Z,1755880123.950 [DataOverHttps](INFO): Sending 210 bytes from file Logs/20250822T160302/Express0010.lzma
2025-08-22T16:28:44.952Z,1755880124.952 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0010.lzma.bak
2025-08-22T16:28:44.952Z,1755880124.952 [DataOverHttps](IMPORTANT): SBD MOMSN=25881983, MTMSN=20250822T162844
2025-08-22T16:28:46.361Z,1755880126.361 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2025-08-22T16:28:46.362Z,1755880126.362 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2025-08-22T16:28:46.362Z,1755880126.362 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2025-08-22T16:28:52.542Z,1755880132.542 [DataOverHttps](INFO): Received command: schedule clear;schedule resume
2025-08-22T16:28:52.649Z,1755880132.649 [CommandExec](IMPORTANT): got command schedule clear
2025-08-22T16:28:52.649Z,1755880132.649 [CommandExec](IMPORTANT): Cleared 1 scheduled commands.
2025-08-22T16:28:52.650Z,1755880132.650 [CommandExec](IMPORTANT): got command schedule resume
2025-08-22T16:28:52.650Z,1755880132.650 [CommandExec](IMPORTANT): Scheduling is resumed
2025-08-22T16:28:54.546Z,1755880134.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:29:03.294Z,1755880143.294 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:29:12.874Z,1755880152.874 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:29:21.478Z,1755880161.478 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:29:23.093Z,1755880163.093 [NAL9602](INFO): SBD MO Status=0, MOMSN=979, MT Status=0, MTMSN=0
2025-08-22T16:29:23.094Z,1755880163.094 [NAL9602](INFO): No messages in MT queue
2025-08-22T16:29:29.224Z,1755880169.224 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T162928
2025-08-22T16:29:36.769Z,1755880176.769 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 160gy 1 3
2025-08-22T16:29:36.822Z,1755880176.822 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool" 160gy 1 3.000000
2025-08-22T16:29:36.823Z,1755880176.823 [CommandExec](IMPORTANT): Scheduling command #1 of 3 with id=160gy
2025-08-22T16:29:36.824Z,1755880176.824 [CommandExec](IMPORTANT): Scheduled #5 (#1 of 3 with id='160gy'): "load Engineering/lineCaptureHoming.tl;set lineCaptureHoming.MissionTimeout 3 h;set lineCaptureHoming.WaitOnDockTimeout 15 min;set lineCaptureHoming.StayOnDock 1 bool;set lineCaptureHoming.TrySlide 1 bool", ASAP
2025-08-22T16:29:37.772Z,1755880177.772 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T162936
2025-08-22T16:29:45.418Z,1755880185.418 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 160gy 2 3
2025-08-22T16:29:45.454Z,1755880185.454 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m" 160gy 2 3.000000
2025-08-22T16:29:45.455Z,1755880185.455 [CommandExec](IMPORTANT): Scheduling command #2 of 3 with id=160gy
2025-08-22T16:29:45.456Z,1755880185.456 [CommandExec](IMPORTANT): Scheduled #6 (#2 of 3 with id='160gy'): "set lineCaptureHoming.SlideRetries 5 count;set lineCaptureHoming.SlideCloseDuration 1 min;set lineCaptureHoming.DockingAltitude 8.3 m;set lineCaptureHoming.AltitudeDepthLimit 69 m;set lineCaptureHoming.MaxDepth 71 m", ASAP
2025-08-22T16:29:46.419Z,1755880186.419 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T162945
2025-08-22T16:29:53.802Z,1755880193.802 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-22T16:29:54.132Z,1755880194.132 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 160gy 3 3
2025-08-22T16:29:54.205Z,1755880194.205 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run" 160gy 3 3.000000
2025-08-22T16:29:54.205Z,1755880194.205 [CommandExec](IMPORTANT): Scheduling command #3 of 3 with id=160gy
2025-08-22T16:29:54.206Z,1755880194.206 [CommandExec](IMPORTANT): Scheduled #7 (#3 of 3 with id='160gy'): "set lineCaptureHoming.CorrectForSoundSpeed 1 bool;run", ASAP
2025-08-22T16:29:54.350Z,1755880194.350 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T16:29:54.351Z,1755880194.351 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T16:29:54.351Z,1755880194.351 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T16:29:54.365Z,1755880194.365 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/lineCaptureHoming.tl
2025-08-22T16:29:56.128Z,1755880196.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:30:05.495Z,1755880205.495 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/lineCaptureHoming.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="lineCaptureHoming">
    <DefineArg Name="MissionTimeout">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NeedCommsTime">
        <Units:minute />
        <Value>180</Value>
    </DefineArg>
    <DefineArg Name="MicromodemCommsInterval">
        <Units:hour />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="Repeat">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitOnDockTimeout">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="TrySlide">
        <False />
    </DefineArg>
    <DefineArg Name="RetryIncompleteDock">
        <False />
    </DefineArg>
    <DefineArg Name="SlideRetries">
        <Units:count />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="SlideSinkDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="SlideCloseDuration">
        <Units:minute />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodMidcourse">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodTerminal">
        <Units:second />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriodDocked">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilter">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="NumPingsUSBL">
        <Units:count />
        <Value>120</Value>
    </DefineArg>
    <DefineArg Name="RangeUSBL">
        <Units:meter />
        <Value>40</Value>
    </DefineArg>
    <DefineArg Name="TrackingNumFixesLowPassFilterUSBL">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>4</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>205</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthTimeout">
        <Units:minute />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="ApproachDepthRate">
        <Units:meter_per_second />
        <Value>0.05</Value>
    </DefineArg>
    <DefineArg Name="Lat1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="Lon1">
        <Units:degree />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CaptureRadius">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="CorrectForSoundSpeed">
        <False />
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="TrackingPeriod">
        <Units:second />
        <Value>60</Value>
    </DefineArg>
    <DefineOutput Name="Mode">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="NumPings">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinSize">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LowPassFilterWinOverlap">
        <True />
    </DefineOutput>
    <DefineOutput Name="EndDockingSequence">
        <Arg Name="StayOnDock" />
    </DefineOutput>
    <DefineOutput Name="LastDockSuccessful">
        <False />
    </DefineOutput>
    <DefineOutput Name="DockSuccessfulCount">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="RepeatArg">
        <Arg Name="Repeat" />
    </DefineOutput>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/Science.tl" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Insert Id="NeedComms" Filename="Insert/NeedComms.tl" />
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:DiveInterval" />
        <Arg Name="NeedCommsTime" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NeedComms:WaitForPitchUp" />
        <Units:minute />
        <Value>0</Value>
    </Assign>
    <Insert Id="MicromodemComms" Filename="Insert/MicromodemComms.tl">
        <RedefineArg Name="CommsInterval">
            <Arg Name="MicromodemCommsInterval" />
        </RedefineArg>
    </Insert>
    <ReadData>
        <While>
            <Arg Name="Mode" />
            <Ge>
                <Units:count />
                <Value>0</Value>
            </Ge>
            <And>
                <Sensor:DataOverHttps.connectionStatus />
                <Eq>
                    <True />
                </Eq>
            </And>
        </While>
        <Universal:platform_communications />
    </ReadData>
    <Insert Filename="Insert/LineCapture.tl" />
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:DockingAltitude" />
        <Arg Name="DockingAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:InvalidAltitudeTimeout" />
        <Arg Name="InvalidAltitudeTimeout" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="LineCapture:AltitudeDepthLimit" />
        <Arg Name="AltitudeDepthLimit" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="NumPings" />
        <Arg Name="NumberOfPings" />
    </Assign>
    <Estimation:TrackAcousticContact Id="TrackAC">
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingPeriod" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numFixesLowPassSetting />
            <Arg Name="LowPassFilterWinSize" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.lowPassOverlapSetting />
            <Arg Name="LowPassFilterWinOverlap" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.useSoundSpeedCorrectionSetting />
            <Arg Name="CorrectForSoundSpeed" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Aggregate Id="UpdateNumPings_NotTerminal">
        <While>
            <Not>
                <Arg Name="LineCapture:GuidanceMode" />
                <Eq>
                    <Arg Name="LineCapture:Terminal" />
                </Eq>
            </Not>
            <And>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
            </And>
        </While>
        <Syslog Severity="Info">
            No longer in Terminal. Resuming normal ranging with 
            <Arg Name="NumberOfPings" />
            <Units:count />
            pings.
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="NumPings" />
            <Arg Name="NumberOfPings" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdateNumPings_Terminal">
        <While>
            <Arg Name="LineCapture:GuidanceMode" />
            <Eq>
                <Arg Name="LineCapture:Terminal" />
            </Eq>
        </While>
        <Aggregate Id="UpdateNumPingsUSBL">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumPingsUSBL" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Lt>
                        <Arg Name="RangeUSBL" />
                    </Lt>
                    <And>
                        <Not>
                            <Dock:LineCapture.guidanceMode />
                            <Eq>
                                <Units:count />
                                <Value>5</Value>
                            </Eq>
                        </Not>
                    </And>
                </And>
            </When>
            <Syslog Severity="Info">
                Entering USBL mode with 
                <Arg Name="NumPingsUSBL" />
                <Units:count />
                pings at 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumPingsUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilterUSBL" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
        <Aggregate Id="UpdateNumPingsATR">
            <When>
                <Not>
                    <Arg Name="NumPings" />
                    <Eq>
                        <Arg Name="NumberOfPings" />
                    </Eq>
                </Not>
                <And>
                    <Arg Name="LineCapture:Range" />
                    <Ge>
                        <Arg Name="RangeUSBL" />
                    </Ge>
                    <Or>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Or>
                </And>
            </When>
            <Syslog Severity="Info">
                Resuming normal ranging with 
                <Arg Name="NumberOfPings" />
                <Units:count />
                pings 
                <Arg Name="LineCapture:Range" />
                <Units:meter />
                (mode 
                <Dock:LineCapture.guidanceMode />
                <Units:count />
                ).
            </Syslog>
            <Assign>
                <Sequence />
                <Arg Name="NumPings" />
                <Arg Name="NumberOfPings" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinSize" />
                <Arg Name="TrackingNumFixesLowPassFilter" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="LowPassFilterWinOverlap" />
                <True />
            </Assign>
        </Aggregate>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Midcourse">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodMidcourse" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Gt>
                    <Arg Name="LineCapture:TerminalRange" />
                </Gt>
                <Or>
                    <Dock:LineCapture.guidanceMode />
                    <Eq>
                        <Units:count />
                        <Value>5</Value>
                    </Eq>
                </Or>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Midcourse tracking update period 
            <Arg Name="TrackingUpdatePeriodMidcourse" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodMidcourse" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="UpdatePingUpdateRate_Terminal">
        <When>
            <Not>
                <Arg Name="TrackingPeriod" />
                <Eq>
                    <Arg Name="TrackingUpdatePeriodTerminal" />
                </Eq>
            </Not>
            <And>
                <Arg Name="LineCapture:Range" />
                <Le>
                    <Arg Name="LineCapture:TerminalRange" />
                </Le>
                <And>
                    <Not>
                        <Dock:LineCapture.guidanceMode />
                        <Eq>
                            <Units:count />
                            <Value>5</Value>
                        </Eq>
                    </Not>
                </And>
                <And>
                    <Not>
                        <Arg Name="LineCapture:GuidanceMode" />
                        <Eq>
                            <Units:count />
                            <Value>0</Value>
                        </Eq>
                    </Not>
                </And>
            </And>
        </When>
        <Syslog Severity="Info">
            Entering Terminal tracking update period 
            <Arg Name="TrackingUpdatePeriodTerminal" />
            <Units:second />
            sec at
            <Arg Name="LineCapture:Range" />
            <Units:meter />
            (mode 
            <Dock:LineCapture.guidanceMode />
            <Units:count />
            ).
        </Syslog>
        <Assign>
            <Sequence />
            <Arg Name="TrackingPeriod" />
            <Arg Name="TrackingUpdatePeriodTerminal" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinSize" />
            <Arg Name="TrackingNumFixesLowPassFilter" />
        </Assign>
        <Assign>
            <Sequence />
            <Arg Name="LowPassFilterWinOverlap" />
            <True />
        </Assign>
    </Aggregate>
    <Aggregate Id="restartDHCP">
        <When>
            <Called />
        </When>
        <Syslog Severity="Info">Restarting DHCP...</Syslog>
        <Guidance:Execute>
            <Sequence />
            <Setting>
                <Guidance:Execute.command />
                <String>! /mnt/mmc/LRAUV/Tools/dhcp.sh</String>
            </Setting>
        </Guidance:Execute>
    </Aggregate>
    <Call RefId="NeedComms" Id="StartingMission" PriorityHere="false" />
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="InitialDive">
        <Sequence />
        <Guidance:SetSpeed>
            <Parallel />
            <Setting>
                <Guidance:SetSpeed.speed />
                <Arg Name="MidcourseSpeed" />
            </Setting>
        </Guidance:SetSpeed>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
        <Guidance:Pitch>
            <Sequence />
            <Timeout Duration="ApproachDepthTimeout">
                <Syslog Severity="Important">
                    Timed out trying to reach the target depth. Stopping mission at current depth of 
                    <Universal:depth />
                    <Units:meter />
                </Syslog>
                <Guidance:Execute>
                    <Sequence />
                    <Setting>
                        <Guidance:Execute.command />
                        <String>stop</String>
                    </Setting>
                </Guidance:Execute>
            </Timeout>
            <Setting>
                <Guidance:Pitch.depth />
                <Arg Name="MidcourseDepth" />
            </Setting>
            <Setting>
                <Guidance:Pitch.depthRate />
                <Arg Name="ApproachDepthRate" />
            </Setting>
        </Guidance:Pitch>
    </Aggregate>
    <Aggregate Id="RepeatHack">
        <Sequence />
        <Break>
            <Not>
                <Arg Name="RetryIncompleteDock" />
            </Not>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="RepeatArg" />
            <Arg Name="Repeat" />
            <Add>
                <Units:count />
                <Value>1</Value>
            </Add>
        </Assign>
    </Aggregate>
    <Aggregate Id="Lap">
        <Sequence Repeat="RepeatArg" />
        <Break>
            <Arg Name="StayOnDock" />
            <And>
                <Arg Name="LastDockSuccessful" />
            </And>
            <Or>
                <Arg Name="RetryIncompleteDock" />
                <And>
                    <Arg Name="DockSuccessfulCount" />
                    <Eq>
                        <Arg Name="Repeat" />
                    </Eq>
                </And>
            </Or>
        </Break>
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Units:count />
            <Value>-99</Value>
        </Assign>
        <Call RefId="LineCapture" PriorityHere="false" />
        <Assign>
            <Sequence />
            <Arg Name="Mode" />
            <Arg Name="LineCapture:GuidanceMode" />
        </Assign>
        <Syslog Severity="Info">
            Mode
            <Arg Name="Mode" />
            <Units:count />
        </Syslog>
        <Call RefId="restartDHCP" PriorityHere="false" />
        <Aggregate Id="Docked">
            <Sequence />
            <Break>
                <Arg Name="Mode" />
                <Lt>
                    <Units:count />
                    <Value>0</Value>
                </Lt>
            </Break>
            <Syslog Severity="Info">
                Waiting on dock for 
                <Arg Name="WaitOnDockTimeout" />
                <Units:minute />
            </Syslog>
            <Insert Filename="Insert/SetNavAcoustic.tl" />
            <Assign>
                <Sequence />
                <Arg Name="TrackingPeriod" />
                <Arg Name="TrackingUpdatePeriodDocked" />
            </Assign>
            <Assign>
                <Sequence />
                <Arg Name="EndDockingSequence" />
                <Arg Name="StayOnDock" />
            </Assign>
            <Dock:Docked Id="Docked">
                <Sequence />
                <Timeout Duration="WaitOnDockTimeout" />
                <Setting>
                    <Dock:Docked.slideSinkTime />
                    <Arg Name="SlideSinkDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideCloseTime />
                    <Arg Name="SlideCloseDuration" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideRetries />
                    <Arg Name="SlideRetries" />
                </Setting>
                <Setting>
                    <Dock:Docked.slideAllowed />
                    <Arg Name="TrySlide" />
                </Setting>
                <OutputArg Name="LastDockSuccessful">
                    <Dock:Docked.dockSuccessful />
                </OutputArg>
            </Dock:Docked>
            <Aggregate Id="setCompletion">
                <Sequence />
                <Break>
                    <Not>
                        <Arg Name="RetryIncompleteDock" />
                    </Not>
                </Break>
                <Assign>
                    <Sequence />
                    <Arg Name="EndDockingSequence" />
                    <Arg Name="LastDockSuccessful" />
                    <And>
                        <Arg Name="StayOnDock" />
                    </And>
                </Assign>
                <Assign>
                    <Sequence />
                    <Arg Name="DockSuccessfulCount" />
                    <Arg Name="DockSuccessfulCount" />
                    <Add>
                        <Arg Name="LastDockSuccessful" />
                    </Add>
                </Assign>
                <Aggregate Id="setRetry">
                    <Sequence />
                    <Break>
                        <Arg Name="LastDockSuccessful" />
                    </Break>
                    <Syslog Severity="Important">Retrying incomplete docking attempt</Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="RepeatArg" />
                        <Arg Name="RepeatArg" />
                        <Add>
                            <Units:count />
                            <Value>1</Value>
                        </Add>
                    </Assign>
                </Aggregate>
            </Aggregate>
            <Aggregate Id="Detach">
                <Sequence />
                <Break>
                    <Arg Name="EndDockingSequence" />
                </Break>
                <Syslog Severity="Important">
                    Breaking off. Range: 
                    <Universal:acoustic_contact_range />
                    <Units:meter />
                    .
                </Syslog>
                <Dock:Undock Id="Undock">
                    <Sequence />
                </Dock:Undock>
                <Call RefId="restartDHCP" PriorityHere="false" />
            </Aggregate>
            <Aggregate Id="Wpt1">
                <Sequence />
                <Break>
                    <IsNaN>
                        <Arg Name="Lat1" />
                    </IsNaN>
                    <Or>
                        <IsNaN>
                            <Arg Name="Lon1" />
                        </IsNaN>
                    </Or>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    Driving to post-undock waypoint 
                    <Arg Name="Lat1" />
                    <Units:degree />
                    ,
                    <Arg Name="Lon1" />
                    <Units:degree />
                </Syslog>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Waypoint>
                    <Sequence />
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="Lat1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="Lon1" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.captureRadius />
                        <Arg Name="CaptureRadius" />
                    </Setting>
                </Guidance:Waypoint>
            </Aggregate>
            <Aggregate Id="Drift">
                <Sequence />
                <Break>
                    <Not>
                        <IsNaN>
                            <Arg Name="Lat1" />
                        </IsNaN>
                    </Not>
                    <And>
                        <Not>
                            <IsNaN>
                                <Arg Name="Lon1" />
                            </IsNaN>
                        </Not>
                    </And>
                    <Or>
                        <Arg Name="EndDockingSequence" />
                    </Or>
                </Break>
                <Syslog Severity="Important">
                    No post-undock waypoint, drifting for 
                    <Dock:LineCapture.rolloutTimeout />
                    <Units:minute />
                     minutes
                </Syslog>
                <Guidance:Buoyancy>
                    <Parallel />
                    <Setting>
                        <Guidance:Buoyancy.position />
                        <Control:VerticalControl.buoyancyNeutral />
                    </Setting>
                </Guidance:Buoyancy>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.massPosition />
                        <Control:VerticalControl.massDefault />
                    </Setting>
                    <Setting>
                        <Guidance:Pitch.elevatorAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Point>
                    <Parallel />
                    <Setting>
                        <Guidance:Point.rudderAngle />
                        <Units:degree />
                        <Value>0</Value>
                    </Setting>
                </Guidance:Point>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Units:meter_per_second />
                        <Value>0</Value>
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Wait>
                    <Sequence />
                    <Setting>
                        <Guidance:Wait.duration />
                        <Dock:LineCapture.rolloutTimeout />
                    </Setting>
                </Guidance:Wait>
            </Aggregate>
        </Aggregate>
    </Aggregate>
</Mission>

2025-08-22T16:30:05.571Z,1755880205.571 [MissionManager](INFO): DefineArg lineCaptureHoming.MissionTimeout = 3.000000 h
2025-08-22T16:30:05.597Z,1755880205.597 [MissionManager](INFO): DefineArg lineCaptureHoming.NeedCommsTime = 180.000000 min
2025-08-22T16:30:05.612Z,1755880205.612 [MissionManager](INFO): DefineArg lineCaptureHoming.MicromodemCommsInterval = 3.000000 h
2025-08-22T16:30:05.626Z,1755880205.626 [MissionManager](INFO): DefineArg lineCaptureHoming.Repeat = 1.000000 count
2025-08-22T16:30:05.628Z,1755880205.628 [MissionManager](INFO): DefineArg lineCaptureHoming.WaitOnDockTimeout = 5.000000 min
2025-08-22T16:30:05.659Z,1755880205.659 [MissionManager](INFO): DefineArg lineCaptureHoming.StayOnDock = 0 bool
2025-08-22T16:30:05.667Z,1755880205.667 [MissionManager](INFO): DefineArg lineCaptureHoming.TrySlide = 0 bool
2025-08-22T16:30:05.669Z,1755880205.669 [MissionManager](INFO): DefineArg lineCaptureHoming.RetryIncompleteDock = 0 bool
2025-08-22T16:30:05.683Z,1755880205.683 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideRetries = 4.000000 count
2025-08-22T16:30:05.702Z,1755880205.702 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideSinkDuration = 1.500000 min
2025-08-22T16:30:05.704Z,1755880205.704 [MissionManager](INFO): DefineArg lineCaptureHoming.SlideCloseDuration = 1.500000 min
2025-08-22T16:30:05.723Z,1755880205.723 [MissionManager](INFO): DefineArg lineCaptureHoming.TransponderCode = 50 count
2025-08-22T16:30:05.725Z,1755880205.725 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodMidcourse = 60.000000 s
2025-08-22T16:30:05.739Z,1755880205.739 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodTerminal = 2.000000 s
2025-08-22T16:30:05.754Z,1755880205.754 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingUpdatePeriodDocked = 2.000000 min
2025-08-22T16:30:05.756Z,1755880205.756 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilter = 5.000000 count
2025-08-22T16:30:05.775Z,1755880205.775 [MissionManager](INFO): DefineArg lineCaptureHoming.NumberOfPings = 1.000000 count
2025-08-22T16:30:05.777Z,1755880205.777 [MissionManager](INFO): DefineArg lineCaptureHoming.NumPingsUSBL = 120.000000 count
2025-08-22T16:30:05.795Z,1755880205.795 [MissionManager](INFO): DefineArg lineCaptureHoming.RangeUSBL = 40.000000 m
2025-08-22T16:30:05.810Z,1755880205.810 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingNumFixesLowPassFilterUSBL = 5.000000 count
2025-08-22T16:30:05.812Z,1755880205.812 [MissionManager](INFO): DefineArg lineCaptureHoming.DockingAltitude = nan m
2025-08-22T16:30:05.826Z,1755880205.826 [MissionManager](INFO): DefineArg lineCaptureHoming.InvalidAltitudeTimeout = 10.000000 min
2025-08-22T16:30:05.828Z,1755880205.828 [MissionManager](INFO): DefineArg lineCaptureHoming.AltitudeDepthLimit = nan m
2025-08-22T16:30:05.839Z,1755880205.839 [MissionManager](INFO): DefineArg lineCaptureHoming.MinAltitude = 4.000000 m
2025-08-22T16:30:05.841Z,1755880205.841 [MissionManager](INFO): DefineArg lineCaptureHoming.MaxDepth = 205.000000 m
2025-08-22T16:30:05.868Z,1755880205.868 [MissionManager](INFO): DefineArg lineCaptureHoming.MinOffshore = 2.000000 km
2025-08-22T16:30:05.877Z,1755880205.877 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthTimeout = 20.000000 min
2025-08-22T16:30:05.884Z,1755880205.884 [MissionManager](INFO): DefineArg lineCaptureHoming.ApproachDepthRate = 0.050000 m/s
2025-08-22T16:30:05.898Z,1755880205.898 [MissionManager](INFO): DefineArg lineCaptureHoming.Lat1 = nan arcdeg
2025-08-22T16:30:05.900Z,1755880205.900 [MissionManager](INFO): DefineArg lineCaptureHoming.Lon1 = nan arcdeg
2025-08-22T16:30:05.962Z,1755880205.962 [MissionManager](INFO): DefineArg lineCaptureHoming.CaptureRadius = nan m
2025-08-22T16:30:05.986Z,1755880205.986 [MissionManager](INFO): DefineArg lineCaptureHoming.CorrectForSoundSpeed = 0 bool
2025-08-22T16:30:05.989Z,1755880205.989 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseDepth = 50.000000 m
2025-08-22T16:30:06.003Z,1755880206.003 [MissionManager](INFO): DefineArg lineCaptureHoming.MidcourseSpeed = 0.800000 m/s
2025-08-22T16:30:06.034Z,1755880206.034 [MissionManager](INFO): DefineArg lineCaptureHoming.TrackingPeriod = 60.000000 s
2025-08-22T16:30:06.037Z,1755880206.037 [MissionManager](INFO): DefineOutput lineCaptureHoming.Mode = -1.000000 count
2025-08-22T16:30:06.051Z,1755880206.051 [MissionManager](INFO): DefineOutput lineCaptureHoming.NumPings = 1.000000 count
2025-08-22T16:30:06.066Z,1755880206.066 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinSize = 1.000000 count
2025-08-22T16:30:06.068Z,1755880206.068 [MissionManager](INFO): DefineOutput lineCaptureHoming.LowPassFilterWinOverlap = 1 bool
2025-08-22T16:30:06.078Z,1755880206.078 [MissionManager](INFO): DefineOutput lineCaptureHoming.EndDockingSequence = 0 bool
2025-08-22T16:30:06.080Z,1755880206.080 [MissionManager](INFO): DefineOutput lineCaptureHoming.LastDockSuccessful = 0 bool
2025-08-22T16:30:06.120Z,1755880206.120 [MissionManager](INFO): DefineOutput lineCaptureHoming.DockSuccessfulCount = 0.000000 count
2025-08-22T16:30:06.156Z,1755880206.156 [MissionManager](INFO): DefineOutput lineCaptureHoming.RepeatArg = 1.000000 count
2025-08-22T16:30:06.170Z,1755880206.170 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-22T16:30:06.171Z,1755880206.171 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-22T16:30:06.221Z,1755880206.221 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-22T16:30:10.886Z,1755880210.886 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:30:11.448Z,1755880211.448 [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>

2025-08-22T16:30:11.489Z,1755880211.489 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectChlActive = 0 bool
2025-08-22T16:30:11.491Z,1755880211.491 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectChlActive = 0 bool
2025-08-22T16:30:11.493Z,1755880211.493 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.TimeWindowPeakReport = nan min
2025-08-22T16:30:11.495Z,1755880211.495 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestChlPeakReportActive = 0 bool
2025-08-22T16:30:11.497Z,1755880211.497 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestSaltPeakReportActive = 0 bool
2025-08-22T16:30:11.499Z,1755880211.499 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.HighestOilPeakReportActive = 0 bool
2025-08-22T16:30:11.501Z,1755880211.501 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PatchTracking = 0 bool
2025-08-22T16:30:11.535Z,1755880211.535 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.FilterWidthHorizontal = 3.000000 count
2025-08-22T16:30:11.537Z,1755880211.537 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-22T16:30:11.543Z,1755880211.543 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-22T16:30:11.545Z,1755880211.545 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectNO3Active = 0 bool
2025-08-22T16:30:11.551Z,1755880211.551 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectOilActive = 0 bool
2025-08-22T16:30:11.558Z,1755880211.558 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectFDOMActive = 0 bool
2025-08-22T16:30:11.560Z,1755880211.560 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectSalinityActive = 0 bool
2025-08-22T16:30:11.570Z,1755880211.570 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T16:30:11.572Z,1755880211.572 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-22T16:30:11.606Z,1755880211.606 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T16:30:11.608Z,1755880211.608 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-22T16:30:11.638Z,1755880211.638 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T16:30:11.640Z,1755880211.640 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-22T16:30:11.655Z,1755880211.655 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T16:30:11.670Z,1755880211.670 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-22T16:30:11.672Z,1755880211.672 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-22T16:30:11.675Z,1755880211.675 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledAanderaaO2 = 0 bool
2025-08-22T16:30:11.677Z,1755880211.677 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledNeilBrown = 0 bool
2025-08-22T16:30:11.688Z,1755880211.688 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledRBRTridente = 0 bool
2025-08-22T16:30:11.695Z,1755880211.695 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledSeabird = 1 bool
2025-08-22T16:30:11.701Z,1755880211.701 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-22T16:30:11.706Z,1755880211.706 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-22T16:30:11.709Z,1755880211.709 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.EnabledWetLabsUBAT = 0 bool
2025-08-22T16:30:11.711Z,1755880211.711 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.LowPassWindowLength = 20.000000 count
2025-08-22T16:30:11.713Z,1755880211.713 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.MedianFilterLen = 5.000000 count
2025-08-22T16:30:11.723Z,1755880211.723 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ShallowBound = nan m
2025-08-22T16:30:11.725Z,1755880211.725 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DeepBound = nan m
2025-08-22T16:30:11.727Z,1755880211.727 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-22T16:30:11.732Z,1755880211.732 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalAscent = nan %
2025-08-22T16:30:11.740Z,1755880211.740 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.OffPeakFractionVerticalDescent = nan %
2025-08-22T16:30:11.746Z,1755880211.746 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-22T16:30:11.748Z,1755880211.748 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumberOfLayers = 1.000000 count
2025-08-22T16:30:11.751Z,1755880211.751 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlThreshTriggerActive = 0 bool
2025-08-22T16:30:11.753Z,1755880211.753 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlLowerThresh = nan ug/l
2025-08-22T16:30:11.767Z,1755880211.767 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.ChlUpperThresh = nan ug/l
2025-08-22T16:30:11.774Z,1755880211.774 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.NumProfilesThresh = 5.000000 count
2025-08-22T16:30:11.776Z,1755880211.776 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-22T16:30:11.779Z,1755880211.779 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-22T16:30:11.781Z,1755880211.781 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-22T16:30:11.796Z,1755880211.796 [MissionManager](INFO): DefineArg lineCaptureHoming:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-22T16:30:11.802Z,1755880211.802 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.GoDown = 1 bool
2025-08-22T16:30:11.804Z,1755880211.804 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChl = nan ug/l
2025-08-22T16:30:11.811Z,1755880211.811 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlDepth = nan m
2025-08-22T16:30:11.818Z,1755880211.818 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlTemperature = nan degC
2025-08-22T16:30:11.820Z,1755880211.820 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLatitude = nan arcdeg
2025-08-22T16:30:11.835Z,1755880211.835 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakChlLongitude = nan arcdeg
2025-08-22T16:30:11.842Z,1755880211.842 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChl = nan ug/l
2025-08-22T16:30:11.844Z,1755880211.844 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlDepth = nan m
2025-08-22T16:30:11.847Z,1755880211.847 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlTemperature = nan degC
2025-08-22T16:30:11.849Z,1755880211.849 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLatitude = nan arcdeg
2025-08-22T16:30:11.864Z,1755880211.864 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgeChlLongitude = nan arcdeg
2025-08-22T16:30:11.870Z,1755880211.870 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3 = nan umol/l
2025-08-22T16:30:11.872Z,1755880211.872 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Depth = nan m
2025-08-22T16:30:11.879Z,1755880211.879 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Latitude = nan arcdeg
2025-08-22T16:30:11.881Z,1755880211.881 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakNO3Longitude = nan arcdeg
2025-08-22T16:30:11.888Z,1755880211.888 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOil = nan kg/m3
2025-08-22T16:30:11.906Z,1755880211.906 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilDepth = nan m
2025-08-22T16:30:11.909Z,1755880211.909 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLatitude = nan arcdeg
2025-08-22T16:30:11.915Z,1755880211.915 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakOilLongitude = nan arcdeg
2025-08-22T16:30:11.922Z,1755880211.922 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOM = nan ppb
2025-08-22T16:30:11.924Z,1755880211.924 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMDepth = nan m
2025-08-22T16:30:11.939Z,1755880211.939 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMTemperature = nan degC
2025-08-22T16:30:11.941Z,1755880211.941 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLatitude = nan arcdeg
2025-08-22T16:30:11.947Z,1755880211.947 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakFDOMLongitude = nan arcdeg
2025-08-22T16:30:11.954Z,1755880211.954 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSalt = nan psu
2025-08-22T16:30:11.956Z,1755880211.956 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltDepth = nan m
2025-08-22T16:30:11.959Z,1755880211.959 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltTemperature = nan degC
2025-08-22T16:30:11.961Z,1755880211.961 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLatitude = nan arcdeg
2025-08-22T16:30:12.020Z,1755880212.020 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakSaltLongitude = nan arcdeg
2025-08-22T16:30:12.030Z,1755880212.030 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-22T16:30:12.032Z,1755880212.032 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-22T16:30:12.043Z,1755880212.043 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-22T16:30:12.051Z,1755880212.051 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T16:30:12.053Z,1755880212.053 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T16:30:12.076Z,1755880212.076 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-22T16:30:12.082Z,1755880212.082 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-22T16:30:12.085Z,1755880212.085 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-22T16:30:12.091Z,1755880212.091 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-22T16:30:12.102Z,1755880212.102 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-22T16:30:12.111Z,1755880212.111 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-22T16:30:12.122Z,1755880212.122 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-22T16:30:12.139Z,1755880212.139 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-22T16:30:12.164Z,1755880212.164 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T16:30:12.180Z,1755880212.180 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T16:30:12.188Z,1755880212.188 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-22T16:30:12.197Z,1755880212.197 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-22T16:30:12.204Z,1755880212.204 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-22T16:30:12.214Z,1755880212.214 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-22T16:30:12.216Z,1755880212.216 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-22T16:30:12.223Z,1755880212.223 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-22T16:30:12.232Z,1755880212.232 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-22T16:30:12.234Z,1755880212.234 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-22T16:30:12.237Z,1755880212.237 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T16:30:12.247Z,1755880212.247 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T16:30:12.250Z,1755880212.250 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-22T16:30:12.252Z,1755880212.252 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-22T16:30:12.254Z,1755880212.254 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-22T16:30:12.256Z,1755880212.256 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-22T16:30:12.277Z,1755880212.277 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-22T16:30:12.279Z,1755880212.279 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-22T16:30:12.282Z,1755880212.282 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-22T16:30:12.284Z,1755880212.284 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T16:30:12.301Z,1755880212.301 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T16:30:12.303Z,1755880212.303 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T16:30:12.305Z,1755880212.305 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-22T16:30:12.308Z,1755880212.308 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-22T16:30:12.328Z,1755880212.328 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-22T16:30:12.335Z,1755880212.335 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-22T16:30:12.337Z,1755880212.337 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-22T16:30:12.340Z,1755880212.340 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChl = nan ug/l
2025-08-22T16:30:12.342Z,1755880212.342 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDepth = nan m
2025-08-22T16:30:12.344Z,1755880212.344 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLatitude = nan arcdeg
2025-08-22T16:30:12.363Z,1755880212.363 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlLongitude = nan arcdeg
2025-08-22T16:30:12.365Z,1755880212.365 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchChlDistance = nan m
2025-08-22T16:30:12.368Z,1755880212.368 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSalt = nan psu
2025-08-22T16:30:12.370Z,1755880212.370 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDepth = nan m
2025-08-22T16:30:12.372Z,1755880212.372 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLatitude = nan arcdeg
2025-08-22T16:30:12.423Z,1755880212.423 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltLongitude = nan arcdeg
2025-08-22T16:30:12.425Z,1755880212.425 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchSaltDistance = nan m
2025-08-22T16:30:12.440Z,1755880212.440 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOil = nan psu
2025-08-22T16:30:12.450Z,1755880212.450 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDepth = nan m
2025-08-22T16:30:12.453Z,1755880212.453 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLatitude = nan arcdeg
2025-08-22T16:30:12.471Z,1755880212.471 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilLongitude = nan arcdeg
2025-08-22T16:30:12.473Z,1755880212.473 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.PatchOilDistance = nan m
2025-08-22T16:30:12.479Z,1755880212.479 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.TriggeredOnChl = 0 bool
2025-08-22T16:30:12.490Z,1755880212.490 [MissionManager](INFO): DefineOutput lineCaptureHoming:Science.ChlTriggering = nan ug/l
2025-08-22T16:30:12.528Z,1755880212.528 [lineCaptureHoming:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.567Z,1755880212.567 [lineCaptureHoming:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T16:30:12.627Z,1755880212.627 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T16:30:12.660Z,1755880212.660 [lineCaptureHoming:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.688Z,1755880212.688 [lineCaptureHoming:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.728Z,1755880212.728 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T16:30:12.763Z,1755880212.763 [lineCaptureHoming:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.827Z,1755880212.827 [lineCaptureHoming:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.875Z,1755880212.875 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-22T16:30:12.939Z,1755880212.939 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:12.980Z,1755880212.980 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T16:30:13.060Z,1755880213.060 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:13.097Z,1755880213.097 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T16:30:13.171Z,1755880213.171 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:13.231Z,1755880213.231 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T16:30:13.320Z,1755880213.320 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-22T16:30:13.372Z,1755880213.372 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-22T16:30:13.442Z,1755880213.442 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-22T16:30:13.452Z,1755880213.452 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:13.452Z,1755880213.452 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:13.462Z,1755880213.462 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:13.591Z,1755880213.591 [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>

2025-08-22T16:30:13.658Z,1755880213.658 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T16:30:13.660Z,1755880213.660 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T16:30:13.691Z,1755880213.691 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T16:30:13.693Z,1755880213.693 [MissionManager](INFO): DefineArg lineCaptureHoming:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T16:30:13.700Z,1755880213.700 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T16:30:13.728Z,1755880213.728 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T16:30:13.743Z,1755880213.743 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T16:30:13.760Z,1755880213.760 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/NeedComms.tl
2025-08-22T16:30:13.760Z,1755880213.760 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/NeedComms.tl
2025-08-22T16:30:13.761Z,1755880213.761 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/NeedComms.tl
2025-08-22T16:30:14.270Z,1755880214.270 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/NeedComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="NeedComms">
    <DefineArg Name="DiveInterval">
        <Units:hour />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="WaitForPitchUp">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="SurfacePitch">
        <Units:degree />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="SurfaceDepthRate">
        <Units:meter_per_second />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="SurfaceSpeed">
        <Units:meter_per_second />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="SurfacingTimeout">
        <Units:second />
        <Value>1000</Value>
    </DefineArg>
    <DefineArg Name="GPSTimeout">
        <Units:minute />
        <Value>7</Value>
    </DefineArg>
    <DefineArg Name="CommsTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
                <Add>
                    <Arg Name="WaitForPitchUp" />
                </Add>
            </Gt>
        </Or>
        <Or>
            <Elapsed>
                <Universal:time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="DiveInterval" />
            </Gt>
            <And>
                <Universal:platform_pitch_angle />
                <Gt>
                    <Units:degree />
                    <Value>0</Value>
                </Gt>
            </And>
        </Or>
    </When>
    <Syslog Severity="Info">
        last time_fix was: 
        <Universal:time_fix />
        <Units:epoch_second />
    </Syslog>
    <Guidance:GoToSurface>
        <Progression />
        <Setting>
            <Guidance:GoToSurface.pitch />
            <Arg Name="SurfacePitch" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.depthRate />
            <Arg Name="SurfaceDepthRate" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.speed />
            <Arg Name="SurfaceSpeed" />
        </Setting>
        <Setting>
            <Guidance:GoToSurface.surfaceTimeout />
            <Arg Name="SurfacingTimeout" />
        </Setting>
    </Guidance:GoToSurface>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">first GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="CommsTimeout">
            <Syslog Severity="Important">
                Comms timed out after 
                <Arg Name="CommsTimeout" />
                <Units:minute />
                minutes
            </Syslog>
        </Timeout>
        <Universal:platform_communications />
    </ReadDatum>
    <ReadDatum>
        <Timeout Duration="GPSTimeout">
            <Syslog Severity="Important">second GPS update timeout</Syslog>
        </Timeout>
        <Universal:time_fix />
    </ReadDatum>
</Aggregate>

2025-08-22T16:30:14.279Z,1755880214.279 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.DiveInterval = 1.000000 h
2025-08-22T16:30:14.281Z,1755880214.281 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.WaitForPitchUp = 10.000000 min
2025-08-22T16:30:14.300Z,1755880214.300 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacePitch = 20.000000 arcdeg
2025-08-22T16:30:14.306Z,1755880214.306 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceDepthRate = nan m/s
2025-08-22T16:30:14.308Z,1755880214.308 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfaceSpeed = 1.000000 m/s
2025-08-22T16:30:14.315Z,1755880214.315 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.SurfacingTimeout = 1000.000000 s
2025-08-22T16:30:14.317Z,1755880214.317 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.GPSTimeout = 7.000000 min
2025-08-22T16:30:14.323Z,1755880214.323 [MissionManager](INFO): DefineArg lineCaptureHoming:NeedComms.CommsTimeout = 30.000000 min
2025-08-22T16:30:14.333Z,1755880214.333 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2025-08-22T16:30:14.420Z,1755880214.420 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/MicromodemComms.tl
2025-08-22T16:30:14.420Z,1755880214.420 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/MicromodemComms.tl
2025-08-22T16:30:14.421Z,1755880214.421 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/MicromodemComms.tl
2025-08-22T16:30:14.539Z,1755880214.539 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/MicromodemComms.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="MicromodemComms">
    <DefineArg Name="Timeout">
        <Units:minute />
        <Value>10</Value>
    </DefineArg>
    <DefineArg Name="CommsInterval">
        <Units:minute />
        <Value>5</Value>
    </DefineArg>
    <While>
        <Elapsed>
            <Universal:platform_communications />
        </Elapsed>
        <Gt>
            <Arg Name="CommsInterval" />
        </Gt>
    </While>
    <Aggregate Id="CheckIn">
        <Sequence />
        <ReadDatum>
            <Timeout Duration="Timeout" />
            <Universal:platform_communications />
        </ReadDatum>
    </Aggregate>
</Aggregate>

2025-08-22T16:30:14.563Z,1755880214.563 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.Timeout = 10.000000 min
2025-08-22T16:30:14.565Z,1755880214.565 [MissionManager](INFO): DefineArg lineCaptureHoming:MicromodemComms.CommsInterval = 5.000000 min
2025-08-22T16:30:14.587Z,1755880214.587 [MissionManager](INFO): RedefineArg lineCaptureHoming:MicromodemComms.CommsInterval = reader:lineCaptureHoming.MicromodemCommsInterval
2025-08-22T16:30:14.590Z,1755880214.590 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/LineCapture.tl
2025-08-22T16:30:14.590Z,1755880214.590 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/LineCapture.tl
2025-08-22T16:30:14.644Z,1755880214.644 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/LineCapture.tl
2025-08-22T16:30:16.744Z,1755880216.744 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/LineCapture.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="LineCapture">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DetachTimeout">
        <Units:minute />
        <Value>30</Value>
    </DefineArg>
    <DefineArg Name="MidcourseDepth">
        <Dock:LineCapture.midcourseDepth />
    </DefineArg>
    <DefineArg Name="MidcourseSpeed">
        <Dock:LineCapture.midcourseSpeed />
    </DefineArg>
    <DefineArg Name="MidcourseTimeout">
        <Dock:LineCapture.midcourseTimeout />
    </DefineArg>
    <DefineArg Name="TerminalRange">
        <Dock:LineCapture.terminalRange />
    </DefineArg>
    <DefineArg Name="AcousticTimeout">
        <Dock:LineCapture.acousticTimeout />
    </DefineArg>
    <DefineArg Name="losRateIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="SearchTimeout">
        <Dock:LineCapture.searchTimeout />
    </DefineArg>
    <DefineArg Name="CircleRadius">
        <Dock:LineCapture.searchCircleRadius />
    </DefineArg>
    <DefineArg Name="CircleMaxError">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="CircleTurnToPort">
        <False />
    </DefineArg>
    <DefineArg Name="DepthDeadband">
        <Units:meter />
        <Value>0.01</Value>
    </DefineArg>
    <DefineArg Name="RudderDeadband">
        <Units:degree />
        <Value>0.001</Value>
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="DockingAltitude">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="InvalidAltitudeTimeout">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeDepthLimit">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="AltitudeIIRFilterDecay">
        <Units:none />
        <Value>0.0</Value>
    </DefineArg>
    <DefineArg Name="ElapsedRange">
        <Units:minute />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="Range">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineOutput Name="DoneTimeout">
        <Units:count />
        <Value>-1</Value>
    </DefineOutput>
    <DefineOutput Name="Done">
        <Units:count />
        <Value>0</Value>
    </DefineOutput>
    <DefineOutput Name="DetachFromDock">
        <Units:count />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="Midcourse">
        <Units:count />
        <Value>2</Value>
    </DefineOutput>
    <DefineOutput Name="Terminal">
        <Units:count />
        <Value>3</Value>
    </DefineOutput>
    <DefineOutput Name="GuidanceMode">
        <Arg Name="DetachFromDock" />
    </DefineOutput>
    <DefineOutput Name="DockingDepth">
        <Units:meter />
        <Value>1</Value>
    </DefineOutput>
    <DefineOutput Name="LineCapRollout">
        <Units:count />
        <Value>5</Value>
    </DefineOutput>
    <When>
        <Called />
    </When>
    <Assign>
        <Sequence />
        <Arg Name="GuidanceMode" />
        <Arg Name="DetachFromDock" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="DockingDepth" />
        <Dock:Dock.depth />
        <Add>
            <Dock:Docked.dockingDepthOffset />
        </Add>
    </Assign>
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="ElapsedRange" />
        <Elapsed>
            <Universal:acoustic_contact_range />
        </Elapsed>
    </Assign>
    <Assign>
        <Parallel />
        <Arg Name="Range" />
        <Universal:acoustic_contact_range />
    </Assign>
    <Aggregate Id="HoldMass">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
            <Or>
                <Dock:LineCapture.guidanceMode />
                <Eq>
                    <Arg Name="LineCapRollout" />
                </Eq>
            </Or>
        </While>
        <Assign>
            <Parallel />
            <Control:VerticalControl.depthDeadband />
            <Arg Name="DepthDeadband" />
        </Assign>
        <Guidance:Mass>
            <Parallel />
            <Setting>
                <Guidance:Mass.position />
                <Control:VerticalControl.massDefault />
            </Setting>
        </Guidance:Mass>
    </Aggregate>
    <Aggregate Id="HoldBuoyancy">
        <While>
            <Abs>
                <Control:SpeedControl.speedCmd />
            </Abs>
            <Gt>
                <Units:meter_per_second />
                <Value>0</Value>
            </Gt>
        </While>
        <Guidance:Buoyancy>
            <Parallel />
            <Setting>
                <Guidance:Buoyancy.position />
                <Control:VerticalControl.buoyancyNeutral />
            </Setting>
        </Guidance:Buoyancy>
    </Aggregate>
    <Aggregate Id="HomingSequence">
        <Sequence />
        <Break>
            <Arg Name="GuidanceMode" />
            <Le>
                <Arg Name="Done" />
            </Le>
        </Break>
        <Aggregate Id="DetachFromDock">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="DetachFromDock" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Dock:Undock>
                    <Sequence />
                    <Timeout Duration="DetachTimeout">
                        <Syslog Severity="Important">
                            Timed out while trying to detach from dock at current depth of 
                            <Universal:depth />
                            <Units:meter />
                            .
                        </Syslog>
                    </Timeout>
                </Dock:Undock>
                <Syslog Severity="Info">Transitioning to midcourse guidance.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Midcourse" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="MidcourseGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Midcourse" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">
                    Navigating to dock waypoint (
                    <Arg Name="DockLat" />
                    <Units:degree />
                    ,
                    <Arg Name="DockLon" />
                    <Units:degree />
                    )
                </Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Lt>
                            <Arg Name="TerminalRange" />
                        </Lt>
                        <And>
                            <Arg Name="ElapsedRange" />
                            <Le>
                                <Arg Name="AcousticTimeout" />
                            </Le>
                        </And>
                    </When>
                    <Syslog Severity="Info">
                        Transitioning to terminal guidance at range
                        <Arg Name="Range" />
                        <Units:meter />
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Terminal" />
                    </Assign>
                </Aggregate>
                <Guidance:SetSpeed>
                    <Parallel />
                    <Setting>
                        <Guidance:SetSpeed.speed />
                        <Arg Name="MidcourseSpeed" />
                    </Setting>
                </Guidance:SetSpeed>
                <Guidance:Pitch>
                    <Parallel />
                    <Setting>
                        <Guidance:Pitch.depth />
                        <Arg Name="MidcourseDepth" />
                    </Setting>
                </Guidance:Pitch>
                <Guidance:Waypoint>
                    <Sequence />
                    <Timeout Duration="MidcourseTimeout">
                        <Syslog Severity="Important">Terminating homing sequence: timed out while navigating to the dock waypoint.</Syslog>
                        <Assign>
                            <Sequence />
                            <Arg Name="GuidanceMode" />
                            <Arg Name="DoneTimeout" />
                        </Assign>
                    </Timeout>
                    <Setting>
                        <Guidance:Waypoint.latitude />
                        <Arg Name="DockLat" />
                    </Setting>
                    <Setting>
                        <Guidance:Waypoint.longitude />
                        <Arg Name="DockLon" />
                    </Setting>
                </Guidance:Waypoint>
                <Syslog Severity="Info">Executing search pattern.</Syslog>
                <Aggregate Id="SearchPattern">
                    <Sequence />
                    <Timeout Duration="SearchTimeout">
                        <Syslog Severity="Important">Timed out while executing search pattern around dock waypoint.</Syslog>
                    </Timeout>
                    <Guidance:Circle>
                        <Parallel />
                        <Setting>
                            <Guidance:Circle.latitude />
                            <Arg Name="DockLat" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.longitude />
                            <Arg Name="DockLon" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.radius />
                            <Arg Name="CircleRadius" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.maxError />
                            <Arg Name="CircleMaxError" />
                        </Setting>
                        <Setting>
                            <Guidance:Circle.turnToPort />
                            <Arg Name="CircleTurnToPort" />
                        </Setting>
                    </Guidance:Circle>
                    <Guidance:Wait>
                        <Sequence />
                        <Setting>
                            <Guidance:Wait.duration />
                            <Arg Name="SearchTimeout" />
                        </Setting>
                    </Guidance:Wait>
                </Aggregate>
                <Syslog Severity="Important">Homing sequence timed out prior to docking.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="DoneTimeout" />
                </Assign>
            </Aggregate>
        </Aggregate>
        <Aggregate Id="TerminalGuidance">
            <While>
                <Arg Name="GuidanceMode" />
                <Eq>
                    <Arg Name="Terminal" />
                </Eq>
            </While>
            <Aggregate Id="guide">
                <Sequence />
                <Syslog Severity="Info">Terminal guidance.</Syslog>
                <Aggregate Id="CheckRange">
                    <When>
                        <Arg Name="Range" />
                        <Ge>
                            <Arg Name="TerminalRange" />
                        </Ge>
                        <Or>
                            <Arg Name="ElapsedRange" />
                            <Gt>
                                <Arg Name="AcousticTimeout" />
                            </Gt>
                        </Or>
                    </When>
                    <Syslog Severity="Important">
                        Transitioning to midcourse guidance. Received last range of
                        <Arg Name="Range" />
                        <Units:meter />
                        <Arg Name="ElapsedRange" />
                        <Units:minute />
                        ago.
                    </Syslog>
                    <Assign>
                        <Sequence />
                        <Arg Name="GuidanceMode" />
                        <Arg Name="Midcourse" />
                    </Assign>
                </Aggregate>
                <Aggregate Id="altitudeControl">
                    <While>
                        <Not>
                            <IsNaN>
                                <Arg Name="DockingAltitude" />
                            </IsNaN>
                        </Not>
                    </While>
                    <Guidance:AltitudeServo>
                        <Parallel />
                        <Setting>
                            <Guidance:AltitudeServo.targetAltitude />
                            <Arg Name="DockingAltitude" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.initialDepth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.invalidAltitudeTimeout />
                            <Arg Name="InvalidAltitudeTimeout" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.maxDepthLimit />
                            <Arg Name="AltitudeDepthLimit" />
                        </Setting>
                        <Setting>
                            <Guidance:AltitudeServo.iirFilterDecay />
                            <Arg Name="AltitudeIIRFilterDecay" />
                        </Setting>
                    </Guidance:AltitudeServo>
                </Aggregate>
                <Aggregate Id="depthControl">
                    <While>
                        <IsNaN>
                            <Arg Name="DockingAltitude" />
                        </IsNaN>
                    </While>
                    <Guidance:Pitch>
                        <Parallel />
                        <Setting>
                            <Guidance:Pitch.depth />
                            <Arg Name="DockingDepth" />
                        </Setting>
                    </Guidance:Pitch>
                </Aggregate>
                <Assign>
                    <Parallel />
                    <Servo:RudderServo.deviationAngle />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Assign>
                    <Parallel />
                    <Control:HorizontalControl.rudDeadband />
                    <Arg Name="RudderDeadband" />
                </Assign>
                <Dock:LineCapture>
                    <Sequence />
                    <Setting>
                        <Dock:LineCapture.iirFilterDecay />
                        <Arg Name="losRateIIRFilterDecay" />
                    </Setting>
                </Dock:LineCapture>
                <Syslog Severity="Info">Docked. Homing sequence complete.</Syslog>
                <Assign>
                    <Sequence />
                    <Arg Name="GuidanceMode" />
                    <Arg Name="Done" />
                </Assign>
            </Aggregate>
        </Aggregate>
    </Aggregate>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:second />
            <Value>3</Value>
        </Setting>
    </Guidance:Wait>
    <Syslog Severity="Info">
        GuidanceMode
        <Arg Name="GuidanceMode" />
        <Units:count />
    </Syslog>
</Aggregate>

2025-08-22T16:30:16.767Z,1755880216.767 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLat = 36.779130 arcdeg
2025-08-22T16:30:16.774Z,1755880216.774 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockLon = -122.859630 arcdeg
2025-08-22T16:30:16.776Z,1755880216.776 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DetachTimeout = 30.000000 min
2025-08-22T16:30:16.812Z,1755880216.812 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseDepth = 50.000000 m
2025-08-22T16:30:16.820Z,1755880216.820 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseSpeed = 0.800000 m/s
2025-08-22T16:30:16.855Z,1755880216.855 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MidcourseTimeout = 6.000000 h
2025-08-22T16:30:16.878Z,1755880216.878 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.TerminalRange = 650.000000 m
2025-08-22T16:30:16.880Z,1755880216.880 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AcousticTimeout = 5.000000 min
2025-08-22T16:30:16.891Z,1755880216.891 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.losRateIIRFilterDecay = 0.000000 n/a
2025-08-22T16:30:16.909Z,1755880216.909 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.SearchTimeout = 5.000000 min
2025-08-22T16:30:16.912Z,1755880216.912 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleRadius = 1000.000000 m
2025-08-22T16:30:16.921Z,1755880216.921 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleMaxError = 1.000000 m
2025-08-22T16:30:16.935Z,1755880216.935 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.CircleTurnToPort = 0 bool
2025-08-22T16:30:16.946Z,1755880216.946 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DepthDeadband = 0.010000 m
2025-08-22T16:30:16.959Z,1755880216.959 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.RudderDeadband = 0.001000 arcdeg
2025-08-22T16:30:16.961Z,1755880216.961 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinAltitude = 2.000000 m
2025-08-22T16:30:16.963Z,1755880216.963 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MaxDepth = 8.000000 m
2025-08-22T16:30:16.982Z,1755880216.982 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.MinOffshore = 1.000000 m
2025-08-22T16:30:16.984Z,1755880216.984 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.DockingAltitude = nan m
2025-08-22T16:30:17.002Z,1755880217.002 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.InvalidAltitudeTimeout = nan min
2025-08-22T16:30:17.004Z,1755880217.004 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeDepthLimit = nan m
2025-08-22T16:30:17.011Z,1755880217.011 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.AltitudeIIRFilterDecay = 0.000000 n/a
2025-08-22T16:30:17.013Z,1755880217.013 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.ElapsedRange = 0.000000 min
2025-08-22T16:30:17.045Z,1755880217.045 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture.Range = nan m
2025-08-22T16:30:17.076Z,1755880217.076 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DoneTimeout = -1.000000 count
2025-08-22T16:30:17.086Z,1755880217.086 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Done = 0.000000 count
2025-08-22T16:30:17.088Z,1755880217.088 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DetachFromDock = 1.000000 count
2025-08-22T16:30:17.099Z,1755880217.099 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Midcourse = 2.000000 count
2025-08-22T16:30:17.110Z,1755880217.110 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.Terminal = 3.000000 count
2025-08-22T16:30:17.113Z,1755880217.113 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.GuidanceMode = 1.000000 count
2025-08-22T16:30:17.123Z,1755880217.123 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.DockingDepth = 1.000000 m
2025-08-22T16:30:17.134Z,1755880217.134 [MissionManager](INFO): DefineOutput lineCaptureHoming:LineCapture.LineCapRollout = 5.000000 count
2025-08-22T16:30:17.164Z,1755880217.164 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:17.164Z,1755880217.164 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:17.173Z,1755880217.173 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-22T16:30:17.415Z,1755880217.415 [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>

2025-08-22T16:30:17.423Z,1755880217.423 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-22T16:30:17.425Z,1755880217.425 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-22T16:30:17.432Z,1755880217.432 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-22T16:30:17.455Z,1755880217.455 [MissionManager](INFO): DefineArg lineCaptureHoming:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-22T16:30:17.456Z,1755880217.456 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-22T16:30:17.481Z,1755880217.481 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-22T16:30:17.496Z,1755880217.496 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-22T16:30:17.528Z,1755880217.528 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Construct.
2025-08-22T16:30:17.537Z,1755880217.537 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T16:30:17.562Z,1755880217.562 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2025-08-22T16:30:17.562Z,1755880217.562 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:30:17.600Z,1755880217.600 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2025-08-22T16:30:17.607Z,1755880217.607 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2025-08-22T16:30:17.616Z,1755880217.616 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T16:30:17.671Z,1755880217.671 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2025-08-22T16:30:17.685Z,1755880217.685 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2025-08-22T16:30:17.737Z,1755880217.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Construct.
2025-08-22T16:30:17.763Z,1755880217.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Construct.
2025-08-22T16:30:17.778Z,1755880217.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Construct.
2025-08-22T16:30:17.812Z,1755880217.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-22T16:30:17.812Z,1755880217.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-22T16:30:17.820Z,1755880217.820 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Construct Wait.
2025-08-22T16:30:18.071Z,1755880218.071 [lineCaptureHoming:restartDHCP:B.Execute](DEBUG): Construct Execute.
2025-08-22T16:30:18.090Z,1755880218.090 [lineCaptureHoming:BA.Execute](DEBUG): Construct Execute.
2025-08-22T16:30:18.092Z,1755880218.092 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Construct.
2025-08-22T16:30:18.105Z,1755880218.105 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Construct.
2025-08-22T16:30:18.179Z,1755880218.179 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Construct.
2025-08-22T16:30:18.216Z,1755880218.216 [lineCaptureHoming:InitialDive:C.Pitch:A_Timeout:B.Execute](DEBUG): Construct Execute.
2025-08-22T16:30:18.251Z,1755880218.251 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/SetNavAcoustic.tl
2025-08-22T16:30:18.251Z,1755880218.251 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/SetNavAcoustic.tl
2025-08-22T16:30:18.253Z,1755880218.253 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/SetNavAcoustic.tl
2025-08-22T16:30:18.496Z,1755880218.496 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/SetNavAcoustic.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="SetNavAcoustic">
    <DefineArg Name="DockLat">
        <Dock:Dock.lat />
    </DefineArg>
    <DefineArg Name="DockLon">
        <Dock:Dock.lon />
    </DefineArg>
    <DefineArg Name="DockRange">
        <Dock:SetNav.dockRange />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:SetNav.rangeTimeout />
    </DefineArg>
    <When>
        <Called />
        <Or>
            <Elapsed>
                <Dock:SetNav.time_fix />
            </Elapsed>
            <Gt>
                <Arg Name="RangeTimeout" />
            </Gt>
            <And>
                <Estimation:TrackAcousticContact.range_to_contact />
                <Le>
                    <Arg Name="DockRange" />
                </Le>
            </And>
            <And>
                <Elapsed>
                    <Estimation:TrackAcousticContact.range_to_contact />
                </Elapsed>
                <Lt>
                    <Arg Name="RangeTimeout" />
                </Lt>
            </And>
        </Or>
    </When>
    <Aggregate Id="UpdateNav">
        <Sequence />
        <Timeout Duration="P1M" />
        <Syslog Severity="Info">
            Reseting nav to dock location at range
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
        </Syslog>
        <Dock:SetNav>
            <Sequence />
            <Setting>
                <Dock:SetNav.latitude />
                <Arg Name="DockLat" />
            </Setting>
            <Setting>
                <Dock:SetNav.longitude />
                <Arg Name="DockLon" />
            </Setting>
        </Dock:SetNav>
    </Aggregate>
</Aggregate>

2025-08-22T16:30:18.509Z,1755880218.509 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLat = 36.779130 arcdeg
2025-08-22T16:30:18.519Z,1755880218.519 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockLon = -122.859630 arcdeg
2025-08-22T16:30:18.526Z,1755880218.526 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.DockRange = 0.000000 m
2025-08-22T16:30:18.529Z,1755880218.529 [MissionManager](INFO): DefineArg lineCaptureHoming:Lap:Docked:SetNavAcoustic.RangeTimeout = 5.000000 min
2025-08-22T16:30:18.592Z,1755880218.592 [lineCaptureHoming:Lap:Docked:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2025-08-22T16:30:18.618Z,1755880218.618 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Construct.
2025-08-22T16:30:18.618Z,1755880218.618 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-22T16:30:18.665Z,1755880218.665 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2025-08-22T16:30:18.669Z,1755880218.669 [lineCaptureHoming:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2025-08-22T16:30:18.688Z,1755880218.688 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Construct.
2025-08-22T16:30:18.704Z,1755880218.704 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Construct.
2025-08-22T16:30:18.711Z,1755880218.711 [lineCaptureHoming:Lap:Docked:Wpt1:D.Waypoint](DEBUG): Construct Waypoint.
2025-08-22T16:30:18.727Z,1755880218.727 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Construct Buoyancy.
2025-08-22T16:30:18.734Z,1755880218.734 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Construct.
2025-08-22T16:30:18.749Z,1755880218.749 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Construct.
2025-08-22T16:30:18.762Z,1755880218.762 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Construct.
2025-08-22T16:30:18.765Z,1755880218.765 [lineCaptureHoming:Lap:Docked:Drift:F.Wait](DEBUG): Construct Wait.
2025-08-22T16:30:19.014Z,1755880219.014 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission lineCaptureHoming {
  """
  Home to transponder while maintaining altitude or depth. Altitude gets
  priority if non nan. The mission sequence: (*) Start (1) Midcourse
  guidance: nav to target WP while querying transponder (2) Terminal
  guidance: home to target using USBL tracking data (4) Dock: final
  approach using fixed heading.
  """

  # Define mission arguments

  arguments {
    MissionTimeout = 3 hour
      """
      Maximum length of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    MicromodemCommsInterval = 3 hour
      """
      How often to trigger Umodem communications
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through the homing
      sequence.
      """

    WaitOnDockTimeout = 5 minute
      """
      Time duration to wait on the dock after a successful line capture.
      """

    StayOnDock = false
      """
      If true, mission terminates after WaitOnDockTimeout following a successful
      capture, without executing the undock sequence.
      """

    TrySlide = false
      """
      If true, once docked, try to slide down the docking rod until charging and
      comms are acheived
      """

    RetryIncompleteDock = false
      """
      If true, restart docking sequence in event of a successful capture but
      unsuccessful slide
      """

    SlideRetries = 4 count
      """
      If using slide mode, max number of times to try the slide sequence before
      giving up
      """

    SlideSinkDuration = 1.5 minute
      """
      Time duration to slide down by sinking during each slide mode iteration
      """

    SlideCloseDuration = 1.5 minute
      """
      Time duration to close arm to check for power/comms during each slide mode
      iteration
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    TrackingUpdatePeriodMidcourse = 60 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodTerminal = 2 second
      """
      How long to wait between acoustic queries.
      """

    TrackingUpdatePeriodDocked = 2 minute
      """
      How long to wait between acoustic queries.
      """

    TrackingNumFixesLowPassFilter = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    NumPingsUSBL = 120 count
      """
      Number of pings requested while in USBL mode range.
      """

    RangeUSBL = 40 meter
      """
      USBL mode range.
      """

    TrackingNumFixesLowPassFilterUSBL = 5 count
      """
      Median filter bin size. Filters the contact estimated lat/lon position.
      Prefer odd number, set to 1 to disable filter.
      """

    DockingAltitude = NaN meter
      """
      Docking altitude. Ignored when NaN and used over depth when a valid
      altitude is set.
      """

    InvalidAltitudeTimeout = 10 minute
      """
      The mission will use the last good depth command if no valid altitude
      readings are received within this specified time duration.
      """

    AltitudeDepthLimit = NaN meter
      """
      Vehicle will not be commanded deeper than this regardless of altitude
      command.
      """

    MinAltitude = 4 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    ApproachDepthTimeout = 20 minute
      """
      Maximum wait time for the vehicle to reach the target depth on initial
      dive.
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (positive depth is down). Used only as a smoothing
      parameter.
      """

    Lat1 = NaN degree
      """
      Latitude of rollout waypoint. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of rollout waypoint. If nan, waypoint is skipped.
      """

    CaptureRadius = NaN meter
      """
      How close to call the waypiont behavior satisfied. Nan uses default
      value.
      """

    CorrectForSoundSpeed = false
      """
      Whether or not to apply sound speed correction to acoustic ranges
      """

    # Mission Variables (don't change)

    MidcourseDepth = Dock:LineCapture.midcourseDepth
      """
      Desired vehicle depth when navigating to dock WP (during midcourse
      phase).
      """

    MidcourseSpeed = Dock:LineCapture.midcourseSpeed
      """
      Speed during initial dive and waypoint.
      """

    TrackingPeriod = 60 second
      """
      Mission variable (don't change). The mission sets this variable to
      update the how long to wait between acoustic queries.
      """
  }

  output {
    Mode = -1 count
      """
      Mission variable (don't change). The mission sets this variable to
      reflect the termination status of the LineCapture insert.
      """

    NumPings = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinSize = 1 count
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    LowPassFilterWinOverlap = true
      """
      Mission variable (don't change). The mission sets this variable to
      update the requested ping number and enter usbl mode.
      """

    EndDockingSequence = StayOnDock
      """
      Mission variable (don't change). The mission sets this variable to
      determine whether or not to restart the docking sequence upon
      completion of the Docked behavior.
      """

    LastDockSuccessful = false
      """
      Mission variable (don't change). The mission sets this variable based
      on the last run of the Docked behavior
      """

    DockSuccessfulCount = 0 count
      """
      Mission variable (don't change). The mission sets this variable to
      track the number of complete docking attempts
      """

    RepeatArg = Repeat
      """
      Mission variable (don't change). Actual number of Lap repetitions
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = NeedCommsTime
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  # Micromodem comms

  insert id="MicromodemComms" Insert/MicromodemComms.tl {
    redefineArg CommsInterval = MicromodemCommsInterval
  }

  readData {
    while (
      Mode >= 0 count
      and Sensor:DataOverHttps.connectionStatus == true
    )

    Universal:platform_communications
  }

  # Add LineCapture directives.

  insert Insert/LineCapture.tl

  assign in sequence LineCapture:MaxDepth = MaxDepth
  assign in sequence LineCapture:MinOffshore = MinOffshore
  assign in sequence LineCapture:MinAltitude = MinAltitude
  assign in sequence LineCapture:DockingAltitude = DockingAltitude
  assign in sequence LineCapture:InvalidAltitudeTimeout = InvalidAltitudeTimeout
  assign in sequence LineCapture:AltitudeDepthLimit = AltitudeDepthLimit

  # Add track acoustic contact directive.

  assign in sequence NumPings = NumberOfPings

  behavior Estimation:TrackAcousticContact id="TrackAC" {
    run in parallel

    set contactLabelSetting = TransponderCode

    set numberOfSamplesSetting = NumPings

    set updatePeriodSetting = TrackingPeriod

    set numFixesLowPassSetting = LowPassFilterWinSize

    set lowPassOverlapSetting = LowPassFilterWinOverlap

    set useSoundSpeedCorrectionSetting = CorrectForSoundSpeed
  }

  # Add USBL mode directives.

  aggregate UpdateNumPings_NotTerminal {
    run while (
      not ( LineCapture:GuidanceMode == LineCapture:Terminal )
      and not ( NumPings == NumberOfPings )
    )

    syslog info "No longer in Terminal. Resuming normal ranging with " + NumberOfPings~count
         + "pings."
    assign in sequence NumPings = NumberOfPings
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdateNumPings_Terminal {
    run while (
      LineCapture:GuidanceMode == LineCapture:Terminal
    )

    aggregate UpdateNumPingsUSBL {
      run when (
        not ( NumPings == NumPingsUSBL )
        and (
          ( LineCapture:Range < RangeUSBL ) # don't enter USBL mode during rollout
          and not ( Dock:LineCapture.guidanceMode == 5 count )
        )
      )

      syslog info "Entering USBL mode with " + NumPingsUSBL~count + "pings at "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumPingsUSBL
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilterUSBL
      assign in sequence LowPassFilterWinOverlap = true
    }

    aggregate UpdateNumPingsATR {
      run when (
        not ( NumPings == NumberOfPings )
        and (
          ( LineCapture:Range >= RangeUSBL ) # do ATR mode during rollout
          or Dock:LineCapture.guidanceMode == 5 count
        )
      )

      syslog info "Resuming normal ranging with " + NumberOfPings~count + "pings "
           + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
      assign in sequence NumPings = NumberOfPings
      assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
      assign in sequence LowPassFilterWinOverlap = true
    }
  }

  aggregate UpdatePingUpdateRate_Midcourse {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodMidcourse )
      and (
        ( LineCapture:Range > LineCapture:TerminalRange ) # do slow ping mode during rollout
        or Dock:LineCapture.guidanceMode == 5 count
      )
    )

    syslog info "Entering Midcourse tracking update period " + TrackingUpdatePeriodMidcourse~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodMidcourse
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate UpdatePingUpdateRate_Terminal {
    run when (
      not ( TrackingPeriod == TrackingUpdatePeriodTerminal )
      and (
        ( LineCapture:Range <= LineCapture:TerminalRange )
        and not ( Dock:LineCapture.guidanceMode == 5 count )
        and not ( LineCapture:GuidanceMode == 0 count )
      ) # don't enter fast ping mode during rollout or on dock
    )

    syslog info "Entering Terminal tracking update period " + TrackingUpdatePeriodTerminal~second
         + "sec at" + LineCapture:Range~meter + "(mode " + Dock:LineCapture.guidanceMode~count + ")."
    assign in sequence TrackingPeriod = TrackingUpdatePeriodTerminal
    assign in sequence LowPassFilterWinSize = TrackingNumFixesLowPassFilter
    assign in sequence LowPassFilterWinOverlap = true
  }

  aggregate restartDHCP {
    run when ( called )

    syslog info "Restarting DHCP..."

    behavior Guidance:Execute {
      run in sequence

      set command = "! /mnt/mmc/LRAUV/Tools/dhcp.sh"
    }
  }

  # Start mission sequence.

  call id="StartingMission" priorityHere=false refId="NeedComms"

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate InitialDive {
    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = MidcourseSpeed
    }

    behavior Guidance:Mass {
      run in parallel

      set position = Control:VerticalControl.massDefault
    }

    behavior Guidance:Pitch {
      run in sequence

      timeout duration=ApproachDepthTimeout {
        syslog important "Timed out trying to reach the target depth. Stopping mission at current depth of "
             + Universal:depth~meter

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }
      }

      set depth = MidcourseDepth
      set depthRate = ApproachDepthRate
    }
  }

  # I'd like to avoid a recursive call of Lap, so "retry" is implemented by incrementing the
  # required repetition count (which has just been decremented by the lap attempt).
  # But that repeat check is evaluated at the beginning of the aggregate, not the end.
  # In order to be able to retry an incomplete docking attempt on the last lap
  # we need to make it back up to the top of the Lap aggregate somehow.
  # Solve this by quietly setting the repeat count to one more than actually desired.
  # The DockSuccessfulCount check will break the Lap aggregate before it runs the extra
  # lap, but starting the Lap aggregate will allow us to check the repeat on each run.
  aggregate RepeatHack {
    run in sequence

    break if ( not RetryIncompleteDock )

    assign in sequence RepeatArg = Repeat + 1 count
  }

  aggregate Lap {
    run in sequence repeat=RepeatArg

    break if (
      ( StayOnDock
        and LastDockSuccessful
      )
      or (
        RetryIncompleteDock
        # Can't trust RepeatArg with retry, it's been incremented to allow re-evaluation of the count
        and ( DockSuccessfulCount == Repeat )
      )
    )

    assign in sequence Mode = -99 count

    # Execute the LineCapture sequence.

    call priorityHere=false refId="LineCapture"
    assign in sequence Mode = LineCapture:GuidanceMode
    syslog info "Mode" + Mode~count

    call priorityHere=false refId="restartDHCP"

    aggregate Docked {
      run in sequence

      break if ( Mode < 0 count )

      syslog info "Waiting on dock for " + WaitOnDockTimeout~minute

      # Add SetNav directives.

      insert Insert/SetNavAcoustic.tl

      assign in sequence TrackingPeriod = TrackingUpdatePeriodDocked

      assign in sequence EndDockingSequence = StayOnDock

      behavior Dock:Docked id="Docked" {
        run in sequence

        timeout duration=WaitOnDockTimeout

        set slideSinkTime = SlideSinkDuration
        set slideCloseTime = SlideCloseDuration
        set slideRetries = SlideRetries
        set slideAllowed = TrySlide
        outputArg LastDockSuccessful = dockSuccessful
      }

      # If retrying incomplete attempts require total success to skip rollout, not just StayOnDock
      aggregate setCompletion {
        run in sequence

        break if ( not RetryIncompleteDock )

        assign in sequence EndDockingSequence = ( LastDockSuccessful
          and StayOnDock
        )
        assign in sequence DockSuccessfulCount = DockSuccessfulCount + LastDockSuccessful

        aggregate setRetry {
          run in sequence

          break if ( LastDockSuccessful )

          syslog important "Retrying incomplete docking attempt"

          # This lap failed and doesn't "count", so repeat one additional time
          assign in sequence RepeatArg = RepeatArg + 1 count
        }
      }

      aggregate Detach {
        run in sequence

        break if ( EndDockingSequence )

        syslog important "Breaking off. Range: " + Universal:acoustic_contact_range~meter + "."

        behavior Dock:Undock id="Undock" {
          run in sequence
        }

        call priorityHere=false refId="restartDHCP"
      }

      aggregate Wpt1 {
        run in sequence

        break if (
          isNaN ( Lat1 )
          or isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "Driving to post-undock waypoint " + Lat1~degree + "," + Lon1~degree

        behavior Guidance:Pitch {
          run in parallel

          set depth = MidcourseDepth
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = MidcourseSpeed
        }

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1

          set longitude = Lon1

          set captureRadius = CaptureRadius
        }
      }

      aggregate Drift {
        """
        Drift before next docking attempt
        """

        run in sequence

        break if (
          not isNaN ( Lat1 )
          and not isNaN ( Lon1 )
          or ( EndDockingSequence )
        )

        syslog important "No post-undock waypoint, drifting for "
             + Dock:LineCapture.rolloutTimeout~minute + " minutes"

        behavior Guidance:Buoyancy {
          run in parallel

          set position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Pitch {
          run in parallel

          set massPosition = Control:VerticalControl.massDefault

          set elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = 0 meter_per_second
        }

        behavior Guidance:Wait {
          run in sequence

          set duration = Dock:LineCapture.rolloutTimeout
        }
      }
    }
  }
}


2025-08-22T16:30:19.015Z,1755880219.015 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureHoming.tl id=lineCaptureHoming
2025-08-22T16:30:23.834Z,1755880223.834 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:30:35.339Z,1755880235.339 [DataOverHttps](IMPORTANT): SBD MTMSN=20250822T163034
2025-08-22T16:30:47.661Z,1755880247.661 [DataOverHttps](INFO): Received command: sched "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run"
2025-08-22T16:30:49.535Z,1755880249.535 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MissionTimeout 3 hour
2025-08-22T16:30:49.536Z,1755880249.536 [CommandExec](IMPORTANT): got command set lineCaptureHoming.WaitOnDockTimeout 15 minute
2025-08-22T16:30:49.537Z,1755880249.537 [CommandExec](IMPORTANT): got command set lineCaptureHoming.StayOnDock 1 bool
2025-08-22T16:30:49.537Z,1755880249.537 [CommandExec](IMPORTANT): got command set lineCaptureHoming.TrySlide 1 bool
2025-08-22T16:30:49.543Z,1755880249.543 [CommandExec](IMPORTANT): got command schedule "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run"
2025-08-22T16:30:49.544Z,1755880249.544 [CommandExec](IMPORTANT): Scheduled #8: "load Engineering/OnDock.tl;set OnDock.DockedTime 24 h;run", AFTER MISSION
2025-08-22T16:30:49.666Z,1755880249.666 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:01.978Z,1755880261.978 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:14.346Z,1755880274.346 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:26.614Z,1755880286.614 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:30.896Z,1755880290.896 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideRetries 5 count
2025-08-22T16:31:30.897Z,1755880290.897 [CommandExec](IMPORTANT): got command set lineCaptureHoming.SlideCloseDuration 1 minute
2025-08-22T16:31:30.902Z,1755880290.902 [CommandExec](IMPORTANT): got command set lineCaptureHoming.DockingAltitude 8.3 meter
2025-08-22T16:31:30.903Z,1755880290.903 [CommandExec](IMPORTANT): got command set lineCaptureHoming.AltitudeDepthLimit 69 meter
2025-08-22T16:31:30.904Z,1755880290.904 [CommandExec](IMPORTANT): got command set lineCaptureHoming.MaxDepth 71 meter
2025-08-22T16:31:39.258Z,1755880299.258 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:40.600Z,1755880300.600 [CommandExec](IMPORTANT): got command set lineCaptureHoming.CorrectForSoundSpeed 1 bool
2025-08-22T16:31:40.600Z,1755880300.600 [CommandExec](IMPORTANT): got command run
2025-08-22T16:31:40.609Z,1755880300.609 [CommandExec](IMPORTANT): Running 
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock] Stopped
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault] Stopped
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:A.GoToSurface] Stopped
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2025-08-22T16:31:40.908Z,1755880300.908 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2025-08-22T16:31:40.908Z,1755880300.908 [MissionManager](IMPORTANT): Started mission lineCaptureHoming
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming] Running Loop=1
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming](DEBUG): Aggregate::initialize lineCaptureHoming
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming:Science](DEBUG): Aggregate::initialize lineCaptureHoming:Science
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming:Science:A] Running Loop=1
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T16:31:40.909Z,1755880300.909 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:D] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:F] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:Read_Oil] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:PeakDetectChl] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:PeakDetectChl:A] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:EdgeDetectChl] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:EdgeDetectChl:A] Running Loop=1
2025-08-22T16:31:40.910Z,1755880300.910 [lineCaptureHoming:Science:HighestChlPeakReport] Running Loop=1
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:PeakDetectNO3] Running Loop=1
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:PeakDetectNO3:A] Running Loop=1
2025-08-22T16:31:40.911Z,1755880300.911 [lineCaptureHoming:Science:PeakDetectOil] Running Loop=1
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:PeakDetectOil:A] Running Loop=1
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:HighestOilPeakReport] Running Loop=1
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T16:31:40.912Z,1755880300.912 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T16:31:40.913Z,1755880300.913 [lineCaptureHoming:Science:PeakDetectFDOM] Running Loop=1
2025-08-22T16:31:40.913Z,1755880300.913 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T16:31:40.913Z,1755880300.913 [lineCaptureHoming:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-22T16:31:40.913Z,1755880300.913 [lineCaptureHoming:Science:PeakDetectSalinity] Running Loop=1
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:HighestSaltPeakReport] Running Loop=1
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-22T16:31:40.914Z,1755880300.914 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T16:31:40.915Z,1755880300.915 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T16:31:40.916Z,1755880300.916 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:ChlThreshTrigger] Running Loop=1
2025-08-22T16:31:40.917Z,1755880300.917 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T16:31:40.918Z,1755880300.918 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-22T16:31:40.918Z,1755880300.918 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-22T16:31:40.918Z,1755880300.918 [lineCaptureHoming:Science:OceanCurrent] Running Loop=1
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureHoming:Science:OceanCurrent
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:StandardEnvelopes
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:31:40.919Z,1755880300.919 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:J] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T16:31:40.920Z,1755880300.920 [lineCaptureHoming:TrackAC.](INFO): Initializing TrackAcousticContact.
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T16:31:40.921Z,1755880300.921 [lineCaptureHoming:C] Running Loop=1
2025-08-22T16:31:40.923Z,1755880300.923 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-22T16:31:40.923Z,1755880300.923 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-22T16:31:40.923Z,1755880300.923 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-22T16:31:40.923Z,1755880300.923 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-22T16:31:40.923Z,1755880300.923 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-22T16:31:40.924Z,1755880300.924 [lineCaptureHoming:TrackAC.] Running Loop=1
2025-08-22T16:31:40.924Z,1755880300.924 [lineCaptureHoming:TrackAC.](ERROR): Failed to read sound speed
2025-08-22T16:31:40.924Z,1755880300.924 [lineCaptureHoming:J] Stopped
2025-08-22T16:31:40.924Z,1755880300.924 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-22T16:31:40.924Z,1755880300.924 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:C] Stopped
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:D] Running Loop=1
2025-08-22T16:31:40.925Z,1755880300.925 [lineCaptureHoming:StandardEnvelopes] Running Loop=1
2025-08-22T16:31:40.926Z,1755880300.926 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-22T16:31:40.926Z,1755880300.926 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-22T16:31:40.926Z,1755880300.926 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-22T16:31:40.926Z,1755880300.926 [lineCaptureHoming:Science] Running Loop=1
2025-08-22T16:31:40.928Z,1755880300.928 [lineCaptureHoming:Science:ChlThreshTrigger] Stopped
2025-08-22T16:31:40.928Z,1755880300.928 [lineCaptureHoming:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:ChlThreshTrigger
2025-08-22T16:31:40.928Z,1755880300.928 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-22T16:31:40.928Z,1755880300.928 [lineCaptureHoming:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-22T16:31:40.928Z,1755880300.928 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-22T16:31:40.929Z,1755880300.929 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI
2025-08-22T16:31:40.930Z,1755880300.930 [lineCaptureHoming:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestSaltPeakReport] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestSaltPeakReport
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectSalinity] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectSalinity
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectSalinity:A] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectFDOM] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectFDOM
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:PeakDetectFDOM:A] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestOilPeakReport] Stopped
2025-08-22T16:31:40.931Z,1755880300.931 [lineCaptureHoming:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestOilPeakReport
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectOil] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectOil
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectOil:A] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectNO3] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectNO3
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:PeakDetectNO3:A] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestChlPeakReport] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:HighestChlPeakReport
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-22T16:31:40.932Z,1755880300.932 [lineCaptureHoming:Science:EdgeDetectChl] Stopped
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:EdgeDetectChl
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:EdgeDetectChl:A] Stopped
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:PeakDetectChl] Stopped
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:PeakDetectChl
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:PeakDetectChl:A] Stopped
2025-08-22T16:31:40.933Z,1755880300.933 [lineCaptureHoming:Science:OceanCurrent:A.] Running Loop=1
2025-08-22T16:31:40.934Z,1755880300.934 [lineCaptureHoming:Science:Read_Oil] Stopped
2025-08-22T16:31:40.934Z,1755880300.934 [lineCaptureHoming:Science:F] Stopped
2025-08-22T16:31:40.934Z,1755880300.934 [lineCaptureHoming:Science:E] Running Loop=1
2025-08-22T16:31:40.935Z,1755880300.935 [lineCaptureHoming:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-08-22T16:31:40.935Z,1755880300.935 [lineCaptureHoming:Science:D] Stopped
2025-08-22T16:31:40.935Z,1755880300.935 [lineCaptureHoming:Science:C] Running Loop=1
2025-08-22T16:31:40.936Z,1755880300.936 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-08-22T16:31:40.936Z,1755880300.936 [lineCaptureHoming:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-08-22T16:31:40.936Z,1755880300.936 [lineCaptureHoming:Science:B] Running Loop=1
2025-08-22T16:31:40.937Z,1755880300.937 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-08-22T16:31:40.937Z,1755880300.937 [lineCaptureHoming:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-08-22T16:31:40.937Z,1755880300.937 [lineCaptureHoming:Science:A] Stopped
2025-08-22T16:31:41.343Z,1755880301.343 [lineCaptureHoming:D] Stopped
2025-08-22T16:31:41.344Z,1755880301.344 [lineCaptureHoming:E] Running Loop=1
2025-08-22T16:31:41.658Z,1755880301.658 [WetLabsBB2FL](INFO): Powering up
2025-08-22T16:31:41.744Z,1755880301.744 [lineCaptureHoming:E] Stopped
2025-08-22T16:31:41.745Z,1755880301.745 [lineCaptureHoming:G] Running Loop=1
2025-08-22T16:31:42.203Z,1755880302.203 [lineCaptureHoming:G] Stopped
2025-08-22T16:31:42.204Z,1755880302.204 [lineCaptureHoming:H] Running Loop=1
2025-08-22T16:31:42.581Z,1755880302.581 [lineCaptureHoming:H] Stopped
2025-08-22T16:31:42.585Z,1755880302.585 [lineCaptureHoming:L] Running Loop=1
2025-08-22T16:31:42.949Z,1755880302.949 [lineCaptureHoming:L] Stopped
2025-08-22T16:31:42.949Z,1755880302.949 [lineCaptureHoming:M] Running Loop=1
2025-08-22T16:31:43.361Z,1755880303.361 [lineCaptureHoming:M] Stopped
2025-08-22T16:31:43.361Z,1755880303.361 [lineCaptureHoming:N] Running Loop=1
2025-08-22T16:31:43.774Z,1755880303.774 [lineCaptureHoming:N] Stopped
2025-08-22T16:31:43.774Z,1755880303.774 [lineCaptureHoming:O] Running Loop=1
2025-08-22T16:31:44.271Z,1755880304.271 [lineCaptureHoming:O] Stopped
2025-08-22T16:31:44.271Z,1755880304.271 [lineCaptureHoming:P] Running Loop=1
2025-08-22T16:31:44.327Z,1755880304.327 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2025-08-22T16:31:44.564Z,1755880304.564 [lineCaptureHoming:P] Stopped
2025-08-22T16:31:44.564Z,1755880304.564 [lineCaptureHoming:Q] Running Loop=1
2025-08-22T16:31:44.972Z,1755880304.972 [lineCaptureHoming:Q] Stopped
2025-08-22T16:31:44.972Z,1755880304.972 [lineCaptureHoming:U] Running Loop=1
2025-08-22T16:31:45.400Z,1755880305.400 [lineCaptureHoming:U] Stopped
2025-08-22T16:31:45.400Z,1755880305.400 [lineCaptureHoming:StartingMission] Running Loop=1
2025-08-22T16:31:45.400Z,1755880305.400 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::initialize lineCaptureHoming:StartingMission
2025-08-22T16:31:45.772Z,1755880305.772 [lineCaptureHoming:NeedComms] Running Loop=1
2025-08-22T16:31:45.772Z,1755880305.772 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::initialize lineCaptureHoming:NeedComms
2025-08-22T16:31:45.772Z,1755880305.772 [lineCaptureHoming:NeedComms:B.GoToSurface] Running Loop=1
2025-08-22T16:31:45.772Z,1755880305.772 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2025-08-22T16:31:45.773Z,1755880305.773 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2025-08-22T16:31:45.773Z,1755880305.773 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2025-08-22T16:31:45.774Z,1755880305.774 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2025-08-22T16:31:45.774Z,1755880305.774 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received surface timeout setting 1000.000000 seconds.
2025-08-22T16:31:45.774Z,1755880305.774 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): No altitude timeout specified. Using default value of 600.000000 seconds.
2025-08-22T16:31:45.775Z,1755880305.775 [lineCaptureHoming:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2025-08-22T16:31:45.775Z,1755880305.775 [lineCaptureHoming:NeedComms:A] Running Loop=1
2025-08-22T16:31:45.776Z,1755880305.776 [lineCaptureHoming:NeedComms:A](INFO): last time_fix was:  1755880104.000000 second since 1970/01/01T00:00:00Z 
2025-08-22T16:31:45.776Z,1755880305.776 [lineCaptureHoming:NeedComms:A] Stopped
2025-08-22T16:31:46.225Z,1755880306.225 [lineCaptureHoming:NeedComms:C] Running Loop=1
2025-08-22T16:31:46.575Z,1755880306.575 [lineCaptureHoming:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T16:31:48.197Z,1755880308.197 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163147.00,A,3646.72614,N,12151.57195,W,0.136,219.84,220825,,,D*7A
2025-08-22T16:31:48.199Z,1755880308.199 [NAL9602](INFO): GPS fix at 20250822T163147: (36.778769, -121.859533)
2025-08-22T16:31:48.255Z,1755880308.255 [lineCaptureHoming:NeedComms:C] Stopped
2025-08-22T16:31:48.255Z,1755880308.255 [lineCaptureHoming:NeedComms:D] Running Loop=1
2025-08-22T16:31:48.574Z,1755880308.574 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-22T16:31:48.613Z,1755880308.613 [lineCaptureHoming:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-22T16:31:55.713Z,1755880315.713 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20250822T160302/Courier0012.lzma
2025-08-22T16:31:56.715Z,1755880316.715 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Courier0012.lzma.bak
2025-08-22T16:31:56.715Z,1755880316.715 [DataOverHttps](INFO): SBD MOMSN=25881998
2025-08-22T16:32:08.398Z,1755880328.398 [NAL9602](INFO): SBD MO Status=0, MOMSN=980, MT Status=0, MTMSN=0
2025-08-22T16:32:08.398Z,1755880328.398 [NAL9602](INFO): No messages in MT queue
2025-08-22T16:32:15.819Z,1755880335.819 [DataOverHttps](INFO): Sending 893 bytes from file Logs/20250822T160302/Express0013.lzma
2025-08-22T16:32:16.819Z,1755880336.819 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0013.lzma.bak
2025-08-22T16:32:16.820Z,1755880336.820 [DataOverHttps](INFO): SBD MOMSN=25882002
2025-08-22T16:32:20.212Z,1755880340.212 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022720193990,4.8,   0.0,1506.2,  0
2025-08-22T16:32:34.917Z,1755880354.917 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20250822T160302/Express0016.lzma
2025-08-22T16:32:35.919Z,1755880355.919 [DataOverHttps](INFO): Moved sent file to Logs/20250822T160302/Express0016.lzma.bak
2025-08-22T16:32:35.920Z,1755880355.920 [DataOverHttps](INFO): SBD MOMSN=25882051
2025-08-22T16:32:37.496Z,1755880357.496 [lineCaptureHoming:NeedComms:D] Stopped
2025-08-22T16:32:37.497Z,1755880357.497 [lineCaptureHoming:NeedComms:E] Running Loop=1
2025-08-22T16:32:37.898Z,1755880357.898 [lineCaptureHoming:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2025-08-22T16:32:39.502Z,1755880359.502 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,163238.00,A,3646.72367,N,12151.57703,W,0.428,236.94,220825,,,D*7F
2025-08-22T16:32:39.504Z,1755880359.504 [NAL9602](INFO): GPS fix at 20250822T163238: (36.778728, -121.859617)
2025-08-22T16:32:39.519Z,1755880359.519 [lineCaptureHoming:NeedComms:E] Stopped
2025-08-22T16:32:39.520Z,1755880359.520 [lineCaptureHoming:NeedComms](INFO): Completed lineCaptureHoming:NeedComms
2025-08-22T16:32:39.520Z,1755880359.520 [lineCaptureHoming:NeedComms] Stopped
2025-08-22T16:32:39.520Z,1755880359.520 [lineCaptureHoming:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:NeedComms
2025-08-22T16:32:39.520Z,1755880359.520 [lineCaptureHoming:NeedComms:B.GoToSurface] Stopped
2025-08-22T16:32:39.520Z,1755880359.520 [lineCaptureHoming:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2025-08-22T16:32:39.939Z,1755880359.939 [lineCaptureHoming:StartingMission](INFO): Completed lineCaptureHoming:StartingMission
2025-08-22T16:32:39.939Z,1755880359.939 [lineCaptureHoming:StartingMission] Stopped
2025-08-22T16:32:39.939Z,1755880359.939 [lineCaptureHoming:StartingMission](DEBUG): Aggregate::uninitialize lineCaptureHoming:StartingMission
2025-08-22T16:32:39.950Z,1755880359.950 [lineCaptureHoming:Z] Running Loop=1
2025-08-22T16:32:40.395Z,1755880360.395 [lineCaptureHoming:Z](IMPORTANT): Restarting logs
2025-08-22T16:32:40.395Z,1755880360.395 [lineCaptureHoming:Z] Stopped
2025-08-22T16:32:40.395Z,1755880360.395 [lineCaptureHoming:BA.Execute] Running Loop=1
2025-08-22T16:32:40.784Z,1755880360.784 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-08-22T16:32:40.784Z,1755880360.784 [lineCaptureHoming:BA.Execute] Stopped
2025-08-22T16:32:40.784Z,1755880360.784 [lineCaptureHoming:InitialDive] Running Loop=1
2025-08-22T16:32:40.785Z,1755880360.785 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-08-22T16:32:40.785Z,1755880360.785 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-22T16:32:40.785Z,1755880360.785 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-08-22T16:32:40.785Z,1755880360.785 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-22T16:32:40.785Z,1755880360.785 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-22T16:32:40.797Z,1755880360.797 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-22T16:32:40.798Z,1755880360.798 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.